AP_HAL_ChibiOS: hwdef for KakuteF4Mini

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4Mini/README.md

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+# KakuteF4 Mini Flight Controller
+
+http://www.holybro.com/product/kakute-f4-v2-mini/
+
+The KakuteF7 Mini is a flight controller produced by [Holybro](http://www.holybro.com/product/kakute-f4-v2-mini/).
+
+## Features
+
+ - STM32F405 microcontroller
+ - MPU6000 IMU
+ - BMP280 barometer
+ - 128Mbit dataflash
+ - MAX7456 OSD
+ - 5 UARTs
+ - 7 PWM outputs (2 unallocated)
+
+### KakuteF4 Mini Pinout
+
+![KakuteF4 Mini Board](kakutef4mini.jpg "KakuteF4 Mini")
+
+## 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 -> UART1 (Transmit only, FrSky)
+ - SERIAL3 -> UART3 (RC Input)
+ - SERIAL4 -> UART4 (GPS/Telem1)
+ - SERIAL5 -> UART5 (Receive only, ESC Telemetry)
+ - SERIAL6 -> UART6 (GPS2/Telem2)
+
+## ESC Telemetry
+
+The SERIAL5 port (UART5) is for ESC telemetry. It is connected through the
+motor connector and works out of the box with the [Tekko32 F3 Mini](https://shop.holybro.com/tekko32-f3-4in1-45a-mini-esc_p1132.html) which is commonly paired with this flight controller
+
+## RC Input
+ 
+RC input is configured on the R3 (UART3_RX) pin. It supports all serial RC protocols.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T1 pin (UART1 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+  
+## OSD Support
+
+The KakuteF7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteF4 supports up to 7 PWM outputs, but only 5 can currently be used. M1 to M4 are accessed via the connector. PWM5 is used for LED output. M1-M4 support bi-directional dshot.
+
+The PWM is in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5 in group3
+
+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 13
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_AMP_PERVLT 28.5
+
+## Compass
+
+The KakuteF7 Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## 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/KakuteF4Mini/defaults.parm

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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+SERIAL3_BAUD 115
+SERIAL5_BAUD 115
+# default Serial1 to FrSky telemetry
+SERIAL1_PROTOCOL 10
+SERIAL1_OPTIONS 7

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4Mini/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF4 Mini bootloader
+
+include ../KakuteF4/hwdef-bl.dat
+undef APJ_BOARD_ID
+
+APJ_BOARD_ID 146

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4Mini/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Holybro KakuteF4 v2 Mini hardware.
+@ thanks to betaflight for pin information
+
+include ../KakuteF4/hwdef.dat
+undef APJ_BOARD_ID
+undef PB0 PB1 PA3 PA2 PB11 PB10 PD2 PC8
+undef BOARD_PWM_COUNT_DEFAULT
+undef SERIAL_ORDER
+undef CH_CFG_ST_RESOLUTION
+undef STM32_ST_USE_TIMER
+undef HAL_SERIAL2_PROTOCOL
+
+APJ_BOARD_ID 146
+
+# use natural UART order to align with docs
+SERIAL_ORDER OTG1 USART1 EMPTY EMPTY USART3 UART4 UART5 USART6
+
+# RC input defaults to UART to allow for bi-dir dshot
+# also frees up 32-bit TIM2 for system timer
+PB11 USART3_RX USART3
+PB10 USART3_TX USART3
+
+define HAL_SERIAL3_PROTOCOL SerialProtocol_RCIN
+define HAL_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+q
+# UART5 (ESC telemetry sensor), SERIAL5, NODMA for bi-dir dshot
+PD2 UART5_RX UART5 NODMA
+
+# Motors, bi-directional dshot capable
+PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
+PA3 TIM5_CH4 TIM5 PWM(3) GPIO(52) BIDIR
+PA2 TIM5_CH3 TIM5 PWM(4) GPIO(53)
+PC8 TIM8_CH3 TIM8 PWM(5) GPIO(56) # LED strip
+
+DMA_PRIORITY ADC* USART3* TIM3* TIM5* SPI3* SPI1*
+DMA_NOSHARE SPI3_RX
+
+define BOARD_PWM_COUNT_DEFAULT 5
+define STM32_PWM_USE_ADVANCED TRUE
+
+# save some flash
+define HAL_BATTMON_SMBUS_ENABLE 0
+define HAL_BATTMON_FUEL_ENABLE 0
+define HAL_PARACHUTE_ENABLED 0
+define HAL_SPRAYER_ENABLED 0
+define HAL_MOUNT_ENABLED 0
+define GENERATOR_ENABLED 0
+define AC_OAPATHPLANNER_ENABLED 0
+define PRECISION_LANDING 0