hwdef: added NxtPX4v2

libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/README.md

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+# NxtPX4v2 Flight Controller
+
+The NxtPX4v2 is an open-source hardware designed and maintened by [HKUST UAV-Group](https://github.com/HKUST-Aerial-Robotics/Nxt-FC). And it is produced by [MicoAir Tech.](http://micoair.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088+BMI088(DUAL) IMU
+ - SPL06 barometer
+ - 12V 2.5A BEC; 5V 2.5A BEC
+ - SDCard
+- 7x UART
+- 8x PWM
+- 1x I2C
+- 1x SPI
+- 1x SWD
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (DMA-enabled)
+ - SERIAL2 -> UART4 (DMA-enabled)
+ - SERIAL3 -> UART1 (GPS, DMA-enabled)
+ - SERIAL4 -> UART3 (VTX-HD, DMA-enabled)
+ - SERIAL5 -> UART7 (ESC Telemetry, DMA-enabled)
+ - SERIAL6 -> UART5 (RCIN, DMA-enabled)
+ - SERIAL7 -> UART8 (DMA-enabled)
+
+## RC Input
+
+The default RC input is configured on the UART5_RX inverted from the SBUS pin. Other RC  protocols  should be applied at other UART port such as UART2, UART4 or UART8, and set the protocol to receive RC data: `SERIALn_PROTOCOL=23` and change SERIAL6 _Protocol to something other than '23'
+
+## VTX Support
+
+The SH1.0-6P connector supports a DJI O3 Air Unit connection. Pin 1 of the connector is 12v so be careful not to connect this to a peripheral requiring 5v.
+
+## PWM Output
+
+The NxtPX4v2 supports up to 8 PWM outputs. All channels support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2, 3, 4 are Group1;
+
+5, 6 are Group 2;
+
+7, 8 are Group 3;
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 4
+ - BATT_CURR_PIN 8
+ - BATT_VOLT_MULT 10.2
+ - BATT_CURR_SCALE 20.4
+
+## Compass
+
+The NxtPX4v2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL connector.
+
+## GPIOs
+
+The remaining 3 outputs (labelled AUX1 to AUX3) are the "auxiliary" outputs. These are directly attached to the STM32H743.
+
+The numbering of the GPIOs for PIN variables in ardupilot is:
+
+ - AUX1 - PA4 - 81
+ - AUX2 - PC1 - 82
+ - AUX3 - PC0 - 83
+
+## Physical
+
+ - Mounting: 20 x 20mm, Φ3mm
+- Dimensions: 27 x 32 x 8 mm
+- Weight: 6.5g
+
+## Ports Connector
+
+![NxtPX4v2 Front View](NxtPX4v2_FrontView.jpg)
+
+![NxtPX4v2 Back View](NxtPX4v2_BackView.jpg)
+
+## 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 favorite DFU loading tool.
+
+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/NxtPX4v2/defaults.parm

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+#BATTERY MONITOR ON
+BATT_MONITOR 4
+
+#Serial Port defaults
+SERIAL4_PROTOCOL 42
+SERIAL5_PROTOCOL 16
+SERIAL6_PROTOCOL 23
+
+#MSP DisplayPort enable
+OSD_TYPE 5

libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the NxtPX4v2 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_NxtPX4v2
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PA3 BMI088_1_G_CS CS
+PA2 BMI088_1_A_CS CS
+PC2 BMI088_2_G_CS CS
+PC13 BMI088_2_A_CS CS
+
+# LEDs
+PD11 LED_ACTIVITY   OUTPUT HIGH GPIO(91)  #green
+PB15 LED_BOOTLOADER OUTPUT HIGH GPIO(92)  #blue
+define HAL_LED_ON 1

libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the NxtPX4v2 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_NxtPX4v2
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# flash size
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER  OTG1 USART2 UART4 USART1 USART3 UART7 UART5 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PD0 VBUS INPUT OPENDRAIN
+
+# GPS1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# TELEM1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# DJI O3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# TELEM2
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# RC_INPUT
+PB13 UART5_TX UART5
+PB12 UART5_RX UART5
+PD14 SBUS_INV OUTPUT LOW
+
+# ESC
+PE7 UART7_RX UART7
+
+# TELEM3
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# two I2C bus
+I2C_ORDER I2C1 I2C4
+
+# I2C1 - baro
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C4 - CONNECTOR
+PD12 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# PWM output pins
+PE9  TIM1_CH1 TIM1  PWM(1) GPIO(50) BIDIR
+PE11 TIM1_CH2 TIM1  PWM(2) GPIO(51)
+PE13 TIM1_CH3 TIM1  PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1  PWM(4) GPIO(53)
+PB10 TIM2_CH3 TIM2  PWM(5) GPIO(54) BIDIR
+PB11 TIM2_CH4 TIM2  PWM(6) GPIO(55)
+PB0  TIM3_CH3 TIM3  PWM(7) GPIO(56) BIDIR
+PB1  TIM3_CH4 TIM3  PWM(8) GPIO(57)
+
+# GPIOs
+PA4 PINIO1 OUTPUT GPIO(81) LOW
+PC1 PINIO2 OUTPUT GPIO(82) LOW
+PC0 PINIO3 OUTPUT GPIO(83) LOW
+
+# LEDs
+PD15 LED_RED   OUTPUT HIGH GPIO(90)
+PD11 LED_GREEN OUTPUT HIGH GPIO(91)
+PB15 LED_BLUE  OUTPUT HIGH GPIO(92)
+
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_C_LED_PIN 92
+
+define HAL_GPIO_LED_ON 1
+define HAL_GPIO_LED_OFF 0
+define HAL_HAVE_PIXRACER_LED
+
+# ADC for Power
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC5 BATT_CURRENT_SENS ADC2 SCALE(1)
+
+define HAL_BATT_VOLT_PIN 4
+define HAL_BATT_CURR_PIN 8
+define HAL_BATT_VOLT_SCALE 10.2
+define HAL_BATT_CURR_SCALE 20.4
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# microSD support
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+define FATFS_HAL_DEVICE SDCD1
+
+# SPI1 - IMU0
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA3 BMI088_1_G_CS CS
+PA2 BMI088_1_A_CS CS
+
+# SPI3 - CONNECTOR
+PB3 SPI3_SCK  SPI3
+PB4 SPI3_MISO SPI3
+PB2 SPI3_MOSI SPI3
+
+# SPI4 - IMU1
+PE6 SPI4_MOSI SPI4
+PE2 SPI4_SCK  SPI4
+PE5 SPI4_MISO SPI4
+PC2 BMI088_2_G_CS CS
+PC13 BMI088_2_A_CS CS
+
+# barometers
+BARO SPL06 I2C:0:0x77
+
+# SPI devices
+SPIDEV imu0_a      SPI1 DEVID1  BMI088_1_A_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu0_g      SPI1 DEVID2  BMI088_1_G_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu1_a      SPI4 DEVID3  BMI088_2_A_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu1_g      SPI4 DEVID4  BMI088_2_G_CS    MODE3  10*MHZ 10*MHZ
+
+# 2 IMUs
+IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
+IMU BMI088 SPI:imu1_a SPI:imu1_g ROTATION_ROLL_180_YAW_90
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"