AP_HAL_ChibiOS: hwdef: ARK_FPV board support

Tools/AP_Bootloader/board_types.txt

@@ -12,6 +12,7 @@ TARGET_HW_PX4_FMU_V5X                  51
 TARGET_HW_PX4_FMU_V6                   52
 TARGET_HW_PX4_FMU_V6X                  53
 TARGET_HW_ARK_FMU_V6X                  57
+TARGET_HW_ARK_FPV                      59
 TARGET_HW_MINDPX_V2                    88
 TARGET_HW_PX4_FLOW_V1                   6
 TARGET_HW_PX4_DISCOVERY_V1             99
@@ -57,6 +58,7 @@ Reserved "PX4 [BL] FMU v6X.x"          53
 Reserved "PX4 [BL] FMU v6C.x"          56
 
 Reserved "ARK [BL] FMU v6X.x"          57
+Reserved "ARK [BL] FPV"                59
 
 Reserved "GUMSTIX [BL] FMU v6"         54
 Reserved "ARK CAN FLOW"                80

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md

@@ -0,0 +1,181 @@
+# ARK FPV Flight Controller
+
+https://arkelectron.com/product/ark-fpv-flight-controller/
+
+
+## Features
+#### Processor
+- STM32H743 32-bit processor
+- 480MHz
+- 2MB Flash
+- 1MB RAM
+#### Sensors
+- Invensense IIM-42653 Industrial IMU with heater resistor
+- Bosch BMP390 Barometer
+- ST IIS2MDC Magnetometer
+#### Power
+- 5.5V - 54V (2S - 12S) input
+- 12V, 2A output
+- 5V, 2A output. 300ma for main system, 200ma for heater
+#### Interfaces
+- **Micro SD**
+- **USB-C**
+  - VBUS In, USB
+- **PWM**
+  - VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable
+  - JST-GH 8 Pin
+- **PWM EXTRA**
+  - 5x PWM and Bidirectional-DSHOT capable
+  - JST-SH 6 Pin
+- **RC Input**
+  - 5V Out, UART
+  - JST-GH 4 Pin
+- **POWER AUX**
+  - 12V Out, VBAT In/Out
+  - JST-GH 3 Pin
+- **TELEM**
+  - 5V Out, UART with flow control
+  - JST-GH 6 Pin
+- **GPS**
+  - 5V Out, UART, I2C
+  - JST-GH 6 Pin
+- **CAN**
+  - 5V Out, CAN
+  - JST-GH 4 Pin
+- **VTX**
+  - 12V Out, UART TX/RX, UART RX
+  - JST-GH 6 Pin
+- **SPI** (OSD or External IMU)
+  - 5V Out, SPI
+  - JST-SH 8 Pin
+- **DEBUG**
+  - 3.3V Out, UART, SWD
+  - JST-SH 6 Pin
+
+##### Dimensions
+- Size: 3.6 × 3.6 × 0.8 cm
+- Weight: 7.5g with MicroSD card
+
+## Pinout
+#### PWM UART4 - 8 Pin JST-GH
+| Pin | Signal Name     | Voltage      |
+|-----|-----------------|--------------|
+| 1   | VBAT IN         | 5.5V-54V     |
+| 2   | CURR_IN_EXT     | 3.3V         |
+| 3   | UART4_RX_EXT    | 3.3V         |
+| 4   | FMU_CH1_EXT     | 3.3V         |
+| 5   | FMU_CH2_EXT     | 3.3V         |
+| 6   | FMU_CH3_EXT     | 3.3V         |
+| 7   | FMU_CH4_EXT     | 3.3V         |
+| 8   | GND             | GND          |
+
+#### RC - 4 Pin JST-GH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V               | 5.0V    |
+| 2   | USART6_RX_IN_EXT    | 3.3V    |
+| 3   | USART6_TX_OUTPUT_EXT| 3.3V    |
+| 4   | GND                | GND     |
+
+#### PWM EXTRA - 6 Pin JST-SH
+| Pin | Signal Name     | Voltage |
+|-----|-----------------|---------|
+| 1   | FMU_CH5_EXT     | 3.3V    |
+| 2   | FMU_CH6_EXT     | 3.3V    |
+| 3   | FMU_CH7_EXT     | 3.3V    |
+| 4   | FMU_CH8_EXT     | 3.3V    |
+| 5   | FMU_CH9_EXT     | 3.3V    |
+| 6   | GND             | GND     |
+
+#### POWER AUX - 3 Pin JST-GH
+| Pin | Signal Name | Voltage      |
+|-----|-------------|--------------|
+| 1   | 12.0V       | 12.0V        |
+| 2   | VBAT IN/OUT | 5.5V-54V     |
+| 3   | GND         | GND          |
+
+#### CAN - 4 Pin JST-GH
+| Pin | Signal Name | Voltage |
+|-----|-------------|---------|
+| 1   | 5.0V        | 5.0V    |
+| 2   | CAN1_P      | 5.0V    |
+| 3   | CAN1_N      | 5.0V    |
+| 4   | GND         | GND     |
+
+#### GPS - 6 Pin JST-GH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V                | 5.0V    |
+| 2   | USART1_TX_GPS1_EXT  | 3.3V    |
+| 3   | USART1_RX_GPS1_EXT  | 3.3V    |
+| 4   | I2C1_SCL_GPS1_EXT   | 3.3V    |
+| 5   | I2C1_SDA_GPS1_EXT   | 3.3V    |
+| 6   | GND                 | GND     |
+
+#### TELEM - 6 Pin JST-GH
+| Pin | Signal Name           | Voltage |
+|-----|-----------------------|---------|
+| 1   | 5.0V                 | 5.0V    |
+| 2   | UART7_TX_TELEM1_EXT  | 3.3V    |
+| 3   | UART7_RX_TELEM1_EXT  | 3.3V    |
+| 4   | UART7_CTS_TELEM1_EXT | 3.3V    |
+| 5   | UART7_RTS_TELEM1_EXT | 3.3V    |
+| 6   | GND                  | GND     |
+
+#### VTX - 6 Pin JST-GH
+| Pin | Signal Name           | Voltage |
+|-----|-----------------------|---------|
+| 1   | 12.0V                | 12.0V   |
+| 2   | GND                  | GND     |
+| 3   | UART5_TX_TELEM2_EXT  | 3.3V    |
+| 4   | UART5_RX_TELEM2_EXT  | 3.3V    |
+| 5   | USART2_RX_TELEM3_EXT | 3.3V    |
+| 6   | GND                  | GND     |
+
+#### SPI (OSD or IMU) - 8 Pin JST-SH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V                | 5.0V    |
+| 2   | SPI6_SCK_EXT        | 3.3V    |
+| 3   | SPI6_MISO_EXT       | 3.3V    |
+| 4   | SPI6_MOSI_EXT       | 3.3V    |
+| 5   | SPI6_nCS1_EXT       | 3.3V    |
+| 6   | SPI6_DRDY1_EXT      | 3.3V    |
+| 7   | SPI6_nRESET_EXT     | 3.3V    |
+| 8   | GND                 | GND     |
+
+#### Flight Controller Debug - 6 Pin JST-SH
+| Pin | Signal Name     | Voltage |
+|-----|-----------------|---------|
+| 1   | 3V3_FMU        | 3.3V    |
+| 2   | USART4_TX_DEBUG | 3.3V    |
+| 3   | USART4_RX_DEBUG | 3.3V    |
+| 4   | FMU_SWDIO      | 3.3V    |
+| 5   | FMU_SWCLK      | 3.3V    |
+| 6   | GND            | GND     |
+
+
+## UART Mapping
+
+|Name|Function|
+|:-|:-|
+|SERIAL0|USB|
+|SERIAL1|UART7 (Telem)|
+|SERIAL2|UART5 (VTX - DJI Air Unit, RX/TXT)|
+|SERIAL3|USART1 (GPS1)|
+|SERIAL4|USART2 (VTX - DJI Air Unit, RX only)|
+|SERIAL5|UART4 (ESC Telem, RX only)|
+|SERIAL6|USART6 (RC Input)|
+|SERIAL7|OTG2 (SLCAN)|
+
+All UARTS support DMA.
+
+## OSD Support
+
+This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.
+
+## Motor Output
+
+Motors 1-8 are capable of Bidirectional-DSHOT and PWM. All outputs in the motor groups below must be either PWM or DShot:
+- Motors 1-4  Group1 (TIM5)
+- Motors 5-8  Group2 (TIM8)

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc

@@ -0,0 +1,32 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 59
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# 480Hz is only value support on H7
+# MCU_CLOCKRATE_MHZ 320
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm

@@ -0,0 +1,6 @@
+# CAN
+CAN_P1_DRIVER 1  # Enables the use of CAN
+
+# Onboard OSD
+OSD_TYPE 5 # MSP
+OSD_CELL_COUNT 0 # auto based on voltage at start

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

@@ -0,0 +1,41 @@
+# Processed by chibios_hwdef.py
+
+include common.inc
+
+# Bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# Location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+env OPTIMIZE -Os
+
+SERIAL_ORDER OTG1 UART7 USART1 USART3
+
+PI9  IMU1_CS CS # SPI1 CS - IIM42653
+PI10 EXT1_CS CS # SPI6 CS - external
+
+# Telem1 - Telem
+PE8  UART7_TX  UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# GPS
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# Armed indication
+PE6 nARMED OUTPUT HIGH
+
+# 12V peripheral enable
+PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+# LEDs
+PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+# No param flash storage for bootloader
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384