HAL_ChibiOS: added luminousbee4 flight controller

libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat

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+# hwdef for Luminousbees flight board
+
+# MCU class and specific type
+MCU STM32F4xx STM32F427xx
+
+# board ID for firmware load
+APJ_BOARD_ID 11
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board voltage
+STM32_VDD 330U
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O3
+
+# serial port for stdout disabled, use USB console
+# STDOUT_SERIAL SD7
+# STDOUT_BAUDRATE 57600
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# to match px4 we make the first bus number 1
+define HAL_I2C_BUS_BASE 1
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7
+
+# UART4 is GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 
+
+# Battery & current control
+PA2 BATT_VOLTAGE_SENS ADC1
+PA3 BATT_CURRENT_SENS ADC1
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# SPI1 is sensors bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+PB2 BOOT1 INPUT
+PB5 VDD_BRICK_VALID INPUT
+
+# USART1 
+PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 as led strip control
+#PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# UWB DW1000
+PB4 UWB_CS CS
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# SPI2 is FRAM
+PB10 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+PC0 VBUS_VALID INPUT
+PC4 SAFETY_IN INPUT PULLDOWN
+
+PC7 TIM8_CH2 TIM8 RCIN FLOAT LOW # also USART6_RX for serial RC
+
+PC8 SDIO_D0 SDIO
+PC9 SDIO_D1 SDIO
+PC10 SDIO_D2 SDIO
+PC11 SDIO_D3 SDIO
+PC12 SDIO_CK SDIO
+PD2 SDIO_CMD SDIO
+
+# USART2 serial2 telem1 connected to ESP
+
+PD4 BMI088_ACCEL_CS CS
+PD3 BMI088_GYRO_CS CS
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+PD7 BARO_CS CS
+# PB7 BARO2_CS CS	# FOR DPS310 ON FRAME MICRO
+
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD10 FRAM_CS CS
+
+
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+#set up SPI bus4 for UWB
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
+PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
+PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
+PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
+
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+ SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+SPIDEV bmi088_g    SPI4 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a    SPI4 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
+SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
+define HAL_CHIBIOS_ARCH_FMUV4 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE        16384
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# fallback to flash is no FRAM fitted
+define STORAGE_FLASH_PAGE 22
+
+# enable FAT filesystem
+define HAL_OS_FATFS_IO 1
+
+# pixracer has 3 LEDs, Red, Green, Blue
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# LED setup for PixracerLED driver
+PB11 LED_RED   OUTPUT GPIO(0)
+PB1  LED_GREEN OUTPUT GPIO(1)
+PB3  LED_BLUE  OUTPUT GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# enable RTSCTS
+define AP_FEATURE_RTSCTS 1
+
+# battery setup
+define HAL_BATT_VOLT_PIN 2
+define HAL_BATT_CURR_PIN 3
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# setup serial port defaults for ESP8266
+define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
+define HAL_SERIAL5_BAUD 921600
+
+# 6 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 6
+
+
+# Set one or two IMUs
+#IMU Invensense SPI:icm20608 ROTATION_YAW_180
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# 2 compasses. R15 has LIS3MDL instead of HMC5843
+COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+
+# also probe all types of external I2C compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# Barometer ( DPS310 under test on micro frame )
+BARO MS56XX SPI:ms5611_int
+# BARO DPS280      SPI:dps310
+
+
+# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'