added common.inc, added README

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md

@@ -0,0 +1,87 @@
+# ARK FPV Flight Controller
+
+https://arkelectron.com/product/ark-fpv-flight-controller/
+
+
+## Features
+#### Processor
+- STM32H743 32-bit processor
+- 480MHz
+- 2MB Flash
+- 1MB RAM
+#### Sensors
+- Invensense IIM-42653 Industrial IMU with heater resistor
+- Bosch BMP390 Barometer
+- ST IIS2MDC Magnetometer
+#### Power
+- 5.5V - 54V (2S - 12S) input
+- 12V, 2A output
+- 5V, 2A output. 300ma for main system, 200ma for heater
+#### Interfaces
+- **Micro SD**
+- **USB-C**
+  - VBUS In, USB
+- **PWM**
+  - VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable
+  - JST-GH 8 Pin
+- **PWM EXTRA**
+  - 5x PWM and Bidirectional-DSHOT capable
+  - JST-SH 6 Pin
+- **RC Input**
+  - 5V Out, UART
+  - JST-GH 4 Pin
+- **POWER AUX**
+  - 12V Out, VBAT In/Out
+  - JST-GH 3 Pin
+- **TELEM**
+  - 5V Out, UART with flow control
+  - JST-GH 6 Pin
+- **GPS**
+  - 5V Out, UART, I2C
+  - JST-GH 6 Pin
+- **CAN**
+  - 5V Out, CAN
+  - JST-GH 4 Pin
+- **VTX**
+  - 12V Out, UART TX/RX, UART RX
+  - JST-GH 6 Pin
+- **SPI** (OSD or External IMU)
+  - 5V Out, SPI
+  - JST-SH 8 Pin
+- **DEBUG**
+  - 3.3V Out, UART, SWD
+  - JST-SH 6 Pin
+
+##### Dimensions
+- Size: 3.6 × 3.6 × 0.8 cm
+- Weight: 7.5g with MicroSD card
+
+## Pinout
+TODO
+
+## UART Mapping
+
+|Name|Function|
+|:-|:-|
+|SERIAL0|USB|
+|SERIAL1|UART7 (Telem)|
+|SERIAL2|UART5 (VTX - DJI Air Unit, RX/TXT)|
+|SERIAL3|USART1 (GPS1)|
+|SERIAL4|USART2 (VTX - DJI Air Unit, RX only)|
+|SERIAL5|UART4 (ESC Telem, RX only)|
+|SERIAL6|USART6 (RC Input)|
+|SERIAL7|OTG2 (SLCAN)|
+
+All UARTS support DMA.
+
+## OSD Support
+
+This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.
+
+## Motor Output
+
+Motors 1-8 are capable of Bidirectional-DSHOT and PWM.
+
+All outputs in the motor groups below must be either PWM or DShot:
+Motors 1-4  Group1 (TIM5)
+Motors 5-8  Group2 (TIM8)

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc

@@ -0,0 +1,32 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 59
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# 480Hz is only value support on H7
+# MCU_CLOCKRATE_MHZ 320
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3

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

@@ -1,61 +1,33 @@
-# hw definition file for processing by chibios_hwdef.py
-# for the ARKV6X hardware
+# processed by chibios_hwdef.py
 
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# crystal frequency
-OSCILLATOR_HZ 16000000
-
-# board ID for firmware load
-APJ_BOARD_ID 59
+include common.inc
 
 # bootloader is installed at zero offset
 FLASH_RESERVE_START_KB 0
 
 # the location where the bootloader will put the firmware
 FLASH_BOOTLOADER_LOAD_KB 128
 
-# flash size
-FLASH_SIZE_KB 2048
-
 env OPTIMIZE -Os
 
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1 UART7 UART5 USART3
 
-# USB
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-PA9 VBUS INPUT OPENDRAIN
-
-# pins for SWD debugging
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
 # CS pins
-
-# ICM20602
+# SPI1 - IIM42653
 PI9 IMU1_CS CS
-# BMMI088 Accel
-PI4 BMI088_A_CS CS
-# BMMI088 Gyro
-PI8 BMI088_G_CS CS
-# Unused
-# PG7  FRAM_CS CS
+# SPI6 - external
 PI10 EXT1_CS CS
 
 # telem1
-PE8 UART7_TX UART7
-PF6 UART7_RX UART7
+PE8  UART7_TX  UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+PE10 UART7_CTS UART7
 
 # telem2
 PC12 UART5_TX UART5
-PD2 UART5_RX UART5
-
-# debug uart
-PD8 USART3_TX USART3
-PD9 USART3_RX USART3
+PD2  UART5_RX UART5
 
 # armed indication
 PE6 nARMED OUTPUT HIGH
@@ -70,6 +42,3 @@ define HAL_LED_ON 0
 
 define HAL_USE_EMPTY_STORAGE 1
 define HAL_STORAGE_SIZE 16384
-
-# enable DFU by default
-ENABLE_DFU_BOOT 1