hwdef:aadd MUPilot autopilot

libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md

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+# CUAVv5 Flight Controller
+
+The CUAVv5 flight controller is sold by [MUGIN UAV](http://https://www.muginuav.com/)
+
+## Features
+
+ - STM32F765 microcontroller
+ - Three IMUs: ICM20689, MPU6000 and BMI055
+ - internal vibration isolation for IMUs
+ - Two MS5611 SPI barometers
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 6 UARTs plus USB
+ - 14 PWM outputs with selectable 5V or 3.3V output voltage
+ - Four I2C and two CAN ports
+ - External Buzzer
+ - builtin RGB LED
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## Pinout
+
+![MUPilot Board](MUPILOT-pinout.jpg "MUPilot")
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2)
+ - SERIAL5 -> UART6 (spare)
+ - SERIAL6 -> UART7 (spare, debug)
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The UART7 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+
+RC input is configured on the PPM pin, at one end of the servo rail,
+marked RC in the above diagram. This pin supports all unidirectional RC protocols including PPM. For CRSF/ELRS/etc. protocols
+a full UART will need to be used with its SERIALx_PROTOCOL set to "23".
+
+## PWM Output
+
+The CUAVv5 supports up to 14 PWM outputs. First first 8 outputs (labelled
+"M1 to M8") are controlled by a dedicated STM32F100 IO controller. These 8
+outputs support all PWM output formats, but not DShot.
+
+The remaining 6 outputs (labelled A1 to A6) are the "auxiliary"
+outputs. These are directly attached to the STM32F765 and support all
+PWM protocols as well as DShot.
+
+All 14 PWM outputs have GND on the top row, 5V on the middle row and
+signal on the bottom row.
+
+The 8 main PWM outputs are in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5, 6, 7 and 8 in group3
+
+The 6 auxiliary PWM outputs are in 2 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5 and 6 in group2
+
+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 two dedicated power monitor ports on 6 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The CUAVv5 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - AUX1 50
+ - AUX2 51
+ - AUX3 52
+ - AUX4 53
+ - AUX5 54
+ - AUX6 55
+
+## Analog inputs
+
+The CUAVv5 has 7 analog inputs
+
+ - ADC Pin0 -> Battery Voltage
+ - ADC Pin1 -> Battery Current Sensor
+ - ADC Pin2 -> Battery Voltage 2
+ - ADC Pin3 -> Battery Current Sensor 2
+ - ADC Pin4 -> ADC port pin 2
+ - ADC Pin14 -> ADC port pin 3
+ - ADC Pin10 -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin103 -> RSSI voltage monitoring
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.
+

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

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+# hw definition file for processing by chibios_hwdef.py
+# for MUPilot bootloader
+
+include ../fmuv5/hwdef-bl.dat
+
+undef APJ_BOARD_ID
+APJ_BOARD_ID AP_HW_MUPilot

libraries/AP_HAL_ChibiOS/hwdef/MUPilot/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for MUPilot hardware.
+
+include ../fmuv5/hwdef.dat
+
+undef APJ_BOARD_ID
+APJ_BOARD_ID AP_HW_MUPilot
+
+# extra LEDs, active low, used using the pixracer LED scheme
+PH10 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PH11 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
+PH12 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+undef AP_NOTIFY_GPIO_LED_RGB_RED_PIN
+undef AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
+
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+#heaters
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+
+undef PI6
+PI6 MS5611_BOARD_CS CS
+
+#SPI6 for extra BARO
+PG13 SPI6_SCK SPI6
+PG12 SPI6_MISO SPI6
+PB5 SPI6_MOSI SPI6
+
+SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ
+
+undef BARO
+BARO MS56XX SPI:ms5611
+BARO MS56XX SPI:ms561_board
+
+
+undef IMU
+undef PF11
+
+PF11 ICM42688_CS CS SPEED_VERYLOW
+
+SPIDEV icm42688       SPI1 DEVID2  ICM42688_CS  MODE3  2*MHZ  8*MHZ
+
+IMU Invensense SPI:icm20689 ROTATION_NONE
+IMU Invensense SPI:icm20602 ROTATION_NONE
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
+IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
+IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90