Add universal payload

libraries/AP_HAL_ChibiOS/hwdef/sw-universal-payload/defaults.parm

@@ -0,0 +1,4 @@
+BATT_MONITOR 3
+BATT_VOLT_PIN 1
+EFI_TYPE 1
+RNGFND1_TYPE 8

libraries/AP_HAL_ChibiOS/hwdef/sw-universal-payload/hwdef-bl.dat

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+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 64
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID 6000
+
+env AP_PERIPH 1
+
+define CAN_APP_NODE_NAME "sw-spar-f407-bl"
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# activity led
+PC8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ECU - we don't use this at the moment, but it must be enabled for CAN2 to work
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH 
+
+# Avionics
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+PB7 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+SERIAL_ORDER OTG1

libraries/AP_HAL_ChibiOS/hwdef/sw-universal-payload/hwdef.dat

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+# MCU class and specific type
+MCU STM32F4xx STM32F407xx
+
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 512
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 2
+
+# board ID for firmware load
+APJ_BOARD_ID 6085
+
+env AP_PERIPH 1
+
+define CAN_APP_NODE_NAME "sw-universal-payload-f407"
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# we need tim2 for PWM
+STM32_ST_USE_TIMER 5
+
+# activity led
+PC8 LED OUTPUT LOW
+define HAL_LED_ON 1
+
+# JTAG
+#PA13 JTMS-SWDIO SWD
+#PA14 JTCK-SWCLK SWD
+
+# CAN
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH
+
+# ---------------------- UARTs ---------------------------
+SERIAL_ORDER USART1 USART2 USART3
+
+# USART1
+PA9  USART1_TX USART1 SPEED_HIGH DMA
+PA10 USART1_RX USART1 SPEED_HIGH DMA
+
+# USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX  USART2 SPEED_HIGH DMA
+PD6 USART2_RX  USART2 SPEED_HIGH DMA
+
+# USART3
+PB10  USART3_TX USART3 SPEED_HIGH DMA
+PB11  USART3_RX USART3 SPEED_HIGH DMA
+
+# UART5
+PC12 UART5_TX UART5 SPEED_HIGH DMA
+PD2  UART5_RX UART5 SPEED_HIGH DMA
+
+PE9   5V_PAYLOAD_SW_ENABLE OUTPUT GPIO(1) PUSHPULL SPEED_LOW HIGH
+PE11               RELAY_1 OUTPUT GPIO(2) PUSHPULL SPEED_LOW HIGH
+PE12               RELAY_2 OUTPUT GPIO(3) PUSHPULL SPEED_LOW HIGH
+PE13               RELAY_3 OUTPUT GPIO(4) PUSHPULL SPEED_LOW HIGH
+PE14 28V_PAYLOAD_SW_ENABLE OUTPUT GPIO(5) PUSHPULL SPEED_LOW HIGH
+
+# relay outputs
+define HAL_PERIPH_ENABLE_RELAY 1
+define AP_RELAY_ENABLED 1
+define RELAY1_PIN_DEFAULT 1
+define RELAY2_PIN_DEFAULT 2
+define RELAY3_PIN_DEFAULT 3
+define RELAY4_PIN_DEFAULT 4
+define RELAY5_PIN_DEFAULT 5
+
+# don't build on firmware.ardupilot.org
+# i2c
+I2C_ORDER I2C3
+define STM32_I2C_USE_I2C3 TRUE
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 0
+
+# internal mag
+PA8 I2C3_SCL I2C3
+PC9 I2C3_SDA I2C3
+
+# GPS
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+# rangefinder
+define HAL_PERIPH_ENABLE_RANGEFINDER 2
+define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2
+
+# compass
+define HAL_PERIPH_ENABLE_MAG
+define HAL_COMPASS_MAX_SENSORS 2
+
+COMPASS MMC3416 I2C:0:0x30 false ROTATION_NONE
+
+# expected aux compass, unclear if these need to be listed
+COMPASS RM3100  I2C:1:0x20 false ROTATION_NONE
+COMPASS RM3100  I2C:1:0x21 false ROTATION_NONE
+COMPASS RM3100  I2C:1:0x22 false ROTATION_NONE
+COMPASS RM3100  I2C:1:0x23 false ROTATION_NONE
+
+# battery
+define HAL_PERIPH_ENABLE_BATTERY
+define HAL_PERIPH_BATTERY_SKIP_NAME # don't waste bandwidth on static names
+define AP_BATT_MONITOR_MAX_INSTANCES 4
+define HAL_BATT_MONITOR_DEFAULT 3
+
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+
+# ADC's
+# 5v pi sw
+PA6 BATT_VOLTAGE_SENS  ADC1 SCALE(1) ANALOG(1)
+# 5V
+PA7 BATT2_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(2)
+# 28V switchable
+PB0 BATT3_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(3)
+# VBatt
+PB1 BATT4_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(4)
+# 28V
+PC4 BATT5_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(5)
+# 5V payload switch
+PC5 BATT6_VOLTAGE_SENS ADC1 SCALE(1) ANALOG(6)
+
+# don't build on firmware.ardupilot.org
+AUTOBUILD_TARGETS None
+
+define HAL_SERIAL_ESC_COMM_ENABLED 1
+define HAL_RCIN_THREAD_ENABLED 1
+define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
+define HAL_MONITOR_THREAD_ENABLED 1