JFB-100 board support

libraries/AP_HAL_ChibiOS/hwdef/JFB100/README.md

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+# JFB-100 Flight Controller
+
+The JFB-100 flight controller is sold by [JAE](https://www.jae.com/files/user/motion-sense-control/catalog/jfb-100-ja.pdf)
+
+## Features
+
+ - STM32F765 microcontroller
+ - Two IMUs: ICM20602 and SCHA63T
+ - MS5611 SPI barometer
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 6 UARTs plus USB
+ - 8 PWM outputs
+ - Four I2C and two CAN ports
+ - External Buzzer
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2, marked UART/I2CB)
+ - SERIAL5 -> UART6 (RC)
+ - SERIAL6 -> UART7 (spare, debug)
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The UART7 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+
+RC input is configured on the port marked DSM/SBUS RC. This connector
+supports all RC protocols. Two cables are available for this port. To
+use software binding of Spektrum satellite receivers you need to use
+the Spektrum satellite cable.
+
+## PWM Output
+
+The JFB-100 supports up to 8 PWM outputs. 
+These are directly attached to the STM32F765 and support all
+PWM protocols. The first 4 of the PWM outputs support DShot.
+
+The 8 PWM outputs are in 3 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5 and 6 in group2
+ - PWM 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 board has two dedicated power monitor ports on 8 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The JFB-100 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - AUX1 50
+ - AUX2 51
+ - AUX3 52
+ - AUX4 53
+ - AUX5 54
+ - AUX6 55
+
+## Analog inputs
+
+The JFB-100 has 7 analog inputs
+
+ - ADC Pin0 -> Battery Voltage
+ - ADC Pin1 -> Battery Current Sensor
+ - ADC Pin2 -> Battery Voltage 2
+ - ADC Pin3 -> Battery Current Sensor 2
+ - ADC Pin4 -> ADC port pin 2
+ - ADC Pin14 -> ADC port pin 3
+ - ADC Pin10 -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin103 -> RSSI voltage monitoring
+
+## I2C Buses
+
+ - the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
+ - the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware)
+ - the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
+ - the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware)
+
+
+## CAN
+
+The JFB-100 has two independent CAN buses, with the following pinouts.
+
+## Debug
+
+The JFB-100 supports SWD debugging on the debug port
+
+
+## Loading Firmware
+
+The board 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/JFB100/defaults.parm

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+# JFB-100 board default definition
+SERIAL5_OPTIONS,8
+SERIAL5_PROTOCOL,23

libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for F765 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1084
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 32
+
+PC6 LED_BOOTLOADER OUTPUT HIGH
+PC7 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 UART7
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Add CS pins to ensure they are high in bootloader
+PF10 MS5611_CS CS
+PF2  SCHA63T_G_CS CS
+PF3  ICM20602_CS CS SPEED_VERYLOW
+PF4  SCHA63T_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+# PF11 SPARE_CS CS (using for WA6)
+PH5  AUXMEM_CS CS
+PI4  EXTERNAL1_CS1 CS
+PI10 EXTERNAL1_CS2 CS
+PI11 EXTERNAL1_CS3 CS
+PI6  EXTERNAL2_CS1 CS
+PI7  EXTERNAL2_CS2 CS
+PI8  EXTERNAL2_CS3 CS