Add New Target DAKEFPVH743_SLIM

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVH743_SLIM/README.md

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+# DAKEFPV H743 SLIM Flight Controller
+
+The DAKEFPV H743 SLIM is a flight controller produced by [DAKEFPV](https://www.dakefpv.com/).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - Dual ICM42688
+ - Barometer - SPL06
+ - OSD - AT7456E
+ - 8x UARTs
+ - 1x CAN port
+ - 13x PWM Outputs (12 Motor Output, 1 LED)
+ - Battery input voltage: 4S-12S
+ - BEC 3.3V 0.5A
+ - BEC 5V 3A
+ - Dual switchable camera inputs
+
+## Pinout
+
+![DAKEFPV H743 SLIM Board Top](DAKEFPVH743_SLIM_Top.png "DAKEFPV H743 SLIM Top")
+![DAKEFPV H743 SLIM Board Bottom](DAKEFPVH743_SLIM_Bottom.png "DAKEFPV H743 SLIM Bottom")
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (GPS) DMA capable
+ - SERIAL2 -> UART2 (MAVLink2)
+ - SERIAL3 -> UART3 (ESC Telemetry)
+ - SERIAL4 -> UART4 (DisplayPort) DMA capable
+ - SERIAL5 -> UART5 (RCin) RX DMA capable
+ - SERIAL6 -> UART6 (User) DMA capable
+ - SERIAL7 -> UART7 (User) DMA Capable
+ - SERIAL8 -> UART8 (User)
+
+## RC Input
+
+RC input is configured by default via the USART5 RX input. It supports all unidirectional serial RC protocols except PPM . The SBUS pin is inverted and tied to R5 for SBUS support.
+
+* FPort requires an external bi-directional inverter attached to T5 and :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>` set to 4 (half-duplex).  See :ref:`common-FPort-receivers`.
+* CRSF/ELRS uses RX5/TX5.
+* SRXL2 requires a connection to T5 and automatically provides telemetry.  Set :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>` to "4".
+
+## FrSky Telemetry
+
+FrSky Telemetry is supported using an unused UART, such as the TX2 pin (UART2 transmit).
+You need to set the following parameters to enable support for FrSky S.PORT:
+
+  - :ref:`SERIAL2_PROTOCOL<SERIAL2_PROTOCOL>` 10
+  - :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` 7
+
+## PWM Output
+
+The DAKEFPV H743 SLIM supports up to 14 outputs. Motor outputs M1 to M8 are available on separate pads, along with independent pads for S1-4 and LED for LED strips and other PWM outputs. M1-8, S1, and S4 support bidirectional DShot, and the LED outputs support serial LEDs or DShot.
+
+The PWM is in 5 groups:
+
+ - PWM 1-4     in group1
+ - PWM 5-8     in group2
+ - PWM 9-12    in group3
+ - PWM 13      in group4 (CAMERA_CONTROL)
+ - PWM 14(LED) in group5 (set as Serial LED output function by default) 
+
+The outputs are in 5 groups:
+
+ - M 1-4     in group1
+ - M 5,8     in group2
+ - S 9,12    in group3
+ - OSD       in group4
+ - LED       in group5
+
+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 built-in voltage sensor and external current sensor input. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 12S LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - :ref:`BATT_MONITOR<BATT_MONITOR>` 4
+ - :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` 11 
+ - :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` 10
+ - :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` 16.0
+ - :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` 83.3
+
+## RSSI
+
+ - ADC Pin 8 -> Analog RSSI voltage monitoring. Set :ref:`RSSI_TYPE<RSSI_TYPE>` = 1 and :ref:`RSSI_ANA_PIN<RSSI_ANA_PIN>` = 8. For RSSI embedded in digital RC protocols like CRSF, set :ref:`RSSI_TYPE<RSSI_TYPE>` = 3
+
+## Compass
+
+The DAKEFPV H743 SLIM does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Camera control
+
+GPIO 81 controls the camera output to the connectors marked "CAM1" and "CAM2". Setting this GPIO low switches the video output from CAM1 to CAM2. By default RELAY1 is configured to control this pin and sets the GPIO high.
+
+## OSD Support
+The DAKEFPVH743_SLIM has an onboard OSD using a MAX7456 chip and is enabled by default. The CAM1/2 and VTX pins provide connections for using the internal OSD. Simultaneous DisplayPort OSD is also possible and is configured by default.
+The HD VTX connector can have RX4 replaced by the analog VTX signal if that connector is used for analog VTX connection by using the DJI/VTX jumper pads.
+
+## Loading Firmware
+Firmware for these boards can be found `here <https://firmware.ardupilot.org>`__ in sub-folders labeled "DAKEFPVH743_SLIM".
+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/DAKEFPVH743_SLIM/defaults.parm

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+# setup for LEDs on chan14
+SERVO14_FUNCTION 120
+
+# enable displayport
+OSD_TYPE2 5

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVH743_SLIM/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for DAKEFPVH743_SLIM hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_DAKEFPVH743_SLIM
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 384
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PC9 GYRO1_CS CS
+PB1 GYRO2_CS CS
+
+PD10 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVH743_SLIM/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for DAKEFPVH743 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_DAKEFPVH743_SLIM
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+MCU_CLOCKRATE_MHZ 480
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 384
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# SPI devices
+
+# SPI1 (IMU1)
+PA5 SPI1_SCK    SPI1
+PA6 SPI1_MISO   SPI1
+PA7 SPI1_MOSI   SPI1
+
+# SPI2 (OSD)
+PB13 SPI2_SCK SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+# SPI3 (External)
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI4 (IMU2)
+PE12 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# Chip select pins
+PB12 OSD1_CS CS
+PC9 GYRO1_CS CS
+PB1 GYRO2_CS CS
+
+# external CS pins
+PA15 EXT_CS1 CS
+PD3 EXT_CS2 CS
+
+# Beeper
+PE10 BUZZER OUTPUT GPIO(80) LOW PULLDOWN
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# USART1 (GPS1)
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS
+
+# USART2
+PD5 USART2_TX USART2 NODMA
+PD6 USART2_RX USART2 NODMA
+
+# USART3
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART4
+PB8 UART4_RX UART4
+PB9 UART4_TX UART4
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART5 (RX)
+PB5 UART5_RX UART5
+PB6 UART5_TX UART5
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+
+# USART6
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# UART7
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# UART8
+PE0 UART8_RX UART8 NODMA
+PE1 UART8_TX UART8 NODMA
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# I2C ports
+I2C_ORDER I2C2
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+BARO SPL06  I2C:0:0x76
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+
+# ADC ports
+
+# ADC1
+PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 10
+define HAL_BATT_CURR_SCALE 83.3
+PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_VOLT_SCALE 16.0
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 8
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PE9  TIM1_CH1  TIM1  PWM(1)  GPIO(50) BIDIR # M1
+PE11 TIM1_CH2  TIM1  PWM(2)  GPIO(51)       # M2
+PE13 TIM1_CH3  TIM1  PWM(3)  GPIO(52) BIDIR # M3
+PE14 TIM1_CH4  TIM1  PWM(4)  GPIO(53)       # M4
+PA0  TIM2_CH1  TIM2  PWM(5)  GPIO(54) BIDIR # M5
+PA1  TIM2_CH2  TIM2  PWM(6)  GPIO(55)       # M6
+PA2  TIM2_CH3  TIM2  PWM(7)  GPIO(56) BIDIR # M7
+PA3  TIM2_CH4  TIM2  PWM(8)  GPIO(57)       # M8
+PD12 TIM4_CH1  TIM4  PWM(9)  GPIO(58)       # S1
+PD13 TIM4_CH2  TIM4  PWM(10) GPIO(59)       # S2
+PD14 TIM4_CH3  TIM4  PWM(11) GPIO(60) NODMA # S3
+PD15 TIM4_CH4  TIM4  PWM(12) GPIO(61) NODMA # S4
+PC8  TIM8_CH3  TIM8  PWM(13) GPIO(62) NODMA # labelled OSD
+PB0  TIM3_CH3  TIM3  PWM(14) GPIO(63)       # LED
+
+# RELAYS
+# Camera switch control - should be high at startup to ensure Camera 1 selected
+PE2 CAMERA_SWITCH OUTPUT GPIO(81) LOW
+define RELAY1_PIN_DEFAULT 81
+
+# VTX power control 
+PE3 PINIO2 OUTPUT GPIO(82) LOW
+define RELAY2_PIN_DEFAULT 82
+
+# Bluetooth RF switch  
+PE4 PINIO3 OUTPUT GPIO(83) LOW
+
+# LEDs
+
+PD10 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+
+PD11 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_B_LED_PIN 91
+
+PA8 LED2 OUTPUT LOW GPIO(92)
+define HAL_GPIO_C_LED_PIN 92
+
+# microSD support
+PC1     SDMMC2_CK  SDMMC2
+PD7     SDMMC2_CMD SDMMC2
+PB14    SDMMC2_D0  SDMMC2
+PB15    SDMMC2_D1  SDMMC2
+PB3     SDMMC2_D2  SDMMC2
+PB4     SDMMC2_D3  SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# enable FAT filesystem support (needs a microSD defined via SDIO)
+define HAL_OS_FATFS_IO 1
+
+# External
+SPIDEV EXT_SPI SPI3 DEVID1 EXT_CS1 MODE3 104*MHZ 104*MHZ
+
+# OSD setup
+SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   16*MHZ
+SPIDEV imu2   SPI4 DEVID1 GYRO2_CS   MODE3   1*MHZ   16*MHZ
+
+IMU Invensensev3 SPI:imu1 ROTATION_YAW_180
+IMU Invensensev3 SPI:imu2 ROTATION_YAW_270
+
+DMA_NOSHARE TIM1_UP TIM2_UP SPI1* SPI4*
+DMA_PRIORITY TIM1_UP TIM2_UP SPI1* SPI4*
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define AP_COMPASS_PROBING_ENABLED 1
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+define DEFAULT_NTF_LED_TYPES 455