AP_HAL_ChibiOS: Add support for MambaF405US-I2C based boards

libraries/AP_HAL_ChibiOS/hwdef/MambaF405US-I2C/README.md

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+# Mamba Basic F405 Flight Controllers
+
+30x30: https://www.diatone.us/products/mamba-basic-f405-mk3-lite-flight-controlle
+20x20: https://www.diatone.us/products/mamba-basic-f405mini-mk3-5-fc-m2-20mm
+
+The Mamba Basic line of flight controllers are produced by [Diatone](https://www.diatone.us).
+
+## Features
+
+ - STM32F405RGT6 microcontroller
+ - MPU6000 IMU
+ - AT7456E OSD
+ - 4 UARTs
+ - 4 PWM outputs
+
+## Pinout
+
+![Mamba Basic 20x20 Pinout](basic20pinout.png)
+![Mamba Basic 30x30 Pinout](basic30pinout.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.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|PPM/RX1/SBUS/TX1|UART1 (RC Input)|
+|SERIAL2|TX2/RX2|UART2 (Empty)|
+|SERIAL3|TX3/RX3|UART3 (Telem1)|
+|SERIAL4|TX4/RX4|UART4 (Empty)|
+|SERIAL6|TX6/RX6|UART6 (GPS)|
+
+
+## RC Input
+ 
+RC input is configured on the PPM (UART1_RX) pin. It supports all RC protocols.
+  
+## OSD Support
+
+The Mamba F405 MK2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The Mamba F405 MK2 supports up to 4 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types.
+
+The PWM are in one group.
+
+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 sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 3
+ - BATT_VOLT_PIN 11
+ - BATT_VOLT_MULT around 11.0
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT around 28 with the 20x20 40A ESC (calculated, needs to be verified)
+
+## Compass
+
+The Mamba Basic flight controllers do not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Alternate settings
+
+It is possible to set alternate configurations with the BRD_ALT_CONFIG parameter.
+
+|BRD_ALT_CONFIG|RX1 function|
+|:----|:----|
+|ALT 0(default) |RCININT|
+|ALT 1|RX1/TX1|
+
+## 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/MambaF405US-I2C/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for MambaF405 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1038
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# don't allow bootloader to use more than 16k
+FLASH_USE_MAX_KB 16
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PC15 LED_BOOTLOADER OUTPUT LOW # blue
+PC14 LED_GREEN OUTPUT LOW # green
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 15360

libraries/AP_HAL_ChibiOS/hwdef/MambaF405US-I2C/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# Mamba Basic F405 US I2C
+# With F405 MCU, MPU6000 IMU and 7456 series OSD
+# Based on Mamba F405 from jeanphilippehell
+@ thanks to betaflight for pin information
+
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1038
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board voltage
+STM32_VDD 330U
+
+STM32_ST_USE_TIMER 5
+
+# order of I2C buses
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+# this order follows the labels on the board
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+
+# The pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PC5 VBUS INPUT OPENDRAIN
+
+# USART1 is wired to SBUS and PPM input
+# RC input defaults to timer capture
+PB6 TIM4_CH1 TIM4 RCININT PULLDOWN
+PB7 USART1_RX USART1 NODMA
+
+# Alt config to allow RCIN on UART
+PB6 USART1_TX USART1 NODMA ALT(1)
+
+# SBUS inversion control pin, active low
+PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)
+
+# USART2
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# USART3
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+
+# UART4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# UART5
+# These are labeled in betaflight F405US_I2C target but aren't on the board?
+# I'm assuming there are more boards that use this target
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# USART6
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# ADC
+PC1 BAT_VOLT_SENS ADC1 SCALE(1)
+PC2 RSSI_IN ADC1
+PC3 BAT_CURR_SENS ADC1 SCALE(1)
+
+# PWM output. 1 - 4 on ESC header
+PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
+PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
+PC9 TIM3_CH4 TIM3 PWM(3) GPIO(52)
+PC8 TIM3_CH3 TIM3 PWM(4) GPIO(53)
+
+# Board LEDs
+PC15 LED1 OUTPUT LOW GPIO(1)
+PC14 LED2 OUTPUT LOW GPIO(2)
+define HAL_GPIO_A_LED_PIN 1
+define HAL_GPIO_B_LED_PIN 2
+
+# External LEDs
+PB3 LED_EXT1 OUTPUT GPIO(30)
+
+# Buzzer
+PC13 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# Note that this board needs PULLUP on I2C pins
+PB8 I2C1_SCL I2C1 PULLUP
+PB9 I2C1_SDA I2C1 PULLUP
+
+# SPI1 - Internal IMU
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 - OSD
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+# OSD max7456
+PB12 OSD_CS CS
+
+# SPI3 - dataflash
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+# Dataflash M25P16
+PA15 FLASH_CS CS
+
+# SPI Device table
+SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
+SPIDEV osd        SPI2 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
+SPIDEV dataflash  SPI3 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
+
+# One IMU rotated in yaw
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
+
+# Probe for I2C BMP280, but allow init on board variants without onboard baro too
+BARO BMP280 I2C:0:0x76
+define HAL_PROBE_EXTERNAL_I2C_BAROS
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# flash size
+FLASH_SIZE_KB 1024
+# reserve 32k for bootloader and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_VOLT_SCALE 11
+define HAL_BATT_CURR_SCALE 39
+
+# Analog RSSI pin (also could be used as analog airspeed input)
+define BOARD_RSSI_ANA_PIN 1
+
+# Setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+
+define BOARD_PWM_COUNT_DEFAULT 4