HAL_ChibiOS: Add speedybee hardware definition

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/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 134
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+FLASH_SIZE_KB 1024
+
+# don't allow bootloader to use more than 16k
+FLASH_USE_MAX_KB 16
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PB5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+define FLASH_BOOTLOADER_LOAD_KB 64
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs
+UART_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 15360

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat

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+# hw definition file for SpeedyBee F4 hardware
+# tested on the Speedybee F4 board
+# with thanks to betaflight for pinout
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 134
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+define STM32_ST_USE_TIMER 5
+#define CH_CFG_ST_RESOLUTION 16
+
+FLASH_SIZE_KB 1024
+
+# board voltage
+STM32_VDD 330U
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 USART3 USART1 UART4 UART5
+
+# LEDs
+PB9 LED_BLUE OUTPUT LOW GPIO(0)
+PA14 LED_GREEN OUTPUT LOW GPIO(1)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+
+# buzzer
+PC13 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# spi1 bus for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# spi2 for OSD
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PB10 MAX7456_CS CS
+
+# spi3 for sdcard and onboard flash
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+PC0 M25P16_CS CS
+
+PB11 MPU6000_CS CS
+
+# only one I2C bus in normal config
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# analog pins
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC3 RSSI_ADC_PIN ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11
+define HAL_BATT_CURR_SCALE 30.2
+
+#analog rssi pin (also could be used as analog airspeed input)
+# PB1 - ADC12_CH9
+define BOARD_RSSI_ANA_PIN 13
+
+# USART1
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2 (RCIN)
+#PA2 USART3_TX USART3
+#PA3 USART3_RX USART3
+
+# rcinput 
+PA3 TIM9_CH2 TIM2 RCININT FLOAT LOW
+
+# USART3
+PC10 USART3_TX USART3
+PC11 USART3_RX USART3
+
+# UART4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# UART5
+PD2  UART5_RX UART5
+PC12 UART5_TX UART5
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USB detection
+PB12 VBUS INPUT OPENDRAIN
+
+# PWM out pins. Note that channel order follows the ArduPilot motor
+# order conventions
+PC6  TIM8_CH1 TIM8 PWM(1) GPIO(50)
+PC7  TIM8_CH2 TIM8 PWM(2) GPIO(51)
+PC8  TIM8_CH3 TIM8 PWM(3) GPIO(52)
+PC9  TIM8_CH4 TIM8 PWM(4) GPIO(53)
+PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
+PA8  TIM1_CH1 TIM1 PWM(6) GPIO(55)
+
+define HAL_STORAGE_SIZE 15360
+define STORAGE_FLASH_PAGE 2
+
+# reserve 32k for bootloader and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+
+define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
+define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 1
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+define HAL_PROBE_EXTERNAL_I2C_BAROS
+define HAL_BARO_ALLOW_INIT_NO_BARO
+define HAL_BARO_DEFAULT HAL_BARO_BMP085
+define HAL_BARO_BMP085_BUS 0
+define HAL_BARO_BMP085_I2C_ADDR 0x77
+
+# SPI devices
+SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ 
+SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
+
+
+# 8 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 8
+
+# uncomment the lines below to enable strict API
+# checking in ChibiOS
+#define CH_DBG_ENABLE_ASSERTS TRUE
+#define CH_DBG_ENABLE_CHECKS TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+# setup for OSD
+define OSD_ENABLED ENABLED
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin