SpeedyBeeF405WING with bdshot support

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING-bdshot/Readme.md

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+# SpeedyBeeF405WING Flight Controller with bdshot support
+
+The SpeedyBeeF405WING is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
+
+## Features
+    Processor
+        STM32F405 168Mhz, 1MB 32-bit processor
+        AT7456E OSD
+    Sensors
+        ICM42688P Acc/Gyro
+        SPL006 barometer
+    Power
+        2S - 6S Lipo input voltage with voltage monitoring
+        90A Cont., 215A peak current monitor
+        9V/12/5V, 1.8A BEC for powering Video Transmitter controlled by GPIO
+        4.9V/6V/7.2V, 4.5A BEC for servos
+        5V, 2.4A BEC for internal and peripherals
+    Interfaces
+        12x PWM outputs DShot capable (Serail LED output is PWM12)
+        1x RC input
+        5x UARTs/serial for GPS and other peripherals, 6th UART internally tied to Wireless board)
+        I2C port for external compass, airspeed, etc.
+        microSDCard for logging, etc.
+        USB-C port
+
+
+## Pinout
+
+![SpeedyBeeF405WING](SpeedyBeeF405WING.png)
+
+## Wiring Diagram
+
+![SpeedyBeeF405WING Wiring](SpeedyBeeF405WING_wiring.png)
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (Serial RC input) (DMA capable)
+ - SERIAL2 -> USART2 (RX tied to inverted SBUS RC input, but can be used as normal UART if :ref:`BRD_ALT_CONFIG<>` =1) 
+ - SERIAL3 -> UART3 (GPS) (TX DMA capable)
+ - SERIAL4 -> UART4 (User) (TX DMA capable)
+ - SERIAL5 -> UART5 (User, available on DJI air unit connector) (TX DMA capable)
+ - SERIAL6 -> UART6 (tied to internal wireless module, MAVLink2 telem) 
+
+
+## RC Input
+
+RC input is configured on the SBUS pin (inverted and sent to UART2_RX). It supports all RC
+protocols except serial protocols such as CRSF, ELRS, etc. Those devices can be connected to USART1 TX and RX, instead.
+Fport can be connected to USART1 TX also, but will require an external bi-directional inverter and the ref:`SERIAL1_OPTION<SERIAL1_OPTION>' = 4 (HalfDuplex) set.
+
+## OSD Support
+
+The SpeedyBeeF405Wing supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using UART5 or any other free UART5. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+The SpeedyBeeF405Wing supports up to 12 PWM outputs (PWM12 is the serial LED output, by default). All outputs support DShot.
+
+The PWM is in 5 groups:
+
+ - PWM 1,2 in group1
+ - PWM 2,4 in group2
+ - PWM 5-7 in group3
+ - PWM 8-10 in group4
+ - PWM 11,12 in group5  Note: PWM12 is setup for LED use by default, if PWM11 is used, you must re-assign PMW12 to a normal PWM output or nothing
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in that group would need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 90A continuosly, 215 Amps peak. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are set by default and are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11.5
+ - BATT_AMP_PERVLT 50
+
+## Compass
+
+The SpeedyBeeF405Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+
+GPIO 81 controls the VTX BEC output to pins marked "9V". Setting this GPIO high removes voltage supply to pins.
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “SpeedyBeeF405Wing”.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "SpeedyBeeF405Wing_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Subsequently, you can update firmware with Mission Planner.
+
+

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING-bdshot/defaults.parm

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+# WS2812 LED
+NTF_LED_LEN,4
+SERVO12_FUNCTION,120
+
+#Serial Port defaults
+SERIAL1_PROTOCOL 23
+SERIAL4_PROTOCOL -1
+SERIAL6_PROTOCOL 2
+
+#dshot-bidir
+SERVO_BLH_AUTO 1
+SERVO_BLH_MASK 1
+SERVO_BLH_OTYPE 6
+SERVO_DSHOT_ESC 4
+SERVO_AUTO_TRIM 1
+SERVO_BLH_BDMASK 1
+OSD1_ESC_IDX 1
+OSD1_ESCRPM_EN	1
+OSD1_ESCRPM_X	3
+OSD1_ESCRPM_Y	13
+OSD1_ESCTEMP_EN	1
+OSD1_ESCTEMP_X	3
+OSD1_ESCTEMP_Y	12

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING-bdshot/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for speedybeef4 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1106
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# LEDs
+PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0)
+PA13 LED_ACTIVITY OUTPUT LOW GPIO(1)
+define HAL_LED_ON 0
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PA4 MPU_CS CS
+PB12 OSD_CS CS
+PC14 SDCARD_CS CS

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING-bdshot/hwdef.dat

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+# hw definition file for SpeedyBee F4 WING hardware
+# tested on the Speedybee F405 WING board
+#
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1106
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 1024
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 1
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+
+# LEDs
+PA13 LED_GREEN OUTPUT LOW GPIO(0)
+PA14 LED_BLUE OUTPUT LOW GPIO(1)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+
+# buzzer
+PC15 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+
+
+# spi1 bus for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 MPU_CS CS
+
+# spi2 for OSD
+PB13 SPI2_SCK SPI2
+PC2  SPI2_MISO SPI2
+PC3  SPI2_MOSI SPI2
+PB12 OSD_CS CS
+
+# spi3 for  sdcard
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+PC14 SDCARD_CS CS
+
+# only one I2C bus in normal config
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# analog pins
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC4 RSSI_ADC_PIN      ADC1 SCALE(1)
+
+PC5 PRESSURE_SENS     ADC1 SCALE(1)
+define HAL_DEFAULT_AIRSPEED_PIN 15
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board
+define HAL_BATT_CURR_SCALE 50    # matched to PDB board
+
+# analog rssi pin
+define BOARD_RSSI_ANA_PIN 14
+
+# USART1 (ELRS)
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+
+# USART2 (RCIN with inverter)
+
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
+
+# alternative with PA3 as USART2_RX
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA ALT(1)
+
+# USART3 (GPS)
+PC10 USART3_TX USART3
+PC11 USART3_RX USART3 NODMA
+
+# UART4 serial4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 NODMA
+
+# USART5 (DJI / VTX)
+PC12 UART5_TX UART5
+PD2  UART5_RX UART5 NODMA
+
+# UART6 (onboard Telemetry)
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_BAUD 115
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# PWM out pins. Note that channel order follows the ArduPilot motor
+# order conventions
+PB7  TIM4_CH2  TIM4 PWM(1) GPIO(50)
+PB6  TIM4_CH1  TIM4 PWM(2) GPIO(51) BIDIR
+PB0  TIM3_CH3  TIM3 PWM(3) GPIO(52) BIDIR
+PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
+
+# Can only do bdshot on M1-4, so give up DMA channel on M5/M6 to get full DMA on USART3
+PC8  TIM8_CH3  TIM8 PWM(5) GPIO(54) NODMA
+PC9  TIM8_CH4  TIM8 PWM(6) GPIO(55) NODMA
+DMA_NOSHARE TIM3_UP
+
+PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56)
+
+PA15 TIM2_CH1  TIM2 PWM(8) GPIO(57)
+PB10 TIM2_CH3  TIM2 PWM(9) GPIO(58)
+PB11 TIM2_CH4  TIM2 PWM(10) GPIO(59)
+
+PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60)
+PA8  TIM1_CH1  TIM1 PWM(12) GPIO(61)# LED
+
+# one IMU
+IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# one baro
+BARO SPL06  I2C:0:0x76
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# ICM42688P on SPI1
+SPIDEV icm42605 SPI1 DEVID1  MPU_CS  MODE3  2*MHZ  8*MHZ
+
+# OSD on SPI2
+SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
+
+# SD Card on SPI3
+SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+#VTX power control
+PC13 PINIO1 OUTPUT GPIO(81) LOW
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc
+
+undef AP_CAMERA_MOUNT_ENABLED
+undef AP_LANDINGGEAR_ENABLED
+undef HAL_MOUNT_ENABLED
+undef HAL_MOUNT_SERVO_ENABLED
+undef QAUTOTUNE_ENABLED
+
+define AP_CAMERA_MOUNT_ENABLED 1
+define AP_LANDINGGEAR_ENABLED 1
+define HAL_MOUNT_ENABLED 1
+define HAL_MOUNT_SERVO_ENABLED 1
+define QAUTOTUNE_ENABLED 1
+
+define DEFAULT_NTF_LED_TYPES 257