AP_HAL_ChibiOS: support bi-dir dshot and ELRS on Flywoo F405S AIO

libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/README.md

@@ -0,0 +1,103 @@
+# GOKU F405 1-2S 12A AIO w/ built-in ELRS 2.4g RX
+
+https://flywoo.net/collections/aio-evo-stacks-combo/products/goku-versatile-f405-2s-12a-aio-w-build-in-elrs-2-4g-rx-mpu6000
+
+The Flywoo GOKU F405 AIO is a flight controller produced by [Flywoo](https://flywoo.net/).
+
+## Features
+
+- MCU: STM32F405 32-bit processor. 1024Kbytes Flash
+- IMU: MPU6000 (SPI)
+- Barometer: BMP280
+- Onboard LED：WS2812*2
+- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
+- 6 hardware UARTS (UART1,2,3,4,5,6)
+- Built-in ELRS 2.4Ghz serial receiver
+- Also supports external serial receivers (SBUS, iBus, Spektrum, Crossfire)
+- Onbord 8Mbytes for Blackbox logging
+- 5V Power Out: 2.0A max
+- Dimensions: 30x30mm
+- Mounting Holes: Standard 25.5/26.5mm square to center of holes 
+- Weight: 8.5g
+
+- Built-in 12A BLHeli_S 4in1 ESC
+- Supports BLheli_S / BlueJay / J-ESC
+- Supports Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
+- Input Voltage: 1-2S Lipo
+- Continuous Current: 12A
+- Firmware: Z_H_30_REV16.7
+
+## Pinout
+
+![GOKU F405 12A AIO](GOKUF405AIO_Pinout.png "GOKU F405 12A AIO")
+
+## 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.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX1/TX1|USART1 (ELRS, DMA-enabled)|
+|SERIAL2|TX2/RX2|USART2 (GPS, DMA on RX)|
+|SERIAL3|TX3/RX3|USART3 (RC Input/Output, DMA-enabled)|
+|SERIAL4|TX4/RX4|UART4 (TELEM)|
+|SERIAL5|TX5/RX5|UART5|
+|SERIAL6|TX6/RX6|UART6 (VTX)|
+
+USART1 and USART3 supports RX and TX DMA. UART4 supports TX DMA. USART2 supports RX DMA. UART5 and UART6 do not support DMA.
+
+## RC Input
+ 
+RC input is configured on UART1 or UART3, which supports serial RC protocols. This board does not support PPM.
+  
+## OSD Support
+
+The GOKU F405 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The GOKU F405 AIO supports up to 5 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs.All 5 outputs support DShot.
+
+The PWM are in 3 groups:
+
+PWM 1-2: Group 1
+PWM 3-4: Group 2
+LED: Group 3
+
+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. PWM 1-4 support bidirectional dshot.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT around 11
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT around 60.2
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The GOKU F405 AIO does not have a builtin compass but it does have an external I2C connector.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED pad.
+
+## Loading Firmware (you will need to compile your own 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/FlywooF405S-AIO/defaults.parm

@@ -0,0 +1,11 @@
+# setup for LEDs on chan9
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 2
+# ESC setup
+MOT_PWM_TYPE 6
+SERVO_BLH_AUTO 1
+SERVO_BLH_TRATE 0
+# RC setup
+RC_OPTIONS 8704
+SERIAL1_PROTOCOL 23

libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat

@@ -51,26 +51,28 @@ SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
 
-# USART1
+# USART1 (ELRS)
 PA10 USART1_RX USART1
 PB6 USART1_TX USART1
+define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
 
-# USART2
+# USART2 (GPS)
-PD5 USART2_TX USART2
+PD5 USART2_TX USART2 NODMA
 PD6 USART2_RX USART2
+define HAL_SERIAL2_PROTOCOL SerialProtocol_GPS
 
-# USART3
+# USART3 (RX)
 PB10 USART3_TX USART3
 PB11 USART3_RX USART3
 
-# UART4
+# UART4 (TELEM)
 PA0 UART4_TX UART4
-PA1 UART4_RX UART4
+PA1 UART4_RX UART4 NODMA
 
 # UART5
 PD2 UART5_RX UART5 NODMA
 
-# USART6
+# USART6 (VTX)
 PC6 USART6_TX USART6 NODMA
 PC7 USART6_RX USART6 NODMA
 
@@ -97,16 +99,12 @@ define HAL_BATT_MONITOR_DEFAULT 4
 
 # MOTORS
 PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)       # M1
-PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)       # M2
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
-PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)       # M3
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
 PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)       # M4
-PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54)       # M5
-PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55)       # M6
-PC9 TIM8_CH4 TIM8 PWM(7) GPIO(56)       # M7
-PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57)       # M8
 
 # LEDs
-PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # M9
+PA9 TIM1_CH2 TIM1 PWM(5) GPIO(54) # M5
 
 PC14 LED0 OUTPUT LOW GPIO(90)
 define HAL_GPIO_A_LED_PIN 90
@@ -122,7 +120,7 @@ SPIDEV osd SPI3 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
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 
 # Barometer setup
 BARO BMP280 I2C:0:0x76
@@ -135,8 +133,8 @@ BARO DPS310 I2C:0:0x76
 # IMU setup
 SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
 IMU Invensense SPI:imu1 ROTATION_YAW_90
-DMA_NOSHARE TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
+DMA_NOSHARE SPI1*
-DMA_PRIORITY TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
+DMA_PRIORITY TIM3_UP TIM1_UP SPI1*
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types