AP_HAL_ChibiOS: SpeedyBeeF405AIO

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405AIO/README.md

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+# SpeedyBee F405 AIO 40A Bluejay
+
+https://www.speedybee.com/speedybee-f405-aio-40a-bluejay-25-5x25-5-3-6s-flight-controller
+
+The SpeedyBee F405 AIO is a flight controller produced by [SpeedyBee](https://www.speedybee.com/).
+
+## Features
+
+- MCU: STM32F405 32-bit processor. 1024Kbytes Flash
+- IMU: ICM-42688P (SPI)
+- Barometer: SPA06-003
+- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
+- 6 UARTS (UART1 tied internally to BT module which is not currently supported by ArduPilot)
+- 8MBytes for logging
+- 5V Power Out: 2.0A max
+- Dimensions: 33x33mm
+- Mounting Holes: Standard 25.5/25.5mm square to center of holes 
+- Weight: 13.6g
+
+- Built-in 40A BlueJay 4in1 ESC
+- Supports Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
+- Input Voltage: 3S-6S Lipo
+- Continuous Current: 40A
+- Bluejay JH-40 48kHz
+
+## Pinout
+
+![SpeedyBee F405 AIO](SpeedyBeeF405AIO_Pinout.png "SpeedyBee F405 AIO")
+
+.. note:: S pin for "Meteor LED" does not work with this firmware
+
+## 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 (WiFi, not usable by ArduPilot)|
+|SERIAL2|RX2|USART2 (USER, RX tied to SBUS pin, Inverted)|
+|SERIAL3|TX3/RX3|USART3 (DisplayPort)|
+|SERIAL4|TX4/RX4|UART4 (User)|
+|SERIAL5|TX5/RX5|UART5 (GPS)|
+|SERIAL6|TX6/RX6|UART6 (RCin, DMA-enabled)|
+
+USART6 supports RX and TX DMA.
+
+## RC Input
+ 
+RC input is configured on UART6. It supports all RC protocols except PPM, FPort, and SBUS. See:ref:`[Radio Control Systems<common-rc-systems>` for details for a specific RC system. :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` is set to “23”, by default, to enable this.
+*  FPort requires an external bi-directional inverter and connects to TX 6 with :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` set to "7".
+*  CRSF requires a TX6 connection, in addition to RX6, and automatically provides telemetry.
+*  SRXL2 requires a connection to TX6 and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` set to "4".
+
+* SBUS can be directly connected to the SBUS pin which ties through an inverter to the RX2 pin.  :ref:`SERIAL2_PROTOCOL<SERIAL2_PROTOCOL>` must be set to "23" and :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>`  must be changed to something else than "23"
+
+Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See [Radio Control Systems](https://ardupilot.org/plane/docs/common-rc-systems.html#common-rc-systems) for details.
+  
+## OSD Support
+
+The SpeedyBee F405 AIO supports OSD using :ref:`OSD_TYPE<OSD_TYPE>` =  1 (MAX7456 driver). The defaults are also setup to allow DJI Goggle OSD support on UART3. Both the internal analog OSD and the DisplayPort OSD can be used simultaneously by setting :ref:`OSD_TYPE2<OSD_TYPE2>`= 5
+
+## PWM Output
+
+The SpeedyBee 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 10
+ - BATT_VOLT_MULT around 11
+ - BATT_CURR_PIN 12
+ - BATT_AMP_PERVLT 39.4
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The SpeedyBee F405 AIO does not have a builtin compass but an external compass can be attached using the SDA/SCL pins.
+
+## Camera Control
+
+The CC pin is a GPIO (pin 70) and is assigned by default to RELAY2 functionality. This pin can be controlled via GCS or by RC transmitter using the :ref:`Auxiliary Function<common-auxiliary-functions>` feature.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED pad.
+
+## Firmware
+
+Firmware for this board can be found: `here <https://firmware.ardupilot.org>`__ in sub-folders labeled “SpeedyBeeF405AIO”.
+
+## 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/SpeedyBeeF405AIO/defaults.parm

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+# WS2812 LED
+SERVO5_FUNCTION 120
+
+NTF_LED_TYPES 257
+
+# Bluejay installed by default
+SERVO_BLH_BDMASK 15
+SERVO_DSHOT_ESC 4
+SERVO_BLH_AUTO 1
+MOT_PWM_TYPE 6
+
+GPS_DRV_OPTIONS 4

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405AIO/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for SPEEDYBEEF405AIO hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 5271
+
+# 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
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PB12 FLASH1_CS CS
+PD5 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405AIO/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for SPEEDYBEEF405AIO hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 5271
+
+# 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 4
+define CH_CFG_ST_RESOLUTION 16
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# Chip select pins
+PB12 FLASH1_CS CS
+PD5 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# Beeper
+PD11 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 - WiFi
+PA10 USART1_RX USART1 NODMA
+PA9 USART1_TX USART1 NODMA
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_None
+
+# USART2 - SBUS
+PD6 USART2_RX USART2 NODMA
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
+
+# USART3 - VTX / DJI
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART4
+PC10 UART4_TX UART4 NODMA
+PC11 UART4_RX UART4 NODMA
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+
+# UART5 - GPS
+PC12 UART5_TX UART5 NODMA
+PD2 UART5_RX UART5 NODMA
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
+
+# USART6 - RX
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+# I2C ports
+I2C_ORDER I2C1
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# Servos
+PD15 CAMERA1 OUTPUT GPIO(70) LOW
+define RELAY2_PIN_DEFAULT 70
+
+# ADC ports
+
+# ADC1
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_VOLT_SCALE 11.0
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_CURR_SCALE 39.4
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PA1 TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR  # M1
+PA0 TIM2_CH1 TIM2 PWM(2) GPIO(51)        # M2
+PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR  # M3
+PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)        # M4
+
+# LEDs
+PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54) # M5
+
+PD7 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+
+# Dataflash setup
+SPIDEV dataflash SPI2 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+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
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_135
+DMA_NOSHARE TIM5* TIM2* SPI1*
+DMA_PRIORITY TIM5* TIM2* SPI1* I2C1*
+
+# Barometer setup
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+BARO SPL06 I2C:0:0x76
+
+# 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
+
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc