AP_HAL_ChibiOS: JFB110 board definition

Co-authored-by: Randy Mackay <[email protected]>

libraries/AP_HAL_ChibiOS/hwdef/JFB110/README.md

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+# JFB-110 Flight Controller
+
+The JFB-110 flight controller is sold by [JAE](https://www.jae.com/Motion_Sensor_Control/eVTOL/FlightController/)
+
+## Features
+
+ - STM32H755 microcontroller
+ - Three IMUs: SCHA63T and IIM42652 x2
+ - Two BAROs: MS5611 SPI barometer x2
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 5 UARTs plus USB, RCIN, SBUS_OUT
+ - 16 PWM outputs
+ - Four I2C and two CAN ports
+ - External Buzzer (Open/Drain and 33V Out)
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART7  (Telem1)
+ - SERIAL2 -> UART5  (Telem2)
+ - SERIAL3 -> USART1 (GPS)
+ - SERIAL4 -> UART4  (GPS2, marked UART/I2CB)
+ - SERIAL5 -> USART6 (RCIN)
+ - SERIAL6 -> UART8  (SBUS_OUT)
+ - SERIAL7 -> USART3 (debug)
+ - SERIAL8 -> USB    (SLCAN)
+
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The USART3 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+
+RC input is configured on the port marked DSM/SBUS RC. This connector
+supports all RC protocols. Two cables are available for this port. To
+use software binding of Spektrum satellite receivers you need to use
+the Spektrum satellite cable.
+
+## PWM Output
+
+The JFB-110 supports up to 16 PWM outputs. 
+These are directly attached to the STM32H755 and support all
+PWM protocols.
+
+The 16 PWM outputs are in 6 groups:
+ - PWM 1 and 2 in group1 (TIM15)
+ - PWM 3 and 4 in group2 (TIM3) 
+ - PWM 5, 11 ,12 and 13 in group3 (TIM4)
+ - PWM 6 ,9 and 10 in group4 (TIM1)
+ - PWM 7 ,8 and 15 in group5 (TIM5)
+ - PWM 14 and 16 in group6 (TIM12)
+
+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 two dedicated power monitor ports on 8 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+Recomended input voltage is 4.9 to 5.5 volt.
+
+## Compass
+
+The JFB-110 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 16 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+ - PWM(1)  50
+ - PWM(2)  51
+ - PWM(3)  52
+ - PWM(4)  53
+ - PWM(5)  54
+ - PWM(6)  55
+ - PWM(7)  56
+ - PWM(8)  57
+ - PWM(9)  58
+ - PWM(10) 59
+ - PWM(11) 60
+ - PWM(12) 61
+ - PWM(13) 62
+ - PWM(14) 63
+ - PWM(15) 64
+ - PWM(16) 65
+ - FMU_CAP1 66
+ - FMU_CAP2 67
+
+
+## Analog inputs
+
+The JFB-110 has 9 analog inputs
+ - ADC Pin16 -> Battery Voltage
+ - ADC Pin18 -> Battery Current Sensor
+ - ADC Pin9  -> Battery Voltage 2
+ - ADC Pin6  -> Battery Current Sensor 2
+ - ADC Pin5  -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin10 -> RSSI voltage monitoring
+ - ADC Pin12 -> ADC SPARE 1
+ - ADC Pin13 -> ADC SPARE 2
+
+## I2C Buses
+
+The JFB-110 has 4 I2C interfaces.
+I2C 3 is for internal only.
+ - the internal I2C port  is bus 3 in ArduPilot (I2C3 in hardware)
+ - the port labelled I2CA is bus 4 in ArduPilot (I2C4 in hardware)
+ - the port labelled I2CB is bus 2 in ArduPilot (I2C2 in hardware)
+ - the port labelled GPS  is bus 1 in ArduPilot (I2C1 in hardware)
+
+## CAN
+
+The JFB-110 has two independent CAN buses, with the following pinouts.
+
+## Debug
+
+The JFB-110 supports SWD debugging on the debug port
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.

libraries/AP_HAL_ChibiOS/hwdef/JFB110/defaults.parm

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+# board setting
+BRD_VBUS_MIN 4.9
+
+# setup SERIAL4 for BPort
+SERIAL4_BAUD 57
+SERIAL4_PROTOCOL -1
+SERIAL4_OPTIONS 0
+# setup SERIAL5 to RCIN
+SERIAL5_BAUD 100
+SERIAL5_PROTOCOL 23
+SERIAL5_OPTIONS 3
+# setup SERIAL6 to SBUS OUT
+SERIAL6_BAUD 100
+SERIAL6_PROTOCOL 15
+SERIAL6_OPTIONS 3
+# setup SERIAL7 for debug console
+SERIAL7_BAUD 921
+SERIAL7_PROTOCOL 0
+SERIAL7_OPTIONS 0
+
+#Three IMU Setting
+EK3_IMU_MASK 7
+INS_ENABLE_MASK 7
+
+#RSSI Setting
+RSSI_TYPE 1
+RSSI_ANA_PIN 10
+

libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the JFB110 hardware
+
+# board ID for firmware load
+APJ_BOARD_ID 1110
+
+# MCU class and specific type
+MCU STM32H7xx STM32H755xx
+define CORE_CM7
+#define SMPS_PWR
+
+# crystal frequency 24MHz
+OSCILLATOR_HZ 24000000
+
+# the location where the bootloader will put the firmware
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+# the H755 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+# with 2M flash we can afford to optimize for speed
+FLASH_SIZE_KB 2048
+HAL_STORAGE_SIZE 32768
+
+env OPTIMIZE -Os
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# USB setup
+# USB_VENDOR 0x0A8E  # JAE
+# USB_PRODUCT 0x8888 # This is temp Number
+USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd."
+USB_STRING_PRODUCT "JFB-110"
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# serial port for stdout, set SERIAL7_PROTOCOL 0(none) when using
+# The value for STDOUT_SERIAL is a serial device name, and must be for a 
+# serial device for which pins are defined in this file. For example, SD3
+# is for USART3 (SD3 == "serial device 3" in ChibiOS).
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 921600
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB OTG1 SERIAL0
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PH3  SCHA63T_G_CS CS   # SPI1_CS1
+PH4  SCHA63T_A_CS CS   # SPI1_CS2
+PH5  MS5611_2_CS CS    # SPI1_CS3
+PG6  AT25512_CS CS     # SPI1_CS4
+PG7  FRAM_CS CS        # SPI3_CS1
+PF10 IIM42652_1_CS CS  # SPI3_CS2
+PH15 MS5611_1_CS CS    # SPI4_CS1
+PG15 IIM42652_2_CS CS  # SPI4_CS2
+
+# telem1 
+PE8  UART7_TX  UART7
+PE10 UART7_CTS UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+
+# telem2
+PC12 UART5_TX  UART5
+PC9  UART5_CTS UART5
+PD2  UART5_RX  UART5
+PC8  UART5_RTS UART5
+
+# debug uart
+PD8  USART3_TX USART3 NODMA
+PD9  USART3_RX USART3 NODMA
+
+# armed indication
+PB10 nARMED OUTPUT HIGH  # TP8
+
+# This defines an output pin which will default to output HIGH. It is
+# a pin that enables peripheral power on this board. It starts in the
+# off state, then is pulled low to enable peripherals in
+# peripheral_power_enable()
+PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+PG12 VDD_3V3_SENSORS_EN OUTPUT LOW
+PD4  VDD_3V3_SENSORS2_EN OUTPUT LOW
+PD3  VDD_3V3_SENSORS3_EN OUTPUT LOW
+#VDD_3V3_SENSORS4_EN OUTPUT LOW
+#VDD_3V3_SD_CARD_EN  OUTPUT LOW
+
+# PWM output pins
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PA2  PWMOUT1  OUTPUT LOW
+PE6  PWMOUT2  OUTPUT LOW
+PA7  PWMOUT3  OUTPUT LOW
+PA6  PWMOUT4  OUTPUT LOW
+PD15 PWMOUT5  OUTPUT LOW
+PE9  PWMOUT6  OUTPUT LOW
+PH11 PWMOUT7  OUTPUT LOW
+PH10 PWMOUT8  OUTPUT LOW
+PA10 PWMOUT9  OUTPUT LOW
+PA9  PWMOUT10 OUTPUT LOW
+PD14 PWMOUT11 OUTPUT LOW
+PD13 PWMOUT12 OUTPUT LOW
+PD12 PWMOUT13 OUTPUT LOW
+PH9  PWMOUT14 OUTPUT LOW
+PH12 PWMOUT15 OUTPUT LOW
+PH6  PWMOUT16 OUTPUT LOW
+PD11 PWM_OE   OUTPUT HIGH
+PD5  PWM_OE2  OUTPUT HIGH
+
+# controlled manually
+PG13 GPIO_CAN1_SILENT OUTPUT PUSHPULL HIGH
+PG8  GPIO_CAN2_SILENT OUTPUT PUSHPULL HIGH
+
+# Control of Spektrum power pin
+PH2 SPEKTRUM_PWR OUTPUT LOW GPIO(69)
+
+# LEDs
+#PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH
+##PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW
+##PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) LOW
+
+PE4 LED_BOOTLOADER OUTPUT HIGH
+PE5 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+#define HAL_USE_EMPTY_STORAGE 1
+#define HAL_STORAGE_SIZE 32768
+
+# enable DFU by default
+#ENABLE_DFU_BOOT 1