HAL_ChibiOS: Added support for GreenSight's UltraBlue flight controller

[sionv]

No description provided.

[andyp1per]

Looking good.

[Hwurzburg]

A few things upon cursory review that need answers before I do a thorough review:

1. The photo does not indicate the "mezzanine" connector, or its type
2. The defaults.param file should only have the SERVOx_FUNCTION items, all others belong in the hwdef
3. Once you get a board id assigned in a separate PR, use its text description in the .dat files
4. Need bootloader file added
5. No SD card slot shown in photo...consider adding SD in bootloader for firmware load from SD
6. Boot switch is not indicated in photo....what is the initial firmware? ArduPilot?

[sionv]

A few things upon cursory review that need answers before I do a thorough review:

1. The photo does not indicate the "mezzanine" connector, or its type

2. The defaults.param file should only have the SERVOx_FUNCTION items, all others belong in the hwdef

3. Once you get a board id assigned in a separate PR, use its text description in the .dat files

4. Need bootloader file added

5. No SD card slot shown in photo...consider adding SD in bootloader for firmware load from SD

6. Boot switch is not indicated in photo....what is the initial firmware? ArduPilot?

Thank you for looking at this. I have made your recommended changes.

1. The photo and README.md have been updated.
2. Moved relay pins and Serial6 protocol selection from defaults.param to hwdef
3. Now use board id text description in .dat files
4. Bootloader files have been updated
5. Image updated and SD added to bootloader. Firmware load from SD tested
6. The UltraBlue will be shipping with ArduPilot firmware.

Thanks again for your time

[Hwurzburg]

Re-Review comments:

1. Which connector has the GPIO64/65 outputs?
2. Where is the TELEM1 connector?
3. ESC/Servo outputs on messanine need number designations
4. What pins are all the GPIOs on the JP12 connector??? do they include the PWM outputs 10-14
5. The Readme needs RC, PWM Output, GPIO, Firmware ,and BattMonitor Sections like other Readme file

[sionv]

Re-Review comments:

1. Which connector has the GPIO64/65 outputs?

2. Where is the TELEM1 connector?

3. ESC/Servo outputs on messanine need number designations

4. What pins are all the GPIOs on the JP12 connector??? do they  include the PWM outputs 10-14

5. The Readme needs RC, PWM Output, GPIO, Firmware ,and BattMonitor Sections like other Readme file

Thank you for reviewing this. Your recommended changes have been made.

1. GPIO 64 and GPIO 65 go to J2 - Jetson Payload 1. Information for this connector has been added to the README.md.
2. We don’t have a telem1 connector and instead only have a telem2 connection. References to telem1 in hwdef.dat, hwdef-bl.dat and README.md were renamed to Jetson telem, as it is a direct connection to the Jetson.
3. Number designations for ESC/Servo outputs on the mezzanine connector have been added.
4. JP12 contains PWM outputs 9 - 14. The first 8 PWMs are on the Mezzanine connector. The next 6 are on the GPIO connector JP12.
5. The README.md has been updated with RC Input, PWM Output, GPIOs, Firmware, and Battery Monitoring sections.

The graphics have also been updated to reflect the updated connector layout.

Thanks again for your help.

[Hwurzburg]

@sionv sorry its taken so long, but I started the review, but have a question....is UART8 TX pin available? if not then another UART would need to be used for bi-dir RC protocols....let me know and I will finish up the re-review (quickly this time)

[sionv]

@sionv sorry its taken so long, but I started the review, but have a question....is UART8 TX pin available? if not then another UART would need to be used for bi-dir RC protocols....let me know and I will finish up the re-review (quickly this time)

No worries! I appreciate you taking the time to review the pull request.

UART8_TX pin (PE1) and PPM-in pin (PB4) are both tied to the PPM port (JP1) and the Spektrum port (JP4). This should allow support for bi-directional RC protocols.

[Hwurzburg]

bi directional protocols like crsf need separate RX and TX UART pins....you cant tie rx and tx together on one pin

[sionv]

bi directional protocols like crsf need separate RX and TX UART pins....you cant tie rx and tx together on one pin

My apologies. We don’t actually support bi-directional RC protocols on that RCIN connector. To do that, a user would need to use the telem2 or the GPS2 port.

[Hwurzburg]

a couple of small n its...looks good
needs squash and lib split...and @andyp1per approval

[Hwurzburg]

do not use merge commits...rebase on master...that is not usually necessary either unless a specific master changed is cuasing a CI failure

[sionv]

@Hwurzburg, @andyp1per
The UART Mapping section has been updated, and squash and lib split completed.
Thanks again for your help on this.