hwdef: added JHEMCUGF16F405

libraries/AP_HAL_ChibiOS/hwdef/JHEM_JHEF405/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for JHEF405 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_JHEMCUGF16F405
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 48
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PB3 FLASH1_CS CS
+PB14 OSD1_CS CS
+PB12 GYRO1_CS CS
+
+PA9 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/JHEM_JHEF405/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for JHEM_JHEF405 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+# https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_JHEMCUGF16F405 # 1081
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 48
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+STM32_ST_USE_TIMER 5
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI3
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# Chip select pins
+PB3 FLASH1_CS CS
+PB14 OSD1_CS CS
+PB12 GYRO1_CS CS
+
+# Beeper
+PC13 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA10 USART1_RX USART1
+PB6 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+
+# UART4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_SmartAudio
+
+# USART6
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA
+
+# I2C ports
+I2C_ORDER I2C1
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# Servos
+
+# ADC ports
+
+# ADC1
+PC0 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 10
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_CURR_SCALE 58.8
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)       # M1
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)       # M2
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)       # M3
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)       # M4
+PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54)       # M5
+PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55)       # M6
+PC9 TIM8_CH4 TIM8 PWM(7) GPIO(56)       # M7
+PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57)       # M8
+
+# LEDs
+PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # LED
+
+PC14 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+SPIDEV osd SPI3 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# Barometer setup
+BARO BMP280 I2C:0:0x76
+        
+# Barometer setup
+BARO DPS310 I2C:0:0x76
+        
+# IMU setup
+SPIDEV icm42688   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
+DMA_NOSHARE TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
+DMA_PRIORITY TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+include ../include/minimize_common.inc
+# define AP_GPS_NMEA_ENABLED 1
+
+AUTOBUILD_TARGETS Copter

libraries/AP_HAL_ChibiOS/hwdef/JHEM_JHEF405/readme.md

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+# JHEMCU GF16-BMI stack F405 (JHEM_JHEF405) Flight Controller with 13A ESC
+
+JHEMCU GF16-BMI stack F405 Flight control 13A ESC
+produced by  [JHEMCU](https://www.jhemcu.com/)
+ 
+There are 5 serial ports (UART1, UART2, UART3, UART4, UART6), 8 motor ports, 1 I2C port, and 1 SBUS interface (the serial port used by SBUS is RX1), with WS2812 interface reserved. Built in black box 16MB and barometer, with buzzer interface and camera interface.
+
+
+![JHEMCU GF16-BMI stack](jhemcu-gf16-bmi.jpg "JHEMCU GF16-BMI stack")
+
+### Specs:
+**Flight control parameters:**
+* MCU: STM32F405
+* Gyroscope/Accelerometer: BMI270
+* OSD: AT7456E
+* Barometer: BMP280
+* Black box: 16MB
+* I2C: Support
+* BEC: 5V/3A
+* UART: UART1 (RC), UART2, UART3, UART4, UART6
+* USB: micro USB
+* Size: 16 * 16MM M3
+* Receiver: ELRS (CRSF), TBS (CRSF), SBUS, IBUS, DSM2, DSMX
+* Support programmable LED such as WS2812
+* Support buzzer
+* Built-in voltage and current sensors
+
+**Electrical adjustment parameters:**
+ 
+* Input voltage: 2-4S LiPo/2-4S HV LiPo
+* BEC output: None
+* Continuous working current of single electric regulator: 13A * 4
+* External electrical adjustment size: 24 * 25mm (including the maximum size of solder pads and protruding points)
+* Screw hole pitch 16 * 16MM, hole diameter 3MM
+* Firmware: BLHELI_ S G_ H_ 30_ 16_ 7. HEX
+* Supports Dshot600, Dshot300, Dshot150, Oneshot125, Multispot, PWM control signals
+ 
+Weight: flight control+electric adjustment=5.8g
+
+
+## Pinout
+
+![JHEMCU GF16-BMI stack](jhemcu-gf16-bmi-pinout.jpg "JHEMCU GF16-BMI stack Pinout")
+![JHEMCU GF16-BMI stack](jhemcu-gf16-bmi-8axis.jpg "JHEMCU GF16-BMI stack 8-axis frame")
+
+## 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|USART1 (DMA) - RC Input/Output |
+|SERIAL2|TX2/RX2|USART2 (DMA RX only) - MAVLink2 |
+|SERIAL3|TX3/RX3|USART3 (DMA TX only) - GPS1 |
+|SERIAL4|TX4/RX4|UART4 (DMA TX only) - VTX |
+|SERIAL6|TX6/RX6|USART6 -  User |
+
+## RC Input
+ 
+SBUS input must be on SBUS pin, all others can use RX1, CRSF/ELRS/SRXL2 must also use TX pin
+  
+## OSD Support
+
+The GSF405A supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The JHEM_JHEF405 supports up to 9 PWM outputs (PWM9 is the serial LED output, by default). All outputs support DShot.
+
+The PWM is in 5 groups:
+
+* PWM 1,2,5 in group1
+* PWM 3,4 in group2
+* PWM 6 in group3
+* PWM 7,8 in group4
+* PWM 9 in group5
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in that group would need to use DShot.
+
+## Battery Monitoring
+
+The board has a built-in voltage and current sensors. 
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 13
+ - BATT_VOLT_SCALE 11.0
+ - BATT_CURR_PIN 12
+ - BATT_CURR_SCALE 58.8
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The JHEM_JHEF405 does not have a builtin compass, but you can attach an external compass to the I2C pins.
+
+## LED
+
+The board includes a LED_STRIP output, which is assigned a timer and DMA. This is the PWM 9 output.
+
+## Loading 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.