AP_HAL_ChibiOS: add CSKY405 board

Tools/AP_Bootloader/board_types.txt

@@ -266,6 +266,7 @@ AP_HW_MicoAir405v2                   1150
 AP_HW_ORAQF405PRO                    1155
 AP_HW_CBU_StampH743                  1156
 AP_HW_FOXEERF405_V2                  1157
+AP_HW_CSKY405                        1158
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

libraries/AP_HAL_ChibiOS/hwdef/CSKY405/Readme.md

@@ -0,0 +1,101 @@
+# CSKY405 Flight Controller
+
+The CSKY405 is a flight controller produced by [ClearSky](http://csky.space/).
+
+## Features
+    Processor
+        STM32F405 168Mhz, 1MB 32-bit processor
+        AT7456E OSD
+    Sensors
+        BMI088 Acc/Gyro
+        BMP390 barometer
+    Power
+        2S - 6S Lipo input voltage with voltage monitoring
+        90A Cont., 215A peak current monitor
+        12V, 2A BEC for powering Video Transmitter controlled by GPIO
+        5V, 2.5A BEC for internal and peripherals
+    Interfaces
+        10x PWM outputs DShot capable
+        1x RC input
+        6x UARTs/serial for GPS and other peripherals
+        I2C port for external compass, airspeed, etc.
+        microSDCard for logging, etc.
+        USB-C port
+
+
+## Overview
+
+![CSKY405](CSKY405.png)
+
+## Wiring Diagram
+
+![CSKY405 Wiring](CSKY405_wiring.png)
+
+## 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 -> UART4  (MAVLink2 telem)
+ - SERIAL2 -> USART1 (Serial RC input) (DMA capable)
+ - SERIAL3 -> UART5  (GPS)
+ - SERIAL4 -> USART3 (User) (TX DMA capable)
+ - SERIAL5 -> USART6 (User) (TX DMA capable)
+ - SERIAL6 -> USART2 (RX tied to inverted SBUS RC input, but can be used as normal UART if :ref:`BRD_ALT_CONFIG<>` =1) 
+
+
+## RC Input
+
+RC input is configured on the SBUS pin (inverted and sent to UART2_RX). It supports all RC
+protocols except serial protocols such as CRSF, ELRS, etc. Instead, these devices can be connected to UART4 (SERIAL1).
+
+## OSD Support
+
+The CSKY405 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using USART6 or any other free USART6. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+The CSKY405 supports up to 10 PWM outputs. S1-S4 outputs support DShot.
+
+The PWM is in 5 groups:
+
+ - PWM 1 in group1
+ - PWM 2 in group2
+ - PWM 3,4 in group3
+ - PWM 5,6,10 in group4
+ - PWM 7 in group5
+ - PWM 8,9 in group6
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 90A continuosly, 215 Amps peak. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are set by default and are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 14
+ - BATT_CURR_PIN 7
+ - BATT_VOLT_MULT 21.0
+ - BATT_AMP_PERVLT 10.35
+
+## Compass
+
+The CSKY405 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+
+GPIO 84 controls the VTX BEC output to pins marked "12V". Setting this GPIO high removes voltage supply to pins.
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled CSKY405.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "CSKY405_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Subsequently, you can update firmware with Mission Planner.
+
+

libraries/AP_HAL_ChibiOS/hwdef/CSKY405/hwdef-bl.dat

@@ -0,0 +1,36 @@
+# hw definition file for CSKY405
+
+USB_STRING_MANUFACTURER "CSKY"
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1158
+
+FLASH_RESERVE_START_KB 0
+FLASH_SIZE_KB 1024
+FLASH_BOOTLOADER_LOAD_KB 48
+
+PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0)  # blue
+PA13 LED_ACTIVITY OUTPUT LOW GPIO(1)    # Green
+define HAL_LED_ON 0
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART1
+
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Add CS pins to ensure they are high in bootloader
+PC14 BMI088_A_CS CS
+PA4  BMI088_G_CS CS
+PB12 OSD_CS CS
+PC13 FLASH_CS CS
+PC1  SDCARD_CS CS

libraries/AP_HAL_ChibiOS/hwdef/CSKY405/hwdef.dat

@@ -0,0 +1,190 @@
+# hw definition file for CSKY405
+
+USB_STRING_MANUFACTURER "CSKY"
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# bootloader starts firmware at 48k
+FLASH_RESERVE_START_KB 48
+FLASH_SIZE_KB 1024
+
+# store parameters in pages 11 and 12
+STORAGE_FLASH_PAGE 1
+define HAL_STORAGE_SIZE 15360
+
+# board ID for firmware load
+APJ_BOARD_ID 1158
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+
+# --------------------- LED -----------------------
+PA14 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT
+PA13 LED1 OUTPUT LOW GPIO(91) # green marked as B/E
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# --------------------- PWM -----------------------
+PA8  TIM1_CH1   TIM1  PWM(1)  GPIO(50)          // S1
+PB1  TIM3_CH4   TIM3  PWM(2)  GPIO(51)          // S2
+PC9  TIM8_CH4   TIM8  PWM(3)  GPIO(52)          // S3
+PC8  TIM8_CH3   TIM8  PWM(4)  GPIO(53)          // S4
+
+PB11 TIM2_CH4   TIM2  PWM(5)  GPIO(54)          // S5
+PB10 TIM2_CH3   TIM2  PWM(6)  GPIO(55)          // S6
+PB9  TIM4_CH4   TIM4  PWM(7)  GPIO(57) NODMA    // S7
+PB15 TIM12_CH2  TIM12 PWM(8)  GPIO(58) NODMA    // S8
+
+PB14 TIM12_CH1  TIM12 PWM(9)  GPIO(59) NODMA    // S9
+PA5  TIM2_CH1   TIM2  PWM(10) GPIO(60) NODMA    // S10
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# Beeper
+PC13 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# GPIOs
+PB2  PINIO1 OUTPUT GPIO(81) LOW 
+PB8  PINIO2 OUTPUT GPIO(82) LOW 
+PC15 PINIO3 OUTPUT GPIO(83) LOW 
+PC0  PINIO4 OUTPUT GPIO(84) HIGH # BEC 12V enable
+
+# --------------------- SPI1 -----------------------
+PB3  SPI1_SCK SPI1
+PB4  SPI1_MISO SPI1
+PB5  SPI1_MOSI SPI1
+
+PC14 BMI088_A_CS CS
+PA4  BMI088_G_CS CS
+
+# --------------------- SPI2 -----------------------
+PB13 SPI2_SCK SPI2
+PC2  SPI2_MISO SPI2
+PC3  SPI2_MOSI SPI2
+
+PB12 OSD_CS CS
+PC1  SDCARD_CS CS
+
+# -------------------- I2C bus --------------------
+I2C_ORDER I2C1
+
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# --------------------- UARTs ---------------------------
+SERIAL_ORDER OTG1 UART4 USART1 UART5 USART3 USART6 USART2
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA9  USART1_TX USART1 
+PA10 USART1_RX USART1
+
+# USART2 (RCIN with inverter)
+# alternative using USART2
+PA2 USART2_TX USART2 
+PA3 USART2_RX USART2  ALT(1)
+
+# default to timer for RC input
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
+
+# USART3
+PC10  USART3_TX USART3
+PC11  USART3_RX USART3
+
+# UART4
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+# UART5, for GPS
+PC12 UART5_TX UART5 NODMA
+PD2  UART5_RX UART5 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS
+define HAL_SERIAL3_BAUD AP_SERIALMANAGER_GPS_BAUD
+
+# USART6
+PC6  USART6_TX USART6
+PC7  USART6_RX USART6 NODMA
+
+# ------------------- DMA assignment -------------------
+DMA_PRIORITY  SPI1* UART2* TIM1* TIM8* TIM3* SPI2* ADC1
+
+# ------------------- IMU BMI088 ---------------------
+SPIDEV bmi088_g       SPI1 DEVID1  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_a       SPI1 DEVID2  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
+#define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+
+# ------------------ OSD AT7456E ----------------------
+SPIDEV osd       SPI2  DEVID2  OSD_CS  MODE0 10*MHZ 10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+
+# --------------------- SD & FLASH ----------------------
+SPIDEV sdcard    SPI2 DEVID3 SDCARD_CS  MODE3 104*MHZ 104*MHZ
+
+#define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# ----------------- I2C compass & Baro -----------------
+# 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 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# built-in barometer
+BARO BMP388 I2C:0:0x77
+
+# --------------------- ADC ---------------------------
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC5 RSSI_ADC_PIN      ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+
+define HAL_BATT_VOLT_PIN 14
+define HAL_BATT_VOLT_SCALE 21.0
+
+define HAL_BATT_CURR_PIN 7
+define HAL_BATT_CURR_SCALE 10.35
+
+define BOARD_RSSI_ANA_PIN 15
+define HAL_DEFAULT_AIRSPEED_PIN 10
+
+# -------reduce max size of embedded params for apj_tool.py
+define AP_PARAM_MAX_EMBEDDED_PARAM 1024
+define HAL_GYROFFT_ENABLED 0
+
+# --------------------- save flash ----------------------
+# save some flash
+include ../include/minimize_fpv_osd.inc
+include ../include/no_bootloader_DFU.inc
+
+define HAL_PARACHUTE_ENABLED 1
+define HAL_SPRAYER_ENABLED 0
+define AP_GRIPPER_ENABLED 0
+define HAL_RUNCAM_ENABLED 0
+define HAL_HOTT_TELEM_ENABLED 0
+define HAL_NMEA_OUTPUT_ENABLED 0
+define HAL_BUTTON_ENABLED 0
+define AP_NOTIFY_OREOLED_ENABLED 0
+define HAL_PICCOLO_CAN_ENABLE 0