From 93f551e56e146a60b7a35851ee2b6911fe9595b0 Mon Sep 17 00:00:00 2001
From: anbello <anbello@gmail.com>
Date: Sun, 6 May 2018 15:42:30 +0200
Subject: [PATCH] define for AirbotF4 board (ChibiOS HAL) 	modified:  
 libraries/AP_HAL/AP_HAL_Boards.h 	new file:  
 libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat

---
 libraries/AP_HAL/AP_HAL_Boards.h              |   1 +
 .../AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat   | 128 ++++++++++++++++++
 2 files changed, 129 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 2cdc98dfa1..245ca42f1d 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -74,6 +74,7 @@
 #define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC       5009
 #define HAL_BOARD_SUBTYPE_CHIBIOS_F4BY          5010
 #define HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO  5011
+#define HAL_BOARD_SUBTYPE_CHIBIOS_AIRBOTF4  5012
 
 /* InertialSensor driver types */
 #define HAL_INS_NONE         0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
new file mode 100644
index 0000000000..a58b5dd063
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef.dat
@@ -0,0 +1,128 @@
+# hw definition file for processing by chibios_pins.py
+# Omnibus F4 PRO, Omnibus F4 V3 boards
+# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd  and sdcard
+
+MCU STM32F4xx STM32F405xx
+
+HAL_CHIBIOS_ARCH_F405 1
+
+# board ID for firmware load
+APJ_BOARD_ID 70
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+# board voltage
+STM32_VDD 330U
+
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 64
+
+CCM_RAM_SIZE_KB 64
+RAM_SIZE_KB 128
+
+# order of I2C buses
+I2C_ORDER I2C2
+
+# order of UARTs
+UART_ORDER OTG1 USART6 USART1
+
+#adc
+PC1 BAT_CURR_SENS ADC1 SCALE(1)
+PC2 BAT_VOLT_SENS ADC1 SCALE(1)
+PA0 RSSI_IN ADC1
+
+#pwm output
+PB0 TIM1_CH2N TIM1 PWM(1) GPIO(26)
+PB1 TIM1_CH3N TIM1 PWM(2) GPIO(27)
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(17)
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(16)
+PA1 TIM2_CH2 TIM2 PWM(5) GPIO(15)
+PA8 TIM1_CH1 TIM1 PWM(6) GPIO(41)
+
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+#PB15 SPI2_MOSI SPI2
+#PB14 SPI2_MISO SPI2
+#PB13 SPI2_SCK SPI2
+#PB12 SDCARD_CS CS
+
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+#PA15 OSD_CS CS
+#PB3 BMP280_CS CS
+#PC12 SPI3_MOSI SPI3
+#PC11 SPI3_MISO SPI3
+#PC10 SPI3_SCK SPI3
+
+PB5 LED OUTPUT HIGH GPIO(57)
+PB4 TIM3_CH1 TIM3 GPIO(56) ALARM
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PC5 VBUS INPUT OPENDRAIN
+
+# "PPM" solder pad/resistor should be soldered and "S-BUS" resistor/solder pad removed
+# Overwise UART1 or UART6 or RCIN will not work
+#PB8 TIM4_CH3 TIM4 RCININT PULLDOWN LOW
+PB14 TIM12_CH1 TIM12 RCININT PULLDOWN LOW
+
+#Omnibus F4 V3 and later had hw inverter on UART6
+#Overide it to use as GPS UART port
+#PC8 SBUS_INVERT OUTPUT LOW
+
+# SPI Device table 
+SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
+#SPIDEV sdcard     SPI2 DEVID2 SDCARD_CS MODE3 1*MHZ 16*MHZ
+#SPIDEV bmp280     SPI3 DEVID3 BMP280_CS MODE3 1*MHZ 8*MHZ
+#SPIDEV osd        SPI3 DEVID4 OSD_CS MODE0 1*MHZ 4*MHZ
+
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_AIRBOTF4
+
+define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
+define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
+
+#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
+#define HAL_BARO_BMP280_NAME "bmp280"
+
+define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
+define HAL_BARO_MS5611_I2C_BUS 0
+define HAL_BARO_MS5611_I2C_ADDR 0x77
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
+define HAL_COMPASS_HMC5843_I2C_BUS 0
+define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
+
+define STORAGE_FLASH_PAGE 1
+define HAL_STORAGE_SIZE 8192
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11
+define HAL_BATT_CURR_SCALE 18.2
+
+define HAL_GPIO_A_LED_PIN 57
+
+#To complementary channels work we define this
+define STM32_PWM_USE_ADVANCED TRUE
+
+define BOARD_PWM_COUNT_DEFAULT 6