Added pinout image and README

libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/README.md

@@ -1,40 +1,117 @@
 # PixFlamingo-F767 Flight Controller
 
-The PixFlamingo-F767 is a flight controller produced by Dheeran Labs
+The PixFlamingo-F767 is a flight controller produced by Dheeran Labs.
+Contact [email protected] for sales
 
 ## Features
     Processor
         STM32F767 32-bit processor
+	Onboard Flash: 2048Mbits
     Sensors
-        ICM42670, MPU6500 Acc/Gyro
-        MS5611 / BMP280 barometer
-	LIS3MDL Compass
+        Two IMU : ICM42670, MPU6500/ICM20602 Acc/Gyro
+        One Baro : Internal MS5611/BMP280/DPS310 SPI barometer
+	Internal LIS3MDL Compass
     Power
         5v input voltage with voltage monitoring
     Interfaces
         10x PWM outputs 
         1x RC input
         5x UARTs/serial for GPS and other peripherals
         2x I2C ports for external compass, airspeed, etc.
+	microSD card slot port
+	Internal RGB LED
+	Safety switch port
+	Buzzer port
         USB-C port
 
+## Connectors
+
+**POWER ADC**
+
+| Pin  |     Signal      | Volt  |
+| :--: | :-------------: | :---: |
+|  1   |     VCC_IN      |  +5V  |
+|  2   |     VCC_IN      |  +5V  |
+|  3   | BAT_CRRENT_ADC  | +3.3V |
+|  4   | BAT_VOLTAGE_ADC | +3.3V |
+|  5   |       GND       |  GND  |
+|  6   |       GND       |  GND  |
+
+**TELEM1**
+
+| Pin  |  Signal  | Volt  |
+| :--: |  :-----: | :---: |
+|  1   |    VCC   |  +5V  |
+|  2   | UART_TX3 | +3.3V |
+|  3   | UART_RX3 | +3.3V |
+|  4   |    CTS   | +3.3V |
+|  5   |    RTS   | +3.3V |
+|  6   |    GND   |  GND  |
+
+**TELEM2**
+
+| Pin  |  Signal  | Volt  |
+| :--: |  :-----: | :---: |
+|  1   |    VCC   |  +5V  |
+|  2   | UART_TX6 | +3.3V |
+|  3   | UART_RX6 | +3.3V |
+|  4   |    CTS   | +3.3V |
+|  5   |    RTS   | +3.3V |
+|  6   |    GND   |  GND  |
+
+**GPS1**
+
+| Pin  |  Signal  | Volt  |
+| :--: |  :-----: | :---: |
+|  1   |    VCC   |  +5V  |
+|  2   | UART_TX1 | +3.3V |
+|  3   | UART_RX1 | +3.3V |
+|  4   | I2C2_SCL | +3.3V |
+|  5   | I2C2_SDA | +3.3V |
+|  6   |    GND   |  GND  |
+
+**GPS2**
+
+| Pin  |  Signal  | Volt  |
+| :--: |  :-----: | :---: |
+|  1   |    VCC   |  +5V  |
+|  2   | UART_TX1 | +3.3V |
+|  3   | UART_RX1 | +3.3V |
+|  4   |     X    |   X   |
+|  5   |     X    |   X   |
+|  6   |    GND   |  GND  |
+
+
+**SAFETY**
+
+| Pin  |      Signal      | Volt  |
+| :--: | :-----------:    | :---: |
+|  1   |     SAFETY_SW    | +3.3V |
+|  2   |   SAFETY_SW_LED  | +3.3V |
+|  3   |      3V3_OUT	  | +3.3V |
+|  4   |      BUZZER+     | +3.3V |
+|  5   |      BUZZER-     | GND   |
+
+
 ## 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
+ - SERIAL0 -> USB (OTG1)
  - SERIAL1 -> UART3 (TELEM1) with CTS/RTS DMA Enabled
  - SERIAL2 -> UART6 (TELEM2) with CTS/RTS DMA Enabled
- - SERIAL3 -> UART1 (GPS) DMA Enabled
+ - SERIAL3 -> UART1 (GPS1) DMA Enabled
  - SERIAL4 -> EMPTY
- - SERIAL5 -> UART7 (GPS2)
+ - SERIAL5 -> UART7 (GPS2) NODMA
  - SERIAL6 -> USART2 (User) DMA Enabled
 
 ## RC Input
 
 Supports I-Bus/S-bus
 
+Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
+
 ## PWM Output
 
 The PixFlaminog-F767 supports up to 10 PWM outputs. 
@@ -46,3 +123,58 @@ The PWM is in 5 groups:
  - PWM 9 in group3
  - PWM 10 in group4
 
+## GPIOs
+
+All 10 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
+
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+| PWM Channels | Pin  | PWM Channels | Pin  |
+| ------------ | ---- | ------------ | ---- |
+| PWM1         | 50   | PWM8         | 57   |
+| PWM2         | 51   | PWM9         | 58   |
+| PWM3         | 52   | PWM10        | 59   |
+| PWM4         | 53   |              |      |
+| PWM5         | 54   |              |      |
+| PWM6         | 55   |              |      |
+| PWM7         | 56   |              |      |
+
+## Analog inputs
+
+The PixFlamingo-F767 flight controller has 4 analog inputs
+
+ - ADC Pin10   -> Battery Current 
+ - ADC Pin11   -> Battery Voltage 
+ - ADC Pin14   -> ADC 3V3 Sense
+ - ADC Pin15 -> ADC 6V6 Sense
+
+## Battery Monitor Configuration
+
+The board has voltage and current sensor inputs on the POWER_ADC connector.
+
+The correct battery setting parameters are:
+
+Enable Battery monitor.
+
+BATT_MONITOR =4
+
+Then reboot.
+
+BATT_VOLT_PIN 11
+
+BATT_CURR_PIN 10
+
+BATT_VOLT_MULT 10.1 (may need adjustment if supplied monitor is not used)
+
+BATT_AMP_PERVLT 17.0 (may need adjustment if supplied monitor is not used)
+
+## Build the FC
+
+./waf configure --board=PixFlamingo-F767
+./waf copter
+
+The compiled firmware is located in folder **"build/PixFlamingo-F767/bin/arducopter.apj"**.
+
+## Loading Firmware
+
+The PixFlamingo-F767 flight controller 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/PixFlamingo-F767/defaults.parm

@@ -1,3 +1,4 @@
 RC2_REVERSED 1
 MOT_SAFE_DISARM 1
 BARO_ALTERR_MAX 6000
+BRD_HEAT_TARG -1

libraries/AP_HAL_ChibiOS/hwdef/PixFlamingo-F767/hwdef.dat

@@ -90,6 +90,9 @@ PB12 VDD_BRICK_VALID INPUT PULLDOWN
 PB10 I2C2_SCL I2C2
 PB11 I2C2_SDA I2C2
 
+PA8 CAN3_RX CAN3
+PA15 CAN3_TX CAN3
+
 # SPI2 is for sensors
 PD3 SPI2_SCK SPI2
 PC2 SPI2_MISO SPI2
@@ -122,6 +125,10 @@ PE4 MAG_DRDY INPUT
 
 PC13 VDD_SENSORS_EN OUTPUT HIGH
 
+# GPIOs
+PE3 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
 
 PD12 TIM4_CH1 TIM4 GPIO(32) ALARM
 PB9 EXTERN_GPIO1 OUTPUT GPIO(4)
@@ -145,6 +152,7 @@ SPIDEV mpu6500    SPI2 DEVID2   MPU6500_CS    MODE3  1*MHZ  4*MHZ
 SPIDEV ms5611_int      SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
 SPIDEV lis3mdl     SPI2 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
 SPIDEV bmp280     SPI1 DEVID3   BARO_CS  MODE3 1*MHZ 8*MHZ
+SPIDEV dps310     SPI1 DEVID3   BARO_CS  MODE3 5*MHZ 5*MHZ
 
 # enable FAT filesystem
 define HAL_OS_FATFS_IO 1
@@ -196,4 +204,7 @@ define STM32_I2C_USE_DMA FALSE
 # one barometer
 BARO MS56XX SPI:ms5611_int
 BARO BMP280 SPI:bmp280
+BARO DPS310 SPI:dps310
 define HAL_BARO_ALLOW_INIT_NO_BARO
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+