Merge pull request #1 from ZeroOne-Aero/zeroOneBootLoader

Add Zeroone  bootloader binary

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

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+## ZeroOneX6 Flight Controller
+The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
+
+## Features:
+- Separate flight control core design.
+- MCU 
+   STM32H753IIK6 32-bit processor running at 480MHz
+   2MB Flash
+   1MB RAM
+- Sensors
+- IMU: 
+   Internal Vibration Isolation for IMUs
+   IMU constant temperature heating(1 W heating power).
+   With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
+   IMU1-ICM45686(With vibration isolation) 
+   IMU2-BMI088(With vibration isolation) 
+   IMU3- ICM45686(No vibration isolation)
+- Baro:
+   Two barometers:2 x ICP20100
+  Magnetometer:   Builtin RM3100 magnetometer
+
+## Pinout
+![ZeroOneX6 Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/zeroOneBootLoader/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg "ZeroOneX6")
+
+
+## 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.
+| Name    | Function |DMA|
+| ------- | -------- |---|
+| SERIAL0 | OTG1     ||
+| SERIAL1 | UART7    |DMA Enabled |
+| SERIAL2 | UART5    |DMA Enabled |
+| SERIAL3 | USART1   |DMA Enabled |
+| SERIAL4 | UART8    |DMA Enabled |
+| SERIAL5 | USART2   |DMA Enabled |
+| SERIAL6 | UART4    |DMA Enabled |
+| SERIAL7 | USART3   |DMA Enabled |
+| SERIAL8 | OTG2     ||
+
+## RC Input
+The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols.
+
+## PWM Output
+The X6 flight controller supports up to 16 PWM outputs. 
+First first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8 outputs support all PWM output formats, but not DShot.
+The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .
+All 16 outputs support normal PWM output formats. All FMU outputs, except 15 and 16, also support DShot.
+
+The 8 IO PWM outputs are in 4 groups:
+- Outputs 1 and 2 in group1
+- Outputs 3 and 4 in group2
+- Outputs 5, 6, 7 and 8 in group3
+
+The 8 FMU PWM outputs are in 4 groups:
+- Outputs 1, 2, 3 and 4 in group1
+- Outputs 5 and 6 in group2
+- Outputs 7 and 8 in group3
+
+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 X6 flight controller has two six-pin power connectors, supporting CAN interface power supply.
+These are set by default in the firmware and shouldn't need to be adjusted.
+
+## Compass
+The X6 flight controller built-in industrial-grade electronic compass chip RM3100.
+
+## Analog inputs
+The X6 flight controller has 2 analog inputs.
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin13 -> ADC 3.3V Sense
+- RSSI input pin = 103

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

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+BATT_VOLT_PIN 12
+BATT_CURR_PIN 13
+
+CAN_P1_DRIVER 1
+BATT_MONITOR 8

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the ZeroOneX6 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5600
+
+# 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
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Pin for PWM Voltage Selection
+PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
+
+# 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
+PI9 IMU1_CS CS
+PH5 ICM42688_CS CS
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+PH15 BMM150_CS CS
+PG7  FRAM_CS CS
+PI10 EXT1_CS CS
+
+# telem1
+PE8 UART7_TX UART7
+PF6 UART7_RX UART7 OUTPUT HIGH
+
+# telem2
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5 OUTPUT HIGH
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3 OUTPUT HIGH
+
+# armed indication
+PE6 nARMED OUTPUT HIGH
+
+# start peripheral power off
+PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+# LEDs
+PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
+