AP_HAL_ChibiOS: Add a new target Holybro DroneCAN-pmu

libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/README.md

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+# Holybro DroneCAN PMU
+
+https://holybro.com/products/dronecan-pm08-power-module-14s-200a
+
+## Features
+
+- Processor：STM32F405RG 168MHz 1024KB Flash  196KB RAM
+- Voltage input: 7~60.9V (2S~14S) 
+- Continuous current:200A
+- Burst current 400A @ 25℃ 1 sec，1000A @ 25℃ < 1 sec
+- Max current sensing: 376A
+- Voltage accuracy: ±0.1V 
+- Current accuracy: ±5%
+- Temperature accuracy:±1℃
+- Power port output: 5.3V/3A each port
+- Protocol: DroneCAN 
+- Operating temperature :-25℃~105℃
+- Firmware upgrade: Support
+- Calibration:  Support
+
+## Interface Type
+
+- Power & CAN Port: Molex CLIK-Mate 2mm 6Pin
+- Battery IN/OUT Options:
+     --XT90 Connectors
+     --Tinned Wires
+     --XT90 & Ring Terminals
+
+## Status LED
+
+- Flashing quickly continuously: MCU is in the bootloader stage, waiting for firmware to be flashed
+- Flashing quickly for 3 seconds, and then on for 1 second: Waiting for CAN connection
+- Flashing slowly (one-second intervals): CAN is successfully connected
+
+## Mechanical Spec
+
+- Size: 45mm×41mm×26mm (not include cable)
+- Weight: 185g (include cable)
+
+## Loading Firmware
+
+You can upgrade the *.bin firmware files using the DroneCan GUI tool. *.apj files can also be upgraded using mossionplanner ground station.

libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/defaults.parm

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+# Enable TSYS03
+TEMP1_TYPE    4
+TEMP1_SRC     3
+TEMP1_SRC_ID  1
+
+

libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef-bl.dat

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+# hw definition file f405 Holybro CAN PMU
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5401
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+FLASH_RESERVE_START_KB 0
+FLASH_SIZE_KB 1024
+FLASH_BOOTLOADER_LOAD_KB 64
+
+PB0 LED_BOOTLOADER OUTPUT LOW GPIO(0)  # blue
+define HAL_LED_ON 0
+
+# debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# order of UARTs
+SERIAL_ORDER USART3
+
+PC10  USART3_TX USART3
+PC11  USART3_RX USART3
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_USE_CAN TRUE
+define STM32_CAN_USE_CAN1 TRUE
+
+define CAN_APP_NODE_NAME "org.ardupilot.f405_HolybroPMU"
+
+
+# Add CS pins to ensure they are high in bootloader

libraries/AP_HAL_ChibiOS/hwdef/HolybroF4_PMU/hwdef.dat

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+# hw definition file for f405 Holybro CAN PMU
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# bootloader starts firmware at 64k
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 1024
+
+# store parameters in pages 2 and 3
+STORAGE_FLASH_PAGE 2
+define HAL_STORAGE_SIZE 15360
+
+# board ID for firmware load
+APJ_BOARD_ID 5401
+
+env AP_PERIPH 1
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# enable watchdog
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 57600
+
+# blue LED0 marked as ACT
+PB0 LED OUTPUT HIGH GPIO(90)
+define AP_NOTIFY_GPIO_LED_1_ENABLED  1
+define AP_NOTIFY_GPIO_LED_1_PIN  90
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+# debug
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# avoid timer and RCIN threads to save memory
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# ---------------------- CAN bus -------------------------
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# use DNA for node allocation
+
+define CAN_APP_NODE_NAME "org.ardupilot.f405_HolybroPMU"
+
+
+# ---------------------- UARTs ---------------------------
+#           
+SERIAL_ORDER USART3 
+
+# USART3, for debug
+PC10  USART3_TX USART3 SPEED_HIGH NODMA
+PC11  USART3_RX USART3 SPEED_HIGH NODMA
+
+# ---------------------- I2Cs ---------------------------
+#           
+I2C_ORDER I2C1 
+
+# I2C2, for TEMP SENSOR
+PB8  I2C1_SCL I2C1 
+PB9  I2C1_SDA I2C1 
+
+# ------------------ BATTERY Monitor -----------------------
+define HAL_PERIPH_ENABLE_BATTERY
+define HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# Set the Default Battery Monitor Type to be Analog I/V
+define HAL_BATT_MONITOR_DEFAULT 4
+
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_VOLT_SCALE 18.0
+
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 125
+
+# ACS772-400U Zero-Current Offset
+define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.409
+
+# ------------------ Temperature Sensor -----------------------
+define AP_TEMPERATURE_SENSOR_ENABLED 1
+define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED 1
+define AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 64
+define AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0
+
+
+