updated HWDEF and README

Author: yaadch

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianF405/README.md

@@ -48,11 +48,19 @@ For detailed pin definitions and usage, refer to the [Radian documentation porta
 
 ## UART Port Mapping
 
-| ArduPilot SERIALx | Connector | Function                              |
-|-------------------|-----------|----------------------------------------|
-| SERIAL1           | TELEM1    | Primary telemetry                      |
-| SERIAL2           | TELEM2    | Secondary telemetry or companion link |
-| SERIAL3           | GPS       | GNSS module                            |
+| ArduPilot SERIALx | Connector | Function                                | DMA           |
+|-------------------|-----------|-----------------------------------------|---------------|
+| SERIAL1           | TELEM1    | Primary telemetry                       | DMA Enabled   |
+| SERIAL2           | TELEM2    | Secondary telemetry or companion link   | DMA Enabled   |
+| SERIAL3           | GPS       | GNSS module                             | DMA Disabled  |
+
+## Alt Config
+the RadianF405 supports alt config that converts SERIAL2/TELEM2 to I2C port according to the following pinout:
+
+| BRD_ALT_CONFIG=0  | BRD_ALT_CONFIG=1 |
+|-------------------|------------------|
+| TELEM2_TX         | I2C2_SCL         |
+| TELEM2_RX         | I2C2_SDA         |
 
 ## PWM / Servo Outputs
 
@@ -62,14 +70,19 @@ For detailed pin definitions and usage, refer to the [Radian documentation porta
   - PWM 1-3 in group1
   - PWM 4-6 in group2
   - PWM 7,8 in group3
-
 - Channels within the same group need to use the same output.
 - If any channel in a group uses DShot then all channels in the group need to use DShot.  
 
+The following outputs support Bi_Directional DShot:
+  - PWM 1
+  - PWM 2
+  - PWM 3
+  - PWM 6
+
 ## RC Input
 
-- Supports PPM-Sum, S.Bus, and iBUS protocols via the RC input port  
-- Additional receiver types can be connected via configurable serial ports  
+- RC input is on the RC_IN pin which is ties to the UART5 RX pin.
+- It supports all ArduPilot compatible uni-directional protocols.
 - For setup instructions, consult the [ArduPilot RC systems guide](https://ardupilot.org/copter/docs/common-rc-systems.html)
 
 ## Power supply & Battery Monitoring
@@ -86,6 +99,23 @@ For detailed pin definitions and usage, refer to the [Radian documentation porta
 | 5V | from 5V BEC | 20W (4A) |
 | BAT | directly from battery | (5A) |
 
+default paramters for battery monitors:
+| Paramter Name    | Default Value  |
+|------------------|----------------|
+|BATT_MONITOR      |      4         |
+|BATT_VOLT_PIN     |      10        |
+|BATT_CURR_PIN     |      15        |
+|BATT_VOLT_SCALE   |      1         |
+|BATT_CURR_SCALE   |      1         |
+
+| Paramter Name    | Default Value  |
+|------------------|----------------|
+|BATT2_MONITOR     |      4         |
+|BATT2_VOLT_PIN    |      12        |
+|BATT2_CURR_PIN    |      11        |
+|BATT2_VOLT_SCALE  |      1         |
+|BATT2_CURR_SCALE  |      1         |
+
 ## Compass Configuration
 
 - Includes dual onboard compass modules for redundancy  

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianF405/hwdef.dat

@@ -73,12 +73,12 @@ PC1 BATT2_CURRENT_SENS ADC1 SCALE(1)
 PC2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
 
 # pwm outputs
-PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50)
-PB0 TIM1_CH2N TIM1 PWM(2) GPIO(51)
-PA8 TIM1_CH1  TIM1 PWM(3) GPIO(52)
+PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50) BDIR
+PB0 TIM1_CH2N TIM1 PWM(2) GPIO(51) BDIR
+PA8 TIM1_CH1  TIM1 PWM(3) GPIO(52) BDIR
 PA3 TIM2_CH4  TIM2 PWM(4) GPIO(53)
 PA2 TIM2_CH3  TIM2 PWM(5) GPIO(54)
-PA1 TIM2_CH2  TIM2 PWM(6) GPIO(55)
+PA1 TIM2_CH2  TIM2 PWM(6) GPIO(55) BDIR
 PC9 TIM8_CH4  TIM8 PWM(7) GPIO(56)
 PC8 TIM8_CH3  TIM8 PWM(8) GPIO(57)
 
@@ -97,11 +97,11 @@ PB10 I2C2_SCL I2C2 ALT(1)
 PB11 I2C2_SDA I2C2 ALT(1)
 
 # USART3 with BRD_ALT_CONFIG=0
-PB10 USART3_TX USART3 ALT(0)
-PB11 USART3_RX USART3 ALT(0)
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
 
-PA10 USART1_RX USART1
-PA9 USART1_TX USART1
+PA10 USART1_RX USART1 NODMA
+PA9 USART1_TX USART1 NODMA
 
 PC6 USART6_TX USART6
 PC7 USART6_RX USART6
@@ -120,8 +120,6 @@ PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
 
 # USB setup
-USB_VENDOR 0x1021
-USB_PRODUCT 0x1090
 USB_STRING_MANUFACTURER "Aerium"
 USB_STRING_PRODUCT "RadianF405"
 
@@ -144,22 +142,20 @@ BARO BMP280 SPI:bmp280
 BARO LPS2XH SPI:lps22h
 
 # define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
 define HAL_BATT_VOLT_PIN 10
 define HAL_BATT_CURR_PIN 15
+define HAL_BATT_VOLT_SCALE 1
+define HAL_BATT_CURR_SCALE 1
+
+define HAL_BATT2_MONITOR_DEFAULT 4
 define HAL_BATT2_VOLT_PIN 12
 define HAL_BATT2_CURR_PIN 11
-define HAL_BATT_VOLT_SCALE 1
 define HAL_BATT2_VOLT_SCALE 1
-define HAL_BATT_CURR_SCALE 1
 define HAL_BATT2_CURR_SCALE 1
 
-define CAN_D1_UC_POOL 1024
-
-# For complementary channels to work we define this
-define STM32_PWM_USE_ADVANCED TRUE
-
 # reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 # --------------------- save flash ----------------------
 include ../include/minimize_features.inc
@@ -170,9 +166,6 @@ define HAL_VISUALODOM_ENABLED 1
 undef MODE_GUIDED_NOGPS_ENABLED
 define MODE_GUIDED_NOGPS_ENABLED 1
 
-undef GPS_MOVING_BASELINE
-define GPS_MOVING_BASELINE 1
-
 undef AP_FOLLOW_ENABLED
 define AP_FOLLOW_ENABLED 1
 
@@ -185,20 +178,11 @@ define AP_OPTICALFLOW_ENABLED 1
 undef MODE_FLOWHOLD_ENABLED
 define MODE_FLOWHOLD_ENABLED 1
 
-undef HAL_BARO_WIND_COMP_ENABLED
-define HAL_BARO_WIND_COMP_ENABLED 1
-
 undef HAL_PARACHUTE_ENABLED
 define HAL_PARACHUTE_ENABLED 1
 
-undef HAL_PICCOLO_CAN_ENABLE
-define HAL_PICCOLO_CAN_ENABLE 1
-
 undef HAL_ENABLE_DRONECAN_DRIVERS
 define HAL_ENABLE_DRONECAN_DRIVERS 1
 
 undef AC_NAV_GUIDED
 define AC_NAV_GUIDED 1
-
-undef WEATHERVANE_ENABLED
-define WEATHERVANE_ENABLED 1