AP_HAL_ChibiOS: hwdef for FlywooF745v2

Add SPL06 baro to FlywooF745v1

libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat

@@ -67,6 +67,7 @@ define HAL_BATT_CURR_SCALE 28.5
 define HAL_BATT_MONITOR_DEFAULT 4
 
 PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 15
 
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7
@@ -129,7 +130,7 @@ STORAGE_FLASH_PAGE 1
 define HAL_LOGGING_DATAFLASH_ENABLED 1
 
 # spi devices
-SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
+SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 104*MHZ 104*MHZ
 SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
 SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3  1*MHZ  4*MHZ
 
@@ -145,6 +146,10 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1
 
 # one BARO
 BARO BMP280 I2C:0:0x76
+BARO SPL06  I2C:0:0x76
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+define AP_BARO_BMP280_ENABLED 1
 
 # setup for OSD
 define OSD_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/README.md

@@ -0,0 +1,109 @@
+# Flywoo GOKU GN 745 40A AIO
+
+https://flywoo.net/products/goku-gn745-40a-aio-bl_32-mpu6000-25-5-x-25-5
+
+The Flywoo GOKU GN 745 AIO is a flight controller produced by [Flywoo](https://flywoo.net/).
+
+## Features
+
+- MCU: STM32F745 32-bit processor,216MHz, 512Kbytes Flash
+- IMU: MPU6000 (SPI)
+- Barometer: SPL06
+- Onboard LED：WS2812*4
+- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
+- 7 hardware UARTS (UART1,2,3,4,5,6,7)
+- Supports serial receivers (SBUS, iBus, Spektrum, Crossfire) only.
+- PPM and PWM receivers are not supported.
+- Onbord 8Mbytes for Blackbox logging
+- 9V Power Out: 1.5A max
+- 5V Power Out: 2.0A max
+- 3.3V Power Out: 0.5A max
+- Dimensions: 33.5x33.5mm
+- Mounting Holes: Standard 25.5/26.5mm square to center of holes 
+- Weight: 8.5g
+
+- Built-in 40A BL_32 4in1 ESC
+- Support BLheli / BLHELI_32
+- Support PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600,Dshot1200
+- Input Voltage: 2-6S Lipo
+- Continuous Current: 40A
+- Firmware: BLHELI_32
+
+## Pinout
+
+![GOKU GN 745 40A AIO](GOKUGN745AIO_Pinout.png "GOKU GN 745 40A AIO")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX1/TX1|UART1 (TELEM)|
+|SERIAL2|TX2/RX2|UART2 (TELEM)|
+|SERIAL3|TX3/RX3|UART3 (RC Input/Output)|
+|SERIAL4|TX4/RX4|UART4|
+|SERIAL5|TX5/RX5|UART5|
+|SERIAL6|TX6/RX6|UART6 (GPS)|
+|SERIAL7|TX7/RX7|UART7|
+
+UART3 supports RX and TX DMA. UART1, UART2, UART4, and UART6 supports TX DMA. UART5 and UART7 do not support DMA.
+
+## RC Input
+ 
+RC input is configured on the UART3, which supports serial RC protocols. This board does not support PPM.
+  
+## OSD Support
+
+The GOKU GN 745 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The GOKU GN 745 AIO supports up to 8 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs, there are four additional pads for PWM 5-8. All 8 outputs support DShot as well as all PWM types.
+
+The PWM are in 5 groups:
+
+PWM 1,3,7,8: Group 1
+PWM 2: Group 2
+PWM 4-5: Group 3
+PWM 6: Group 4
+LED: Group 5
+
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot. PWM 1-4 support bidirectional dshot.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT around 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT around 62.0
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The GOKU GN 745 AIO does not have a builtin compass but it does have an external I2C connector.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED pad.
+
+## Loading Firmware (you will need to compile your own firmware)
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/defaults.parm

@@ -0,0 +1,13 @@
+# setup the four built-in Neopixel LEDs on chan 9
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 4
+
+# setup SERIAL3 for RCIN
+SERIAL3_PROTOCOL 23
+
+# disable GPS on Serial 4
+SERIAL4_PROTOCOL -1
+
+# setup SERIAL6 for GPS
+SERIAL6_PROTOCOL 5

libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef-bl.dat

@@ -0,0 +1 @@
+include ../FlywooF745/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef.dat

@@ -0,0 +1,21 @@
+# hw definition file for processing by chibios_pins.py
+# for FLYWOO Goku GN F745 v2
+# thanks to betaflight for pin information
+
+include ../FlywooF745/hwdef.dat
+
+undef PB1 PB0 PE9 PE11 PC9 PA3 PB4 PB5
+
+# MOTORS
+PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) BIDIR     # M1
+PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51) BIDIR     # M2
+PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)           # M3
+PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR    # M4
+PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)           # M5
+PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)           # M6
+PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56)           # M7
+PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57)           # M8
+
+undef HAL_BATT_CURR_SCALE
+define HAL_BATT_CURR_SCALE 62.0
+