AP_HAL_ChibiOS: HEEWING-F405v2 which includes dataflash logging

libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405v2/README.md

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+# HEEWING F405 Flight Controller
+
+https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual
+
+The HEEWING F405 is a flight controller produced by [HEEWING](https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual) that is incorporated into their Ranger-T1 VTOL RTF airframe.
+
+## Features
+
+ - STM32F405 microcontroller
+ - ICM42688 IMU
+ - SLP06 barometer
+ - 16Mb dataflash
+ - MAX7456 OSD
+ - 4 UARTs
+ - 9 PWM outputs
+
+### HEEWING F405 Pinout
+
+![HEEWING F405 Board](heewingf405.jpg "HEEWING F405")
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART3 (UART1 on casing, DMA-enabled)
+ - SERIAL2 -> UART1 (UART2 on casing, DMA-enabled)
+ - SERIAL5 -> UART5 (GPS)
+ - SERIAL6 -> UART2 (RCIN RX-only or RX/TX with BRD_ALT_CONFIG=1, DMA-enabled)
+
+## RC Input
+ 
+RC input is configured on the RCIN connector (UART2_RX) pin. It supports all serial RC protocols. It can be configured for two-way protocols (e.g. CRSF) by setting BRD_ALT_CONFIG=1
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry can be supported using the transmit pin on a spare serial ports SERIAL1 and SERIAL2.
+  
+## OSD Support
+
+The HEEWING F405 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The HEEWING F405 supports up to 9 PWM outputs. M1-M2, M5-M6 and M9 support bi-directional dshot. All outputs support dshot although M3-4 are not recommended for this purpose as they share resources with I2C.
+
+The PWM is in 4 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5 and 6 in group3
+ - PWM 7-9 in group4
+
+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.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 7.71
+ - BATT_AMP_PERVLT 26.67
+
+## Compass
+
+The HEEWING F405 does not have a builtin compass, but you can attach an external compass using the GPS port. The RTF kit comes pre-supplied with a GPS and compass.
+
+## 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.
+
+Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time.
+
+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/HEEWING-F405v2/defaults.parm

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+ALT_HOLD_RTL,5000
+ARMING_RUDDER,2
+# GPS RX DMA conflicts with CRSF and I2C1
+GPS_DRV_OPTIONS,4

libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405v2/hwdef-bl.dat

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+# hw definition file for HEEWING F405
+
+include ../HEEWING-F405/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405v2/hwdef.dat

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+# hw definition file for HEEWING F405
+
+include ../HEEWING-F405/hwdef.dat
+
+# v2 has onboard dataflash logging
+
+PC14 FLASH_CS  CS
+
+SPIDEV dataflash SPI2 DEVID1 FLASH_CS   MODE3 32*MHZ  32*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1