From bc103235ac6d6bab88487cda56832b202e374afe Mon Sep 17 00:00:00 2001
From: alploskov <ploskov-ai@yandex.ru>
Date: Wed, 29 Oct 2025 20:24:25 +0300
Subject: [PATCH 1/2] AP_HAL_ChibiOS: add Aocoda-RC-F405 flight controller

---
 .../hwdef/Aocoda-RC-F405/hwdef-bl.dat         |  38 +++++
 .../hwdef/Aocoda-RC-F405/hwdef.dat            | 145 ++++++++++++++++++
 2 files changed, 183 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef-bl.dat
new file mode 100644
index 0000000000000..4f7bff279a25d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef-bl.dat
@@ -0,0 +1,38 @@
+# hw definition file for processing by chibios_pins.py
+# for speedybeef4 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_AOCODA-RC-F405V3
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# don't allow bootloader to use more than 16k
+FLASH_USE_MAX_KB 16
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PB5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Add CS pins to ensure they are high in bootloader
+PB10 MAX7456_CS CS
+PC0 FLASH_CS CS
+PB11 MPU6000_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef.dat
new file mode 100644
index 0000000000000..46aad043c9389
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-F405/hwdef.dat
@@ -0,0 +1,145 @@
+# hw definition file for AOCODARC F405V3 hardware
+# with thanks to betaflight for pinout
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_AOCODA-RC-F405V3
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define STM32_ST_USE_TIMER 5
+#define CH_CFG_ST_RESOLUTION 16
+
+FLASH_SIZE_KB 1024
+
+# I2C buses
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5
+
+# LEDs
+PC13 LED0 OUTPUT LOW GPIO(0)
+PA14 PINIO2 OUTPUT LOW GPIO(1)
+
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+
+
+# spi buses
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# CS pins
+PA4 MPU6000_CS CS
+PC0 FLASH_CS CS
+PA13 MAX7456_CS CS
+
+# I2C bus
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# analog pins
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC3 RSSI_ADC_PIN ADC1 SCALE(1)
+
+# battery setup
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11
+define HAL_BATT_CURR_SCALE 206
+
+# analog rssi pin
+define BOARD_RSSI_ANA_PIN 13
+
+# UARTs
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+PC10 USART3_TX USART3
+PC11 USART3_RX USART3
+
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USB detection
+PB12 VBUS INPUT OPENDRAIN
+
+# PWM outputs
+PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50) BIDIR
+PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
+PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
+PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) BIDIR
+PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
+PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) BIDIR
+PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56)
+PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
+
+DMA_NOSHARE TIM8*
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 2
+
+FLASH_RESERVE_START_KB 64
+
+# IMUs
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
+
+# barometers
+BARO DPS310 I2C:0:0x76
+BARO DPS310 I2C:0:0x77
+BARO BMP280 I2C:0:0x76
+BARO BMP280 I2C:0:0x77
+BARO MS5611 I2C:0:0x76
+BARO MS5611 I2C:0:0x77
+
+# compass
+define ALLOW_ARM_NO_COMPASS
+define AP_COMPASS_PROBING_ENABLED 1
+define HAL_I2C_INTERNAL_MASK 0
+
+# SPI devices
+# SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
+SPIDEV icm42688  SPI1 DEVID1 MPU6000_CS MODE3  2*MHZ 16*MHZ
+
+
+SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
+SPIDEV dataflash SPI3 DEVID1 FLASH_CS    MODE3 32*MHZ 32*MHZ
+
+# logging
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# minimal drivers
+include ../include/minimize_fpv_osd.inc
+include ../include/no_bootloader_DFU.inc
+undef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
+define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0

From 5e3cb817a4966c059e35a86c46eef62b03027742 Mon Sep 17 00:00:00 2001
From: alploskov <ploskov-ai@yandex.ru>
Date: Wed, 29 Oct 2025 20:25:08 +0300
Subject: [PATCH 2/2] bootloaders: add Aocoda-RC-F405 flight controller

---
 Tools/bootloaders/Aocoda-RC-F405_bl.bin | Bin 0 -> 13776 bytes
 Tools/bootloaders/Aocoda-RC-F405_bl.hex | 863 ++++++++++++++++++++++++
 2 files changed, 863 insertions(+)
 create mode 100755 Tools/bootloaders/Aocoda-RC-F405_bl.bin
 create mode 100644 Tools/bootloaders/Aocoda-RC-F405_bl.hex

diff --git a/Tools/bootloaders/Aocoda-RC-F405_bl.bin b/Tools/bootloaders/Aocoda-RC-F405_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..ce220f5b125e1ce5cb70a6c4509ea45c349e70e7
GIT binary patch
literal 13776
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diff --git a/Tools/bootloaders/Aocoda-RC-F405_bl.hex b/Tools/bootloaders/Aocoda-RC-F405_bl.hex
new file mode 100644
index 0000000000000..b805ae95198eb
--- /dev/null
+++ b/Tools/bootloaders/Aocoda-RC-F405_bl.hex
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