AP_HAL_ChibiOS/hwdef: add controller CM4Pilot

hwdef: add a new flight controller CM4Pilot

libraries/AP_HAL_ChibiOS/hwdef/ACNS-CM4Pilot/README.md

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+# CM4PILOT Integrated Flight Controller
+
+The CM4PILOT is a low-cost and compact flight controller which integrated a Raspberry Pi CM4 in the cockpit.
+
+<div align=left><img width="600"  src=CM4pilot_inshell.jpg/></div>
+<div align=left><img width="500"  src=CM4Pilot_structure.jpg/></div>
+
+
+## Features
+
+ - Raspberry Pi CM4 + Ardupilot, Companion Computers in cockpit structure
+ - Small Footprint and Lightweight, 58mm X 50mm X 18mm，26g(without shell)
+ - Broadcom BCM2711, quad-core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz
+ - STM32F405 microcontroller
+ - IMU: BMI088
+ - Mag: LIS3MDLTR
+ - Baro: BMP280
+ - RTC: PCF85063
+ - 2 2-lane MIPI CSI camera ports
+ - 2 microSD card slot port
+ - 1 power ports(Analog)
+ - 6 UARTs and USB ports for FMU
+ - 2 UARTs and 4 USB2.0 and 1 OTG for CM4
+ - 1 I2C port
+ - 1 CAN port
+ - 1 SBUS input and 8 PWM output (all support DShot)
+ - External SPI port
+ - Buzzer on board 
+ - RBG LED on board
+ - 128M flash on board for logging
+
+## UART Mapping
+
+ - SERIAL0 -> USB(OTG1)
+ - SERIAL1 -> USART1(Telem1)(DMA capable)
+ - SERIAL2 -> USART3 (CM4)(DMA capable)
+ - SERIAL3 -> UART4 (GPS)(DMA capable)
+ - SERIAL4 -> UART6 (GPS2)(DMA capable)
+ - SERIAL5 -> USART2 (SBUS)(RC input, no DMA capable)
+
+## RC Input
+
+RC input is configured on the SBUS pin (UART2_RX). It supports all RC protocols except serial protocols
+
+## PWM Output
+
+The CM4PILOT supports up to 8 PWM outputs. All outputs support DShot (No BDshot).
+The PWM is in 4 groups:
+
+ - PWM 1~4 in group1
+ - PWM 5,6 in group2
+ - PWM 7,8 in group3
+ - Buzzer on board in group4
+
+## GPIOs
+
+All 8 PWM channels can be used for GPIO functions.
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+| PWM Channels | Pin  | PWM Channels | Pin  |
+| ------------ | ---- | ------------ | ---- |
+| PWM1         | 50   | PWM8         | 57   |
+| PWM2         | 51   | 
+| PWM3         | 52   | 
+| PWM4         | 53   | 
+| PWM5         | 54   | 
+| PWM6         | 55   | 
+| PWM7         | 56   | 
+
+## Battery Monitoring
+
+The correct battery setting parameters are set by default and are:
+ 
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 11
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_SCALE 10.1
+ - BATT_CURR_SCALE 17.0
+
+## Compass
+
+The CM4PILOT has one built-in compass LIS3MDLTR, you can also attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “ACNS-CM4PILOT”.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "xxx_bl.hex"
+firmware, using your favorite DFU loading tool.
+
+Subsequently, you can update the firmware with Mission Planner.
+
+## Pinout and Size
+
+<div align=left><img width="600"  src=CM4Pilot_Pinout.jpg/></div>
+<div align=left><img width="500"  src=CM4pilot_size.jpg/></div>

libraries/AP_HAL_ChibiOS/hwdef/ACNS-CM4Pilot/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for CM4pilot bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1115
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+FLASH_SIZE_KB 1024
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+#PC13 VBUS INPUT OPENDRAIN
+
+PC14 LED_BOOTLOADER OUTPUT LOW GPIO(0)
+PA13 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional
+define HAL_LED_ON 1
+
+# Add CS pins to ensure they are high in bootloader
+PA4 BMI088_A_CS CS
+PC3 BMI088_G_CS CS
+PB12 MAG_CS CS
+PD2 SDCARD_CS CS
+PA14 FLASH_CS CS
+PC15 ESPI_CS CS

libraries/AP_HAL_ChibiOS/hwdef/ACNS-CM4Pilot/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# CM4pilot, developed by Robin Luo luojinglinemail@gmail.com
+
+#################################################
+###             MCU CONFIGURATION             ###
+#################################################
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1115
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 1024
+
+#define HAL_STORAGE_SIZE 16384
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 1
+
+# enable FLASH/RAMTROM parameter storage
+#define HAL_WITH_DATAFLASH 1
+# enable logging to dataflash
+#define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1 USART3 UART4 USART6 USART2
+
+#################################################
+###             PIN DEFINITIONS               ###
+################################################# 
+
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 
+
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PC6  USART6_TX USART6  
+PC7  USART6_RX USART6  
+
+PB10 USART3_TX USART3 
+PB11 USART3_RX USART3 
+
+# default to timer for RC input
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
+
+# alternative using USART2
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA ALT(1)
+
+
+# IMU SPI
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 BMI088_A_CS CS
+PC3 BMI088_G_CS CS
+PC4 BMI088_A_DRDY INPUT
+PB2 BMI088_G_DRDY INPUT
+
+# SD CARD SPI
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+PD2  SDCARD_CS CS
+PA14 FLASH_CS CS
+
+# MAG SPI
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PB12 MAG_CS CS
+PC5  MAG_DRDY INPUT
+PC15 ESPI_CS CS
+
+# I2C1
+PB6 I2C1_SCL I2C1 
+PB7 I2C1_SDA I2C1 
+
+#define HAL_USE_I2C TRUE
+#define STM32_I2C_USE_I2C1 TRUE
+# I2C Buses
+I2C_ORDER I2C1 
+#define HAL_I2C_CLEAR_ON_TIMEOUT 0
+
+# CAN
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+# CAN Buses
+#CAN_ORDER 1 
+
+# reduce memory usage
+define UAVCAN_NODE_POOL_SIZE 1024
+
+PC0 RSSI_ADC_PIN ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+PC14 LED_BLUE OUTPUT LOW GPIO(0)
+PA13 LED_GREEN OUTPUT LOW GPIO(1) 
+#PC15 LED_RED OUTPUT LOW GPIO(2) 
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+#define HAL_GPIO_C_LED_PIN 2
+
+
+#pwm output
+PB0  TIM3_CH3  TIM3 PWM(1) GPIO(50)
+PB5  TIM3_CH2  TIM3 PWM(2) GPIO(51)
+PB4  TIM3_CH1  TIM3 PWM(3) GPIO(52)
+PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
+PB3  TIM2_CH2  TIM2 PWM(5) GPIO(54)
+PA15 TIM2_CH1  TIM2 PWM(6) GPIO(55)
+PC8  TIM8_CH3  TIM8 PWM(7) GPIO(56)
+PC9  TIM8_CH4  TIM8 PWM(8) GPIO(57)
+#PWM output for buzzer
+PA8  TIM1_CH1  TIM1 GPIO(77) LOW ALARM
+#PA2  TIM2_CH3  TIM2 PWM(10) GPIO(59) 
+
+PC13 VBUS INPUT OPENDRAIN
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+#################################################
+###                 DEVICES                   ###
+#################################################
+
+# BMI088 on SPI1
+SPIDEV bmi088_g SPI1 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a SPI1 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+
+# MAG on SPI2
+SPIDEV lis3mdl SPI2 DEVID3 MAG_CS MODE3 500*KHZ 500*KHZ
+
+# SD Card on SPI3
+SPIDEV sdcard SPI3 DEVID4 SDCARD_CS MODE3 400*KHZ 25*MHZ
+
+# Flash Card on SPI3
+SPIDEV dataflash SPI3 DEVID5 FLASH_CS MODE3 500*KHZ 25*MHZ
+
+# one IMU
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+#ROTATION_ROLL_180_YAW_270
+
+# one baro, multiple possible choices for different board variants
+BARO BMP280 I2C:0:0x76
+
+# one mag
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_ROLL_180_YAW_270
+
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+#analog rssi pin (also could be used as analog airspeed input)
+# PC0 - ADC1_CH10
+define BOARD_RSSI_ANA_PIN 10
+
+# 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 OSD_ENABLED 0
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+
+
+# --------------------- save flash ----------------------
+include ../include/minimize_features.inc
+include ../include/minimal.inc
+
+
+