Addition for Target Brahma F4

Tools/AP_Bootloader/board_types.txt

@@ -412,6 +412,11 @@ AP_HW_DroneBuild_G2                  5701
 # IDs 7000-7099 reserved for CUAV
 AP_HW_CUAV-7-NANO                    7000
 
+AP_HW_BrahmaF4                       7010
+
+# IDs 7100-7109 reserved for VIEWPRO
+AP_HW_VUAV-V7pro                     7100
+
 # IDs 7100-7109 reserved for V-UAV
 AP_HW_VUAV-V7pro                     7100
 

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/README.md

@@ -0,0 +1,102 @@
+
+# Brahma F4 Flight Controller
+
+Brahma 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 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    |     Function        |
+| :------- | :------- | :------ | :------------------ |
+| SERIAL 0 | DM/DP    | USB     |  Mavlink            |
+| SERIAL 1 | RX1/TX1  | USART 1 | (DMA)   (Reciever)  |
+| SERIAL 2 | RX3/TX3  | USART 3 | (NODMA) (MAVLINK)       |
+| SERIAL 3 | RX4/TX4  | USART 4 | (NODMA) (GPS2)      |
+| SERIAL 4 | RX6/TX6  | USART 6 | (DMA)   (GPS)       |
+
+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 T1 (UART1) pads (CRSF or ELRS).  
+ SBUS inverted pad is available  
+ (PPM is disabled currently)  
+
+
+## OSD
+- ANALOG OSD (MAX7456) (SPI1) (Preconfigured)  
+- DIGITAL OSD (MSP)    (UART4 can be used for MSP Displayport by chnaging SERIAL2_
+PROTOCOL to "42")  
+
+
+## PWM Output
+
+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  
+
+*NOTE*
+ 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 can be configured for extra pwm.  
+
+
+## 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
+
+ Internal DPS310 Baro.  
+ No Internal Compass.  
+ External on I2C BUS1.  
+
+
+## Loading Firmware
+
+ Initial firmware and bootloader load can be done via DFU by plugging in USB while the bootloader button is held.  
+ Then flash the "*_with_bl.hex" or "AP_Bootloader.hex", using your preferred DFU programming tool.  
+
+ Once the initial firmware or bootloader is flashed you can update the firmware using "Mission Planner" or "QGroundControl".  
+ Future updates should be done via the *.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/BrahmaF4/defaults.parm

@@ -0,0 +1,3 @@
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 6

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

@@ -0,0 +1,46 @@
+# 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 7701
+
+# 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

@@ -0,0 +1,139 @@
+# 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 7701
+
+# 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
+DMA_NOSHARE SPI3*
+DMA_PRIORITY TIM1* TIM2* TIM2* TIM4* SPI3* TIM8*
+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 TIM1_CH3N  TIM1 PWM(1) GPIO(50)
+PB0 TIM1_CH2N  TIM1 PWM(2) GPIO(51)
+
+PA3 TIM2_CH4  TIM2 PWM(3) GPIO(52)
+PA2 TIM2_CH3  TIM2 PWM(4) GPIO(53)
+
+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 TIM3_CH4  TIM3 PWM(8) GPIO(57)
+
+PC8 TIM8_CH3  TIM8 PWM(9) GPIO(58) # LED NOPIXEL
+
+#PA15 TIM2_CH1 TIM2 RCININT PULLDOWN LOW
+
+# 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 HAL_GPIO_A_LED_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