AP_HAL_ChibiOS: Add Aocoda-RC-H743Dual target

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/README.md

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+# Aocoda-RC-H743Dual Flight Controller
+
+The Aocoda-RC-H743Dual is a flight controller produced by [Aocoda-RC](https://www.aocoda-rc.com/). 
+
+## Features
+
+- MCU：STM32H743VIH6
+- Gyro：MPU6000/BIM270x2
+- Baro：DPS310/MS56XX/BMP280
+- Blackbox：128MB
+- PWM output：10CH
+- Servo：2CH
+- UART：8CH
+- Power Supply：3-6SLipo
+- BEC Output：5V/2.5A, 9V/3A
+- USB Connector: Type-C
+- Weight：8.8g
+- Size：37mm x 37mm
+- Mounting Hole：30.5mm x 30.5mm
+
+## Pinout
+
+
+![Aocoda-RC-H743Dual Top](Aocoda-RC-H743Dual_top.jpg "Aocoda-RC-H743Dual Top")
+![Aocoda-RC-H743Dual Bottom](Aocoda-RC-H743Dual_bottom.jpg "Aocoda-RC-H743Dual Bottom")
+![Aocoda-RC-H743Dual Wiring](Aocoda-RC-H743Dual_Wiring_Diagram.jpg "Aocoda-RC-H743Dual Wiring")
+
+
+## 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 (primary mavlink, usually USB)
+ - SERIAL1 -> UART1 (RC input)
+ - SERIAL2 -> UART2 (GPS) 
+ - SERIAL3 -> UART3 (VTX)
+ - SERIAL4 -> UART4
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6 (ESC Telemetry)
+ - SERIAL7 -> UART7
+ - SERIAL8 -> UART8
+
+## RC Input
+
+RC input is configured on SERIAL1 (USART1), which is available on the Rx1, Tx1. PPM receivers are *not* supported as this input does not have a timer resource available. 
+
+*Note* It is recommend to use CRSF/ELRS. 
+
+With recommended option:
+
+- Set SERIAL1_PROTOCOL<SERIAL1_PROTOCOL must be set to "23"
+- Set SERIAL1_OPTIONS<SERIAL1_OPTIONS to "0".
+
+## OSD Support
+
+The Aocoda-RC-H743Dual supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The Aocoda-RC-H743Dual supports up to 12 PWM outputs. 
+
+- The pads for motor output S1 to S8 on the two motor connectors, and bi-dshot default settings.
+- S9, S10 for two servos
+- SE1(S11), SE2(S12) for servo/pinio
+
+The PWM is in 6 groups:
+
+ - PWM 1, 2  in group1
+ - PWM 3, 4  in group2
+ - PWM 5, 6  in group3
+ - PWM 7, 8  in group4
+ - PWM 9, 10 in group5
+ - PWM 11, 12 in group6
+
+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.
+
+## Pin IO
+
+- PINIO1: 9V DCDC control (HIGH:on; LOW:off)
+
+*Note: DCDC default is enabled.*
+
+## Battery Monitoring
+
+The board has a built-in voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle from 3S to 6S LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11
+ - BATT2_VOLT_PIN 18
+ - BATT2_CURR_PIN 7
+ - BATT2_VOLT_MULT 11
+
+Please calibrate before use amp parameters.
+
+ - BATT_AMP_PERVLT 17.0
+ - BATT2_AMP_PERVLT 17.0
+
+*Note: Please check carefully before use BATT_AMP_PERVLT/BATT2_AMP_PERVLT, as voltage divider circuit for data collection is at ESC/BEC side*
+
+## Compass
+
+The Aocoda-RC-H743Dual does not have a built-in 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.
+
+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/Aocoda-RC-H743Dual/defaults.parm

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+# setup for LEDs on chan13
+SERVO13_FUNCTION 120

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+#
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AOCODA-RC-H743DUAL
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 #UART7
+
+# UART7 (telem1)
+#PE7 UART7_RX UART7 NODMA
+#PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD3  FLASH_CS CS

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Aocoda-RC-H743Dual: MPU6000/BMI270x2
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AOCODA-RC-H743DUAL
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB setup
+USB_STRING_MANUFACTURER "Aocoda-RC-H743Dual"
+
+# Now we define the pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# OTG USB VBUS
+PE2 VBUS INPUT
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1 (BMI270/MPU6000)
+PC15 IMU1_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for SPI flash - W25N01GV
+PD3 FLASH_CS CS
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# SPI4 for IMU2 (BMI270)
+PE11 IMU2_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# two I2C bus, order of I2C buses
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC for Power
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 18
+define HAL_BATT2_CURR_PIN 7
+
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 40.0
+define HAL_BATT2_VOLT_SCALE 11.0
+
+# ADC for airspeed
+PC4 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 4
+
+# ADC for rssi
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 8
+
+# Define LEDs
+# blue LED0 marked as ACT
+# green LED1 marked as B/E
+PE3 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # orange
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# The normal usage of this ordering is:
+# 1) SERIAL0: console (primary mavlink, usually USB)
+# 2) SERIAL1: RC input
+# 3) SERIAL2: GPS
+# 4) SERIAL3: VTX
+# 5) SERIAL4: spare
+# 6) SERIAL6: ESC Telemetry
+# 7) SERIAL7: spare
+# 8) SERIAL8: spare
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
+
+# USART1 (RC input), SERIAL1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
+
+# USART2 (GPS), SERIAL2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS
+
+# USART3 (VTX), SERIAL3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_DJI_FPV
+
+# UART4 (Telemetry), SERIAL4
+PB8 UART4_RX UART4
+PB9 UART4_TX UART4
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+
+# USART6 (ESC Telemetry), SERIAL6
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART7 (spare), SERIA7
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# UART8 (Optical Flow), SERIAL8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# Motors
+PB0  TIM3_CH3 TIM3  PWM(1)  GPIO(50) BIDIR   //S1
+PB1  TIM3_CH4 TIM3  PWM(2)  GPIO(51)         //S2
+PA0  TIM2_CH1 TIM2  PWM(3)  GPIO(52) BIDIR   //S3
+PA1  TIM2_CH2 TIM2  PWM(4)  GPIO(53)         //S4
+PA2  TIM5_CH3 TIM5  PWM(5)  GPIO(54) BIDIR   //S5
+PA3  TIM5_CH4 TIM5  PWM(6)  GPIO(55)         //S6
+PD12 TIM4_CH1 TIM4  PWM(7)  GPIO(56) BIDIR   //S7
+PD13 TIM4_CH2 TIM4  PWM(8)  GPIO(57)         //S8
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) BIDIR  //S9
+PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)        //S10
+
+# Servos
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA  //SE1
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA  //SE2
+
+# LED stripe
+PA8  TIM1_CH1 TIM1  PWM(13) GPIO(62)
+
+# PWM output for buzzer/Beeper
+PA15 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
+define HAL_BUZZER_PIN 80
+
+# GPIOs for 9V DCDC control (HIGH:on; LOW:off)
+PD10  PINIO1 OUTPUT GPIO(81) HIGH
+
+# GPIOs for pinio // not used
+#PD11  PINIO2 OUTPUT GPIO(82) LOW
+
+# DMA Priority
+DMA_PRIORITY S* TIM3* TIM2*
+DMA_NOSHARE SPI1* SPI4* TIM3* TIM2*
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# spi devices
+SPIDEV mpu6000       SPI1 DEVID1 IMU1_CS      MODE3   1*MHZ   8*MHZ
+SPIDEV bmi270_1      SPI1 DEVID1 IMU1_CS      MODE3  10*MHZ  10*MHZ
+SPIDEV bmi270_2      SPI4 DEVID1 IMU2_CS      MODE3  10*MHZ  10*MHZ
+SPIDEV dataflash     SPI3 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ
+SPIDEV osd           SPI2 DEVID4 MAX7456_CS   MODE0  10*MHZ  10*MHZ
+
+# two BMI270 or one MPU6000 IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_270
+IMU BMI270 SPI:bmi270_1 ROTATION_ROLL_180_YAW_90
+IMU BMI270 SPI:bmi270_2 ROTATION_PITCH_180
+
+# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
+BARO MS56XX I2C:0:0x77
+BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
+
+# 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
+define HAL_I2C_INTERNAL_MASK 1
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV
+
+