AP_HAL_ChibiOS: TBS LUCID PRO/Freestyle

libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md

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+# TBS LUCID PRO Flight Controller
+
+The TBS LUCID PRO/Freestyle is a flight controller produced by [Team Black Sheep](https://www.team-blacksheep.com/).
+
+## Features
+
+ - MCU - STM32F405 32-bit processor running at 168 MHz
+ - IMU - ICM42688 (Freestyle) or MPU6000 (Pro)
+ - Barometer - SPL06
+ - OSD - AT7456E
+ - Onboard Flash: 4MByte
+ - 6x UARTs
+ - 6x PWM Outputs (4 Motor Output, 1 Camera PWM and 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 3.3V 0.5A
+ - BEC 5V 3A
+ - BEC 9V 3A for video
+
+## Pinout
+
+![TBS LUCID PRO/Freestyle Board](TopBottom.png "TBS LUCID PRO/Freestyle")
+
+## 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 -> UART1 (RX, DMA-enabled)
+ - SERIAL2 -> UART2 (User, RX5 is SBUS input and is inverted from pin)
+ - SERIAL3 -> UART3 (HD RX, DMA-Enabled)
+ - SERIAL4 -> UART4 (SmartAudio)
+ - SERIAL5 -> UART5 (ESC Telem)
+ - SERIAL6 -> UART6 (GPS, DMA-Enabled)
+
+## RC Input
+
+RC input is configured by default via SERIAL1. It supports all serial RC protocols except PPM and SBUS. For SBUS
+use SERIAL2, set its protocol to RCIN ("23") and change SERIAL1_PROTOCOL to something other than RCIN ("23").
+
+Note: If the receiver is FPort the receiver must be tied to the SERIAL1 TX pin , RSSI_TYPE set to 3,
+and SERIAL1_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both
+RX1 and TX1 and set RSSI_TYPE also to 3.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using an unused UART, such as the T4 pin (UART4 transmit).
+You need to set the following parameters to enable support for FrSky S.PORT:
+ 
+  - SERIAL4_PROTOCOL 10
+  - SERIAL4_OPTIONS 7
+  
+## OSD Support
+
+The TBS LUCID PRO supports OSD using OSD_TYPE 1 (MAX7456 driver) and simultaneously DisplayPort using TX3/RX3 on the HD VTX connector.
+
+## PWM Output
+
+The TBS LUCID PRO supports up to 6 PWM or DShot outputs. The pads for motor output
+M1 to M4 are provided on both the motor connector and on separate pads, plus
+M5-6 on a separate pads for LED strip and camera control.
+
+The PWM is in 3 groups:
+
+ - PWM 1-2   in group1
+ - PWM 3-4   in group2
+ - PWM 5-6   in group3 (No DShot). PWM5 marked as "CAMC", PWM6 as "LED"
+
+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. Channels 1-4 support bi-directional dshot.
+
+## Battery Monitoring
+
+The board has a built-in voltage sensor and external current sensor input. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 20
+ - BATT_AMP_PERVLT 40
+
+## Compass
+
+The TBS LUCID PRO does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Firmware
+
+Firmware for this board can be found `here <https://firmware.ardupilot.org>`__ in sub-folders labeled “TBS_LUCID_PRO”
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+\*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/defaults.parm

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+SERVO6_FUNCTION 120
+OSD_TYPE2 5

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

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+
+# hw definition file for processing by chibios_hwdef.py
+# for OMNIBUSF4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_LUCID_PRO
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 48
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PC14 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS

libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for OMNIBUSF4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_LUCID_PRO
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 48
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+STM32_ST_USE_TIMER 5
+
+# SPI devices
+
+# SPI1 - IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 - OSD
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 - Flash
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# Beeper
+PC13 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
+
+# USART2 - RX, SBUS inversion
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
+
+# USART3 - HD
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART4 - SmartAudio
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_SmartAudio
+
+# UART5 - ESC Telem
+PD2 UART5_RX UART5 NODMA
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+
+# USART6 - GPS
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
+
+# I2C ports
+I2C_ORDER I2C1
+
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# Servos
+
+# ADC ports
+
+# ADC1
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 40.0
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_VOLT_SCALE 20.0
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50)       # M1
+PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
+PC8 TIM3_CH3 TIM3 PWM(3) GPIO(52)       # M3
+PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4
+
+PA8 TIM1_CH1  TIM1 PWM(5) GPIO(54)      # CAMC_PWM
+PB1 TIM1_CH3N TIM1 PWM(6) GPIO(55)      # LED
+
+#PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56) NODMA # M7 / GPIO1 / Test point
+#PB0 TIM1_CH2N TIM1 PWM(8) GPIO(57)      # M8 / GPIO2 / Test point
+
+DMA_PRIORITY UART5_RX TIM4_UP TIM3_UP
+
+PC14 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+PC15 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_B_LED_PIN 91
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# Baro setup
+BARO BMP388 I2C:0:0x76
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+SPIDEV imu2   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+IMU Invensensev3 SPI:imu1 ROTATION_YAW_90
+IMU Invensense SPI:imu2 ROTATION_ROLL_180_YAW_90
+
+# 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
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+include ../include/minimize_fpv_osd.inc