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AP_HAL_ChibiOS: ARK_FPV board support

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# ARK FPV Flight Controller
https://arkelectron.com/product/ark-fpv-flight-controller/
## Features
#### Processor
- STM32H743 32-bit processor
- 480MHz
- 2MB Flash
- 1MB RAM
#### Sensors
- Invensense IIM-42653 Industrial IMU with heater resistor
- Bosch BMP390 Barometer
- ST IIS2MDC Magnetometer
#### Power
- 5.5V - 54V (2S - 12S) input
- 12V, 2A output
- 5V, 2A output. 300ma for main system, 200ma for heater
#### Interfaces
- **Micro SD**
- **USB-C**
- VBUS In, USB
- **PWM**
- VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable
- JST-GH 8 Pin
- **PWM AUX**
- 5x PWM and Bidirectional-DSHOT capable
- JST-SH 6 Pin
- **RC Input**
- 5V Out, UART
- JST-GH 4 Pin
- **POWER AUX**
- 12V Out, VBAT In/Out
- JST-GH 3 Pin
- **TELEM**
- 5V Out, UART with flow control
- JST-GH 6 Pin
- **GPS**
- 5V Out, UART, I2C
- JST-GH 6 Pin
- **CAN**
- 5V Out, CAN
- JST-GH 4 Pin
- **VTX**
- 12V Out, UART TX/RX, UART RX
- JST-GH 6 Pin
- **SPI** (OSD or External IMU)
- 5V Out, SPI
- JST-SH 8 Pin
- **DEBUG**
- 3.3V Out, UART, SWD
- JST-SH 6 Pin
##### Dimensions
- Size: 3.6 × 3.6 × 0.8 cm
- Weight: 7.5g with MicroSD card
## Pinout
![top](ark_fpv_top.png)
![bottom](ark_fpv_bottom.png)
#### PWM UART4 - 8 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|-----------------|--------------|
| 1 | VBAT IN | 5.5V-54V |
| 2 | CURR_IN_EXT | 3.3V |
| 3 | UART4_RX_EXT | 3.3V |
| 4 | FMU_CH1_EXT | 3.3V |
| 5 | FMU_CH2_EXT | 3.3V |
| 6 | FMU_CH3_EXT | 3.3V |
| 7 | FMU_CH4_EXT | 3.3V |
| 8 | GND | GND |
#### RC - 4 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|---------------------|---------|
| 1 | 5.0V | 5.0V |
| 2 | USART6_RX_IN_EXT | 3.3V |
| 3 | USART6_TX_OUTPUT_EXT| 3.3V |
| 4 | GND | GND |
#### PWM AUX - 6 Pin JST-SH
| Pin | Signal Name | Voltage |
|-----|-----------------|---------|
| 1 | FMU_CH5_EXT | 3.3V |
| 2 | FMU_CH6_EXT | 3.3V |
| 3 | FMU_CH7_EXT | 3.3V |
| 4 | FMU_CH8_EXT | 3.3V |
| 5 | FMU_CH9_EXT | 3.3V |
| 6 | GND | GND |
#### POWER AUX - 3 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|-------------|--------------|
| 1 | 12.0V | 12.0V |
| 2 | GND | GND |
| 3 | VBAT IN/OUT | 5.5V-54V |
#### CAN - 4 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|-------------|---------|
| 1 | 5.0V | 5.0V |
| 2 | CAN1_P | 5.0V |
| 3 | CAN1_N | 5.0V |
| 4 | GND | GND |
#### GPS - 6 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|---------------------|---------|
| 1 | 5.0V | 5.0V |
| 2 | USART1_TX_GPS1_EXT | 3.3V |
| 3 | USART1_RX_GPS1_EXT | 3.3V |
| 4 | I2C1_SCL_GPS1_EXT | 3.3V |
| 5 | I2C1_SDA_GPS1_EXT | 3.3V |
| 6 | GND | GND |
#### TELEM - 6 Pin JST-GH
| Pin | Signal Name | Voltage |
|-----|-----------------------|---------|
| 1 | 5.0V | 5.0V |
| 2 | UART7_TX_TELEM1_EXT | 3.3V |
| 3 | UART7_RX_TELEM1_EXT | 3.3V |
| 4 | UART7_CTS_TELEM1_EXT | 3.3V |
| 5 | UART7_RTS_TELEM1_EXT | 3.3V |
| 6 | GND | GND |
#### VTX - 6 Pin JST-GH
Note: connector pinout not in same order as standard HD VTX cabling
| Pin | Signal Name | Voltage |
|-----|-----------------------|---------|
| 1 | 12.0V | 12.0V |
| 2 | GND | GND |
| 3 | UART5_TX_TELEM2_EXT | 3.3V |
| 4 | UART5_RX_TELEM2_EXT | 3.3V |
| 5 | USART2_RX_TELEM3_EXT | 3.3V |
| 6 | GND | GND |
#### SPI (OSD or IMU) - 8 Pin JST-SH
| Pin | Signal Name | Voltage |
|-----|---------------------|---------|
| 1 | 5.0V | 5.0V |
| 2 | SPI6_SCK_EXT | 3.3V |
| 3 | SPI6_MISO_EXT | 3.3V |
| 4 | SPI6_MOSI_EXT | 3.3V |
| 5 | SPI6_nCS1_EXT | 3.3V |
| 6 | SPI6_DRDY1_EXT | 3.3V |
| 7 | SPI6_nRESET_EXT | 3.3V |
| 8 | GND | GND |
#### Flight Controller Debug - 6 Pin JST-SH
| Pin | Signal Name | Voltage |
|-----|-----------------|---------|
| 1 | 3V3_FMU | 3.3V |
| 2 | USART4_TX_DEBUG | 3.3V |
| 3 | USART4_RX_DEBUG | 3.3V |
| 4 | FMU_SWDIO | 3.3V |
| 5 | FMU_SWCLK | 3.3V |
| 6 | GND | GND |
## UART Mapping
|Name|Function|
|:-|:-|
|SERIAL0|USB|
|SERIAL1|UART7 (Telem)|
|SERIAL2|UART5 (DisplayPort HD VTX)|
|SERIAL3|USART1 (GPS1)|
|SERIAL4|USART2 (User, SBUS pin on HD VTX, RX only)|
|SERIAL5|UART4 (ESC Telem, RX only)|
|SERIAL6|USART6 (RC Input)|
|SERIAL7|OTG2 (SLCAN)|
All UARTS support DMA. Any UART may be re-tasked by changing its protocol parameter.
## RC Input
RC input is configured on the RX6 (UART6_RX) pin. It supports all RC protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details for a specific RC system. :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` is set to “23”, by default, to enable this.
- SBUS/DSM/SRXL connects to the RX6 pin.
- FPort requires connection to TX6 and :ref:`SERIAL6_OPTIONS<SERIAL2_OPTIONS>` be set to “7”.
- CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>`
- SRXL2 requires a connecton to TX6 and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` to “4”. =3.
## Battery Monitoring
The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. The board supports up to 12S LiPo batteries.
The default battery parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 9
- BATT_CURR_PIN 12
- BATT_VOLT_SCALE 21
- BATT_CURR_SCALE 120
## Compass
This autopilot has a built-in compass. The compass is the IIS2MDC
## OSD Support
This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.
## Motor Output
All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectional-DSHOT. All outputs in the motor groups below must be either PWM or DShot:
- Motors 1-4 Group1 (TIM5)
- Motors 5-8 Group2 (TIM8)
- Motor 9 Group3 (TIM4)
## Loading Firmware
Initial firmware load can be done with DFU by plugging in USB with the
BOOT button pressed. You can then load the bootloader using your favorite DFU tool.
The bootloader can be found at https://firmware.ardupilot.org/Tools/Bootloaders/
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*.
Alternatively you can build the firmware from source
```
./waf configure --board ARK_FPV --bootloader
./waf bootloader
```
And flash the bootloader with your st-link to 0x08000000.
Then build the firmware and upload it via USB-C
```
./waf configure --board ARK_FPV
./waf copter --upload
```

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# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 59
# crystal frequency
OSCILLATOR_HZ 16000000
# 480Hz is only value support on H7
# MCU_CLOCKRATE_MHZ 320
# flash size
FLASH_SIZE_KB 2048
# enable DFU reboot for installing bootloader
# note that if firmware is build with --secure-bl then DFU is
# disabled
ENABLE_DFU_BOOT 1
# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA9 VBUS INPUT OPENDRAIN
# SWD
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# debug uart
PD8 USART3_TX USART3
PD9 USART3_RX USART3
# SD card
PD6 SDMMC2_CK SDMMC2
PD7 SDMMC2_CMD SDMMC2
PB14 SDMMC2_D0 SDMMC2
PB15 SDMMC2_D1 SDMMC2
PG11 SDMMC2_D2 SDMMC2
PB4 SDMMC2_D3 SDMMC2
define FATFS_HAL_DEVICE SDCD2

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# CAN
CAN_P1_DRIVER 1 # Enables the use of CAN
# Onboard OSD
OSD_TYPE 5 # MSP

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# Processed by chibios_hwdef.py
include common.inc
# Bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
# Location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 128
SERIAL_ORDER OTG1 UART7 USART1 USART3
PI9 IMU1_CS CS # SPI1 CS - IIM42653
PI10 EXT1_CS CS # SPI6 CS - external
# Telem1 - Telem
PE8 UART7_TX UART7
PF6 UART7_RX UART7
PF8 UART7_RTS UART7
PE10 UART7_CTS UART7
# GPS
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# Armed indication
PE6 nARMED OUTPUT HIGH
# LEDs
PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
define HAL_LED_ON 0

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# Processed by chibios_hwdef.py
include common.inc
# ChibiOS system timer
STM32_ST_USE_TIMER 2
# Bootloader takes first sector
FLASH_RESERVE_START_KB 128
# Use last 2 pages for flash storage
# H743 has 16 pages of 128k each
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14
# To be compatible with the px4 bootloader we need
# to use a different RAM_MAP
env USE_ALT_RAM_MAP 1
SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2
# Debug console
STDOUT_SERIAL SD3
STDOUT_BAUDRATE 57600
# Default to all pins low to avoid ESD issues
DEFAULTGPIO OUTPUT LOW PULLDOWN
# Telem
PE8 UART7_TX UART7
PF6 UART7_RX UART7
PF8 UART7_RTS UART7
PE10 UART7_CTS UART7
# VTX (DJI Air Unit)
PC12 UART5_TX UART5
PD2 UART5_RX UART5
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
# GPS
PB6 USART1_TX USART1
PB7 USART1_RX USART1
# VTX (DJI Air Unit, RX only)
PA3 USART2_RX USART2
PD5 USART2_TX USART2 NODMA
# TODO: DJI HDL?
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
# ESC Telem (RX only)
PH13 UART4_TX UART4 NODMA
PH14 UART4_RX UART4
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
define DEFAULT_SERIAL5_BAUD 115
define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_WITH_ESC_TELEM 1
# RC Input
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
# ADCs
PA0 SCALED1_V3V3 ADC1 SCALE(2)
PB1 VDD_5V_SENS ADC1 SCALE(2)
# 12V monitor
PA4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(7.66)
PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
# Analog battery input scaling
# See STM32H743xx.py
define HAL_BATT_VOLT_PIN 9
define HAL_BATT_CURR_PIN 12
define HAL_BATT_VOLT_SCALE 21
define HAL_BATT_CURR_SCALE 120
define HAL_BATT_MONITOR_DEFAULT 4
# SPI1 - IIM42653 IMU
PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1
PI9 IMU1_CS CS
PF2 IMU1_DRDY INPUT
# SPI6 - external (SPI OSD or IMU)
PB3 SPI6_SCK SPI6
PA6 SPI6_MISO SPI6
PG14 SPI6_MOSI SPI6
PI10 EXT1_CS CS
PD11 DRDY_ADIS16507 INPUT GPIO(93)
# GPIO(93) for data ready on ADIS16507
# define ADIS_DRDY_PIN 93
# Motors, see STM32H743xx.py
PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
PI5 TIM8_CH1 TIM8 PWM(5) GPIO(54)
PI6 TIM8_CH2 TIM8 PWM(6) GPIO(55)
PI7 TIM8_CH3 TIM8 PWM(7) GPIO(56)
PI2 TIM8_CH4 TIM8 PWM(8) GPIO(57)
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
# PWM output for buzzer
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
# I2C1 (GPS1 compass, external)
PB9 I2C1_SDA I2C1
PB8 I2C1_SCL I2C1
# I2C2 (BMP390 baro, internal)
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2
# I2C4 (IIS2MDC compass, internal)
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C4
define HAL_I2C_INTERNAL_MASK 6
# IMU heater
PB10 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
define HAL_IMUHEAT_P_DEFAULT 50
define HAL_IMUHEAT_I_DEFAULT 0.07
# TODO: should we use this?
# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
# Armed indication
PE6 nARMED OUTPUT HIGH
# Power enable pins
PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
# 12V enable, start with it ON
PG4 VDD_5V_PERIPH_EN OUTPUT HIGH
# Power sensing
# 12V PGOOD
PE15 VDD_5V_PERIPH_nOC INPUT FLOATING
# 5V PGOOD
PF13 VDD_5V_HIPOWER_nOC INPUT FLOATING
# 5V_ON_BATn
PG1 VDD_BRICK_nVALID INPUT FLOATING
# LEDs
PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
# ID pins
PG0 HW_VER_REV_DRIVE OUTPUT LOW
PH4 HW_REV_SENS ADC3 SCALE(1)
# Barometer on i2c_2
BARO BMP388 I2C:1:0x76
# Compass
COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define AP_COMPASS_IIS2MDC_ENABLED 1
# IIM42653 IMU on SPI1
SPIDEV iim42653 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270
# SPI6 external bus
# SPIDEV adis16507 SPI6 DEVID1 EXT1_CS MODE3 1*MHZ 2*MHZ
# IMU ADIS1647x SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# Prioritze SD logging and IMU
DMA_PRIORITY SDMMC* SPI*
# Bidir DShot timers cannot share DMA
DMA_NOSHARE SPI* TIM5* TIM8*
# Enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1
# Setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport