ChibiOS: add CIPHERWINGF4 (STM32F405) hwdef and bootloader

Tools/AP_Bootloader/board_types.txt

@@ -339,6 +339,8 @@ AP_HW_KHA_ETH                        1315
 
 AP_HW_FlysparkF4                     1361
 
+AP_HW_CIPHERWINGF4                   1362
+
 AP_HW_CUBEORANGE_PERIPH              1400
 AP_HW_CUBEBLACK_PERIPH               1401
 AP_HW_PIXRACER_PERIPH                1402

libraries/AP_HAL_ChibiOS/hwdef/CIPHERWINGF4/README.md

@@ -0,0 +1,95 @@
+# CipherWing F4 (STM32F405)
+
+## Introduction
+The **CipherWing F4** is a custom autopilot board designed around the STM32F405 MCU.  
+It is hardware-compatible with the OmnibusF4 family and supports multiple firmwares including **INAV**, **PX4**, and **ArduPilot** (tested with this PR).  
+This board is under early development and testing by **Jeevesh Vishwavijay**, for educational and prototype use.
+
+## Features / Specifications
+- **Processor:** STM32F405RGT6 (168 MHz ARM Cortex-M4F)
+- **Flash:** 1MB internal flash
+- **IMUs:** MPU6000 (SPI1), BMI270 (SPI1, shared bus)
+- **Barometer:** BMP280 (SPI3)
+- **OSD:** MAX7456-compatible (SPI3)
+- **Power:** VBAT & RSSI analog inputs
+- **USB:** Micro-USB (OTG1)
+- **UARTs:** Up to 6 hardware serial ports
+- **PWM outputs:** 8 motor/servo outputs (M1–M8)
+- **No onboard SD card**
+- **Supported firmware:** INAV, PX4, ArduPilot
+
+## Pinout
+Follows the OmnibusF4 layout with modifications for CipherWing:
+- **RSSI input:** PC1  
+- **VBAT:** PC2  
+- **PWM1–8:** PB0, PB1, PC8, PC9, PB14, PA8, PB15, PB7  
+- **IMU:** SPI1  
+- **OSD & BARO:** SPI3  
+
+## UART Mapping
+| Serial # | Function | Port | Notes |
+|-----------|-----------|------|-------|
+| SERIAL0 | USB | OTG1 | Default console |
+| SERIAL1 | USART1 | PA9 / PA10 | Telemetry |
+| SERIAL2 | USART2 | PA2 / PA3 | GPS1 |
+| SERIAL3 | USART3 | PB10 / PB11 | GPS2 / Telem2 |
+| SERIAL4 | UART4 | PA0 / PA1 | Optional |
+| SERIAL5 | UART5 | PD2 (RX only) | Optional |
+| SERIAL6 | USART6 | PC6 / PC7 | ESC telemetry |
+
+## PWM Outputs
+| PWM Channel | MCU Pin | Timer | Function |
+|--------------|----------|--------|-----------|
+| M1 | PB0 | TIM3_CH3 | Motor 1 |
+| M2 | PB1 | TIM3_CH4 | Motor 2 |
+| M3 | PC8 | TIM8_CH3 | Motor 3 |
+| M4 | PC9 | TIM8_CH4 | Motor 4 |
+| M5 | PB14 | TIM1_CH2N | Motor 5 |
+| M6 | PA8 | TIM1_CH1 | Motor 6 |
+| M7 | PB15 | TIM1_CH3N | Motor 7 |
+| M8 | PB7 | TIM4_CH2 | Motor 8 |
+
+
+### RC Input
+- **SBUS (Inverted)** — connected to UART5_RX (PD2) via onboard BSS138 inverter.
+- Compatible with FrSky SBUS, Futaba SBUS2, etc.
+- **CRSF/ELRS** — supported on UART1 or UART6 (DMA-enabled).
+
+
+## OSD Support
+Onboard analog **MAX7456 OSD** supported (SPI3).  
+Set `OSD_TYPE=1` for analog OSD, or `OSD_TYPE=5` for DisplayPort.
+
+## Battery Monitor
+Default analog monitor configured:
+- Voltage: `PC2`  
+- RSSI: `PC1`  
+- Parameters:
+  - `BATT_MONITOR = 4`
+  - `BATT_VOLT_PIN = 12`
+  - `BATT_VOLT_MULT = 11`
+  - `BATT_CURR_PIN = -1` (disabled, no current sense)
+  - `RSSI_ANA_PIN = PC1`
+
+## Compass
+No onboard compass.  
+Use external I²C compass via SDA (PB9) and SCL (PB8).
+
+## Firmware
+Firmware binaries will be available under:  
+`https://firmware.ardupilot.org/CipherWingF4/`
+
+## Loading Firmware
+This board supports ArduPilot `.apj` firmware upload via **Mission Planner** or **QGroundControl** once bootloader is flashed.  
+To flash bootloader manually:
+```bash
+Tools/scripts/build_bootloaders.py CIPHERWINGF4
+Notes
+Designed for development and educational purposes.
+
+Future versions may include SD card and CAN.
+
+Board tested for compatibility with ArduCopter and ArduPlane builds.
+
+Author: Jeevesh Vishwavijay
+Project: CipherWing F4

libraries/AP_HAL_ChibiOS/hwdef/CIPHERWINGF4/hwdef-bl.dat

@@ -0,0 +1,48 @@
+# hw definition file for processing by chibios_pins.py
+# for CIPHERWINGF4 bootloader (derived from omnibusf4pro)
+
+BOARD_NAME CIPHERWINGF4
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_CIPHERWINGF4
+
+
+# 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
+
+PB4 BUZZER OUTPUT LOW PULLDOWN
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# Ensure active SPI peripherals are deasserted (CS high) in bootloader
+PA4  MPU6000_CS CS     # IMU CS (also used by ICM20689/BMI270 via same CS)
+PA15 OSD_CS     CS     # MAX7456 OSD CS
+PB3  BMP280_CS  CS     # BMP280 baro CS
+
+# NOTE:
+# - SD card was removed from the main hwdef.dat, so PB12 SDCARD_CS is omitted here.
+# - No bootloader changes are needed for I2C1 on PB8/PB9 or for PWM/UART remaps.
+#   The application firmware will configure those after boot.
+

libraries/AP_HAL_ChibiOS/hwdef/CIPHERWINGF4/hwdef.dat

@@ -0,0 +1,181 @@
+# hw definition file for processing by chibios_pins.py
+# Cipherwing F4 with STM32F405
+# mpu6000 / bmi270 / icm20689 IMU options, bmp280 barometer,
+# 7456 series OSD and NO sdcard
+
+BOARD_NAME CIPHERWINGF4
+
+MCU STM32F4xx STM32F405xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_CIPHERWINGF4
+
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 64
+
+# order of I2C buses (moved to I2C1)
+I2C_ORDER I2C1
+
+# order of UARTs (include USART2 and UART5)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 USART6 UART4 UART5
+
+# ---------- ADC ----------
+# VBAT stays on PC2
+PC2 BAT_VOLT_SENS ADC1 SCALE(1)
+
+# RSSI moved to PC1 (per request)
+PC1 RSSI_IN ADC1
+define BOARD_RSSI_ANA_PIN 1
+
+# (REMOVED to avoid conflict) Current sensor on PC1:
+# PC1 BAT_CURR_SENS ADC1 SCALE(1)
+
+# ---------- PWM outputs remapped to match requested INAV-style layout ----------
+# M1 PB0  TIM3_CH3
+# M2 PB1  TIM3_CH4
+# M3 PC8  TIM8_CH3
+# M4 PC9  TIM8_CH4
+# M5 PB14 TIM1_CH2N   (F405-valid replacement for TIM12_CH1)
+# M6 PA8  TIM1_CH1
+# M7 PB15 TIM1_CH3N   (F405-valid replacement for TIM12_CH2)
+# M8 PB7  TIM4_CH2
+PB0  TIM3_CH3   TIM3  PWM(1) GPIO(50)
+PB1  TIM3_CH4   TIM3  PWM(2) GPIO(51)
+PC8  TIM8_CH3   TIM8  PWM(3) GPIO(52)
+PC9  TIM8_CH4   TIM8  PWM(4) GPIO(53)
+PB14 TIM1_CH2N  TIM1  PWM(5) GPIO(54)
+PA8  TIM1_CH1   TIM1  PWM(6) GPIO(55)
+PB15 TIM1_CH3N  TIM1  PWM(7) GPIO(56)
+PB7  TIM4_CH2   TIM4  PWM(8) GPIO(57)
+
+# ---------- IMU on SPI1 with CS=PA4 ----------
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# ---------- I2C1 on PB8/PB9 (pullups). (Freed PB10/PB11 for USART3 ALTs) ----------
+PB8  I2C1_SCL I2C1 PULLUP
+PB9  I2C1_SDA I2C1 PULLUP
+
+# Keep USART3 available on PB10/PB11 via ALTs if needed
+PB10 USART3_TX USART3 ALT(1)
+PB11 USART3_RX USART3 ALT(1)
+PB10 USART3_TX USART3 ALT(4)
+PB11 USART3_RX USART3 ALT(4)
+
+# ---------- SPI2 / SD card REMOVED (per request) ----------
+# (PB15 SPI2_MOSI SPI2)
+# (PB14 SPI2_MISO SPI2)
+# (PB13 SPI2_SCK  SPI2)
+# (PB12 SDCARD_CS CS)
+
+# ---------- UARTs ----------
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+PA3  USART2_RX USART2
+PA2  USART2_TX USART2
+
+PC6  USART6_TX USART6
+PC7  USART6_RX USART6
+
+# UART4 on PA0/PA1 via ALT configs
+PA0 UART4_TX UART4 ALT(2)
+PA0 UART4_TX UART4 ALT(3)
+PA1 UART4_RX UART4 ALT(3)
+PA0 UART4_TX UART4 ALT(4)
+PA1 UART4_RX UART4 ALT(4)
+
+# ---------- UART5 for SBUS (via BSS138 inverter) ----------
+PD2  UART5_RX UART5 INVERTED
+# TX intentionally unassigned
+define HAL_RCIN_UART 5
+define SERIAL_PORTS_RCIN_DEFAULT SERIAL5
+# ---------- SWD ----------
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ---------- OSD + BMP on SPI3 ----------
+PA15 OSD_CS CS
+PB3  BMP280_CS CS
+PC12 SPI3_MOSI SPI3
+PC11 SPI3_MISO SPI3
+PC10 SPI3_SCK  SPI3
+
+# ---------- LEDs / Beeper ----------
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+PB5 LED_BLUE OUTPUT LOW GPIO(1)
+define HAL_GPIO_A_LED_PIN 1
+
+# dummy assignment required to allow AP_NOTIFY to use board led
+define HAL_GPIO_B_LED_PIN 2 
+
+PB4 TIM3_CH1 TIM3 GPIO(58) ALARM LOW
+
+# use LED-STRIP output as general purpose GPIO (PB6 kept for LED strip)
+PB6 GP_GPIO OUTPUT LOW GPIO(70)
+
+# ---------- USB ----------
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PC5  VBUS INPUT OPENDRAIN
+
+# RCIN on PB8 removed because PB8 is now I2C1_SCL. Use a UART-based RC input (e.g., SBUS on USART1/USART6).
+# PB8 TIM4_CH3 TIM4 RCININT PULLDOWN LOW   (REMOVED)
+
+# ---------- SPI Device table (sdcard removed, ICM20689 added) ----------
+SPIDEV bmi270     SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 10*MHZ 
+SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ  8*MHZ
+SPIDEV icm20689   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ  8*MHZ
+SPIDEV bmp280     SPI3 DEVID3 BMP280_CS  MODE3 1*MHZ  8*MHZ
+SPIDEV osd        SPI3 DEVID4 OSD_CS     MODE0 10*MHZ 10*MHZ
+
+# one IMU present on board. Allow MPU6000, BMI270, or ICM20689
+IMU Invensense SPI:mpu6000  ROTATION_YAW_180
+IMU BMI270     SPI:bmi270   ROTATION_ROLL_180
+IMU Invensense SPI:icm20689 ROTATION_YAW_180
+
+# one baro
+BARO BMP280 SPI:bmp280
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_BMP280_ENABLED 1
+
+# 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
+
+STORAGE_FLASH_PAGE 1
+define HAL_STORAGE_SIZE 15360
+
+define HAL_OS_FATFS_IO 0
+
+# ---------- default battery setup ----------
+# VBAT pin index unchanged
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_VOLT_SCALE 11
+
+# Current sensor disabled (per request / to avoid conflict)
+define HAL_BATT_CURR_PIN -1
+define HAL_BATT_CURR_SCALE 0
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+
+# font for the osd
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+# disable parachute and sprayer to save flash
+define HAL_PARACHUTE_ENABLED 0
+
+include ../include/minimize_fpv_osd.inc
+