AP_HAL_ChibiOS: betafpv F450 AIO hwdef

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/README.md

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+# BETAFPV F405 AIO Flight Controller
+
+The BETAFPV F405 AIO is a flight controller produced by [BETAFPV](https://betafpv.com/collections/brushless-flight-controller/products/f4-1s-12a-aio-brushless-flight-controller-v3-0).
+
+## Features
+
+ - MCU: STM32F405RGT6, 168MHz
+ - Gyro: ICM42688-P
+ - 16Mb Onboard Flash
+ - BEC output: 5V, 2A@4V
+ - Barometer: BMP280
+ - OSD: AT7456E
+ - 5 UARTS: (UART1, UART3, UART4, UART5, UART6)
+ - 5 PWM outputs (4 motor outputs used internally for integrated 4-in-1 ESC and 1 integrated LED)
+ - Integrated 4-in-1 BlueJay ESC
+
+## Pinout
+
+![BETAFPV F405 AIO Board](betafpv_f405_pinout.jpg "BETAFPV F405 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|UART1 (GPS, DMA-enabled)|
+|SERIAL3|TX3/RX3|UART3 (ELRS, internal)
+|SERIAL4|TX4/RX4|UART4 (DJI)|
+|SERIAL5|RX5|UART5 (RX-only)|
+|SERIAL6|RX6|UART6 (SBUS, RX-only, inverted, DMA-enabled)|
+
+## RC Input
+
+RC input is configured on the on-board ELRS on UART3 or through (UART6_RX/UART6_TX) pins. It supports all serial RC protocols.
+
+## OSD Support
+
+The BETAFPV F405 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The BETAFPV F405 AIO has 4 PWM outputs internally connected to its 4-in-1 ESC. The pads for motor output are M1 to M4 on the board. All 4 outputs support bi-directional DShot and DShot, as well as all PWM types. The default configuration is for bi-directional DShot using the already installed BlueJay firmware.
+
+The PWM are in in two groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-4 in group2
+ - PWM 5 in group3
+ - PWM 6 in group4
+ - PWM 7 in group5
+
+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.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor and a current sensor input tied to its 4 in 1 ESC current sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT 50
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The BETAFPV F405 AIO does not have a builtin compass.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the seventh PWM output.
+
+## 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/BETAFPV-F405/defaults.parm

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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+# Bluejay installed by default
+SERVO_BLH_AUTO 1
+SERVO_BLH_BDMASK 15
+SERVO_DSHOT_ESC 2
+MOT_PWM_TYPE 6

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for BETAFPVF405 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1125
+
+# 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
+PB3 BARO1_CS CS
+PB12 FLASH1_CS CS
+PA15 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PB5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for BETAFPVF405 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1125
+
+# 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
+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
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# Chip select pins
+PB3 BARO1_CS CS
+PB12 FLASH1_CS CS
+PA15 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# Beeper
+PB4 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 (GPS)
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+
+# USART3 (ELRS)
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN
+
+# UART4 (DJI)
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+
+# UART5 (RX only)
+PD2 UART5_RX UART5 NODMA
+
+# USART6 (SBUS, inverted)
+PC7 USART6_RX USART6
+
+# I2C ports
+I2C_ORDER
+# Servos
+
+# ADC ports
+
+# ADC1
+PC0 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 10
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 70.8
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 12
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)       # M1
+PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)       # M4
+
+# LEDs
+PB5 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+# LED strip
+PB6 TIM4_CH1 TIM4 PWM(5) GPIO(56) # M7
+define HAL_GPIO_LED_OFF 1
+
+# 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
+
+# BARO setup
+SPIDEV baro  SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
+BARO BMP280 SPI:baro
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_BMP280_ENABLED 1
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+IMU Invensensev3 SPI:imu1 ROTATION_YAW_180
+DMA_NOSHARE SPI1*
+DMA_PRIORITY TIM3* TIM2* SPI1*
+
+# 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
+
+# This is a whoop AIO board, not really suitable for anything other than copter
+AUTOBUILD_TARGETS Copter