BrahmaF4 autopilot

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/README.md

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+
+# Brahma F4 Flight Controller
+
+ F4 is a flight controller manufactured by [Darkmatter®](https://thedarkmatter.in)
+
+## Features
+
+- MCU: STM32F405RGT6, 168MHz
+- Gyro: BMI270
+- 32MB Onboard Flash (32 Megabyte)
+- BEC output: 5V, 2A@4V
+- Barometer: BMP280
+- OSD: AT7456E
+- 4 UARTS: (UART1, UART3, UART4, UART6)
+- 9 PWM Outputs (includes 1 neopixel out that can be used for PWM)
+- 5V Power Out: 2.0A max
+- 9V Power Out: 2.0A max
+
+## Pinout for BRAHMA F405
+
+![BrahmaF405](BRAHMA_F405-diagram.jpg "DM_BrahmaF4")
+
+## UART Mapping
+
+The UARTs are marked Rx and Tx in the above pinouts.
+
+========== ========== ======== ====================
+ Name      Pad        Port       Default Protocol  
+========== ========== =======  ==================== 
+ SERIAL 0  DM/DP      USB       Mavlink            
+ SERIAL 1  RX1/TX1    USART 1   RCin (DMA) 
+ SERIAL 2  RX3/TX3    USART 3   ESC   
+ SERIAL 3  RX6/TX6    USART 6   GPS1 (DMA)       
+ SERIAL 4  RX4/TX4    USART 4   GPS2    
+========== ========== =======  ==================== 
+
+* USART1 and USART6 supports RX and TX DMA.  
+* UART2 and UART4 do not support DMA.  
+* ESC Telemetry need to be manually configured based upon esc.
+
+
+## RC Input
+
+ RC input is configured by default on the R1 and T1 (UART1) pads (CRSF or ELRS).  
+ SBUS pad is inverted and applied to R1  
+
+* FPort requires connection to T1 and :ref:`SERIAL1_OPTIONS<SERIAL1_OPTIONS>` be set to “7”.
+* CRSF also requires a T1 connection, in addition to R1, and automatically provides telemetry. Set :ref:`SERIAL1_OPTIONS<SERIAL1_OPTIONS>` to “0”.
+* SRXL2 requires a connecton to T1 and automatically provides telemetry. Set :ref:`SERIAL1_OPTIONS<SERIAL1_OPTIONS>` to “4”.
+
+Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
+
+
+## OSD
+- ANALOG OSD (MAX7456) (SPI1) (Preconfigured)  
+- DIGITAL OSD (MSP)    (UART4 can be used for MSP Displayport by changing :ref:`SERIAL4_PROTOCOL<SERIAL4_PROTOCOL>` to "42")  
+
+
+## PWM Output
+The autopilot supports up to 9 PWM outputs (PWM 9 is defaulted to serial LED support). Outputs are available a standard ESC JST-SH connectors and solder pads for M5-M8. All outputs support  DShot,as well as all PWM types. 
+
+The PWM is in 5 groups:
+
+- PWM 1,2 in group1
+- PWM 3,4 in group2 
+- PWM 5   in group3
+- PWM 6-8 in group4
+- PWM 9   in group5
+
+ Pads for PWM 1-8 are available on bottom side of pcb  
+ ESC port is a jst-sh V-G-C-R3-1-2-3-4  
+
+ Channels within the same group need to use the same output rate. All channels in specific Timer groups are configured either as DSHOT or PWM,  
+ mixing of protocols within groups is not possible. Channel 9 is configured as NeoPixel by default but can be configured for and extra PWM output.  
+
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor, voltage sensor supports up to 6S LiPo.  
+The default battery configuration is:  
+
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 14
+- BATT_VOLT_MULT 11
+- BATT_CURR_PIN 13
+- BATT_CURR_MULT 37
+
+
+## Compass & Baro
+
+ The autopilot does not have a built-in compass, however you can attach an external compass using I2C on the SDA and SCL pads.
+
+
+## Firmware¶
+
+Firmware for this board can be found `here <https://firmware.ardupilot.org`__  in sub-folders labeled “BrahmaF4”.
+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. Later updates should be done with the \*.apj firmware files.
+

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/defaults.parm

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+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 6

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Brahma F405 bootloader
+#File Author [email protected]
+
+USB_STRING_MANUFACTURER "DM"
+USB_STRING_PRODUCT "BRAHMAf4"
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_BrahmaF4
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 48
+
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+PA10 USART1_RX USART1 HIGH PULLUP
+PA1 UART4_RX UART4 NODMA HIGH PULLUP
+PC7 USART6_RX USART6 HIGH PULLUP
+
+# Add CS pins to ensure they are high in bootloader
+PB12 FLASH_CS CS
+PA4 OSD_CS CS
+PB3 GYRO_CS CS

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for Brahma F405 FW
+#File Author [email protected]
+
+USB_STRING_MANUFACTURER "DM"
+USB_STRING_PRODUCT "BrahmaF4"
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_BrahmaF4
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 48
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+################# UART Configuration ##################
+SERIAL_ORDER OTG1 USART1 USART3 USART6 UART4 
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
+
+PB10 USART3_TX USART3 NODMA
+PB11 USART3_RX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_ESCTelemetry
+
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+##################SPI Configuration##############
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 OSD1_CS CS
+
+PB15 SPI2_MOSI SPI2
+PB14 SPI2_MISO SPI2
+PB13 SPI2_SCK SPI2
+PB12 FLASH1_CS CS
+
+PC12 SPI3_MOSI SPI3
+PC11 SPI3_MISO SPI3
+PC10 SPI3_SCK SPI3
+PB3 GYRO1_CS CS
+
+SPIDEV osd        SPI1 DEVID4  OSD1_CS  MODE0 10*MHZ 10*MHZ
+SPIDEV dataflash  SPI2 DEVID2 FLASH1_CS  MODE3 32*MHZ 32*MHZ
+SPIDEV imu1       SPI3 DEVID1  GYRO1_CS  MODE3  1*MHZ  4*MHZ
+IMU BMI270 SPI:imu1 ROTATION_ROLL_180
+
+####################I2C bus Configuration##########
+#define HAL_USE_I2C TRUE
+#define STM32_I2C_USE_I2C1 TRUE
+I2C_ORDER I2C1
+PB6 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+BARO DPS310 I2C:0:0x77
+define AP_BARO_BACKEND_DEFAULT_ENABLED 1
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+define AP_BARO_DPS280_ENABLED 1
+define AP_BARO_BMP280_ENABLED 1
+
+# no built-in compass
+# 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
+
+#############GPIO Motors###############
+PB1 TIM3_CH4  TIM3 PWM(1) GPIO(50) BIDIR
+PB0 TIM3_CH3  TIM3 PWM(2) GPIO(51)
+
+PA3 TIM2_CH4  TIM2 PWM(3) GPIO(52)
+PA2 TIM2_CH3  TIM2 PWM(4) GPIO(53) BIDIR
+
+PB9 TIM4_CH4  TIM4 PWM(5) GPIO(54) 
+
+PB4 TIM3_CH1  TIM3 PWM(6) GPIO(55)
+PB5 TIM3_CH2  TIM3 PWM(7) GPIO(56)
+PC9 TIM8_CH4  TIM8 PWM(8) GPIO(57)
+
+PC8 TIM8_CH3  TIM8 PWM(9) GPIO(58) # LED NOPIXEL
+
+#PA15 TIM2_CH1 TIM2 RCININT PULLDOWN LOW
+
+DMA_PRIORITY TIM3* TIM2* TIM4* SPI3* TIM8*
+DMA_NOSHARE SPI3*
+
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+#ADC definitions
+PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_CURR_SCALE 37.0
+
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 14
+define HAL_BATT_VOLT_SCALE 11.0
+
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 15
+define HAL_BATT_MONITOR_DEFAULT 4
+
+
+#################Indicator LEDs#######################
+define AP_NOTIFY_GPIO_LED_1_ENABLED 1
+PA8 LED_YELLOW OUTPUT LOW GPIO(1)
+define AP_NOTIFY_GPIO_LED_1_PIN 1
+
+
+# enable logging to dataflash
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+######################osd setup######################
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+
+################### Save Some Flash #################
+#disable parachute and sprayer to save flash
+define HAL_PARACHUTE_ENABLED 0
+include ../include/minimize_fpv_osd.inc
+include ../include/no_bootloader_DFU.inc