AP_HAL_ChibiOS: Update luminousbee5 hwdefs, Add new bootloaders

This modification allows to have imu 42605 and 42688 defined in the same hwdef

Tools: luminousbee5 add new bootloaders

AP_HAL_ChibiOS: luminousbee5 , change PC7 from FLOAT to PULLDOWN

AP_HAL_ChibiOS: luminousbee5 , change version 5.32/5.4

Tools: Update luminousbee5 hwdefs, Add new bootloaders

AP_HAL_ChibiOS: luminousbee5 hwdefs Rev 2 , luminousbee5 default.parm

Tools: Update luminousbee5 hwdefs, Add new bootloaders

This modification allows to have imu 42605 and 42688 defined in the same hwdef

Tools: luminousbee5 add new bootloaders

AP_HAL_ChibiOS: luminousbee5 , change PC7 from FLOAT to PULLDOWN

AP_HAL_ChibiOS: luminousbee5 , change version 5.32/5.4

Tools: Update luminousbee5 hwdefs, Add new bootloaders

AP_HAL_ChibiOS: luminousbee5 hwdefs Rev 2 , luminousbee5 default.parm

AP_HAL_ChibiOS: Removed BETA in comment

libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm

@@ -0,0 +1,211 @@
+AHRS_GPS_USE,2
+AHRS_ORIENTATION,6
+ANGLE_MAX,4500
+ARMING_CHECK,13822
+ATC_ACCEL_P_MAX,200000
+ATC_ACCEL_R_MAX,200000
+ATC_ACCEL_Y_MAX,50000
+ATC_ANG_PIT_P,18
+ATC_ANG_RLL_P,18
+ATC_ANG_YAW_P,10
+ATC_RAT_PIT_D,0.003
+ATC_RAT_PIT_FLTD,50
+ATC_RAT_PIT_FLTT,25
+ATC_RAT_PIT_I,0.14
+ATC_RAT_PIT_P,0.14
+ATC_RAT_RLL_D,0.003
+ATC_RAT_RLL_FLTD,50
+ATC_RAT_RLL_FLTT,25
+ATC_RAT_RLL_I,0.14
+ATC_RAT_RLL_P,0.14
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FLTD,50
+ATC_RAT_YAW_FLTE,3.7
+ATC_RAT_YAW_FLTT,25
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5
+AUTOTUNE_AGGR,0.075
+AUTOTUNE_MIN_D,0.0003
+AVOID_ENABLE,0
+BATT_AMP_OFFSET,0
+BATT_AMP_PERVLT,4.6135
+BATT_ARM_MAH,0
+BATT_ARM_VOLT,7.2
+BATT_CAPACITY,3400
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,6
+BATT_CURR_PIN,15
+BATT_FS_CRT_ACT,1
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,0
+BATT_LOW_MAH,0
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,6.2
+BATT_MONITOR,4
+BATT_OPTIONS,0
+BATT_SERIAL_NUM,-1
+BATT_VOLT_MULT,3.28
+BATT_VOLT_PIN,14
+BRD_SAFETYENABLE,0
+BRD_SAFETYOPTION,0
+CAN_D1_PROTOCOL,0
+CAN_D2_PROTOCOL,0
+COMPASS_AUTODEC,1
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,12
+COMPASS_TYPEMASK,510846
+COMPASS_USE2,0
+COMPASS_USE3,0
+COMPASS_CAL_FIT,16
+DISARM_DELAY,10
+EK3_IMU_MASK,1
+EK3_POSNE_M_NSE,0.1
+EK3_SRC1_POSXY,3
+EK3_SRC1_POSZ,3
+EK3_SRC1_VELXY,3
+EK3_SRC1_VELZ,3
+EK3_SRC3_POSZ,1
+EK3_ALT_M_NSE,2
+ESC_CALIBRATION,9
+FLTMODE3,2
+FLTMODE4,2
+FLTMODE5,5
+FLTMODE6,5
+FRAME_CLASS,1
+FRSKY_DNLINK1_ID,-1
+FRSKY_DNLINK2_ID,-1
+FRSKY_DNLINK_ID,-1
+FRSKY_UPLINK_ID,-1
+FS_OPTIONS,20
+FS_THR_ENABLE,0
+FS_VIBE_ENABLE,0
+GND_EFFECT_COMP,0
+GPS_AUTO_SWITCH,0
+GPS_GNSS_MODE,9
+GPS_RATE_MS,100
+GPS_SBAS_MODE,0
+GPS_TYPE,2
+INS_ACC_BODYFIX,1
+INS_ACCEL_FILTER,10
+INS_ENABLE_MASK,1
+INS_FAST_SAMPLE,1
+INS_GYRO_FILTER,80
+INS_GYRO_RATE,2
+INS_HNTC2_ATT,16
+INS_HNTC2_BW,50
+INS_HNTC2_ENABLE,0
+INS_HNTC2_FREQ,103
+INS_HNTC2_HMNCS,1
+INS_HNTC2_MODE,0
+INS_HNTC2_OPTS,0
+INS_HNTC2_REF,0
+INS_HNTCH_ATT,40
+INS_HNTCH_BW,10
+INS_HNTCH_ENABLE,1
+INS_HNTCH_FREQ,50
+INS_HNTCH_HMNCS,22
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,22
+INS_HNTCH_REF,1
+INS_LOG_BAT_CNT,32
+INS_LOG_BAT_OPT,2
+LAND_ALT_LOW,500
+LAND_SPEED,80
+LAND_SPEED_HIGH,300
+LOG_BITMASK,141310
+LOG_FILE_DSRMROT,1
+LOIT_SPEED,2000
+MOT_BAT_VOLT_MAX,7.56
+MOT_BAT_VOLT_MIN,5.2
+MOT_HOVER_LEARN,1
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,6
+MOT_SPIN_ARM,0.05
+MOT_SPIN_MIN,0.16
+MOT_THST_EXPO,0.55
+MOT_THST_HOVER,0.47
+NTF_BUZZ_TYPES,1
+NTF_LED_BRIGHT,1
+NTF_LED_TYPES,1
+PSC_ACCZ_I,0.94
+PSC_ACCZ_P,0.47
+PSC_JERK_XY,6
+PSC_JERK_Z,6
+PSC_POSZ_P,1
+RC1_MAX,1900
+RC1_MIN,1100
+RC2_MAX,1900
+RC2_MIN,1100
+RC3_MAX,1900
+RC3_MIN,1100
+RC4_MAX,1900
+RC4_MIN,1100
+RC6_OPTION,5
+RC_PROTOCOLS,0
+RELAY_PIN,-1
+RELAY_PIN2,-1
+RTL_ALT,1500
+SCHED_LOOP_RATE,800
+SERIAL1_BAUD,921
+SERIAL1_PROTOCOL,2
+SERIAL2_OPTIONS,8
+SERIAL2_PROTOCOL,2
+SERIAL4_BAUD,115
+SERIAL4_PROTOCOL,16
+SERIAL5_BAUD,921
+SERIAL5_PROTOCOL,-1
+SERIAL6_BAUD,921
+SERIAL6_PROTOCOL,-1
+SERVO1_FUNCTION,33
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO1_TRIM,1500
+SERVO2_FUNCTION,34
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO2_TRIM,1500
+SERVO3_FUNCTION,35
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1500
+SERVO4_FUNCTION,36
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO4_TRIM,1500
+SERVO_BLH_AUTO,1
+SERVO_BLH_BDMASK,15
+SERVO_BLH_POLES,12
+SERVO_BLH_TRATE,0
+SERVO_DSHOT_ESC,1
+SERVO_DSHOT_RATE,2
+SHOW_CTRL_MODE,1
+SHOW_CTRL_RATE,10
+SHOW_GROUP,0
+SHOW_LED0_CHAN,7
+SHOW_LED0_COUNT,100
+SHOW_LED0_GAMMA,2.2
+SHOW_LED0_TYPE,2
+SHOW_MAX_XY_ERR,3
+SHOW_MODE_BOOT,2
+SHOW_PRE_LIGHTS,2
+SHOW_START_AUTH,0
+SHOW_SYNC_MODE,1
+SHOW_TAKEOFF_ALT,2.5
+SHOW_VEL_FF_GAIN,1
+SR1_EXT_STAT,0
+SR1_EXTRA1,0
+SR1_EXTRA2,0
+SR1_EXTRA3,0
+SR1_POSITION,0
+SR1_RAW_SENS,0
+SR1_RC_CHAN,0
+SRTL_POINTS,0
+TERRAIN_ENABLE,0
+WP_YAW_BEHAVIOR,0
+WPNAV_ACCEL,300
+WPNAV_ACCEL_Z,300
+WPNAV_JERK,6
+WPNAV_SPEED,1000
+WPNAV_SPEED_DN,300
+WPNAV_SPEED_UP,300

libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat

@@ -1,5 +1,8 @@
-# LUMINOUS BEE 5.1
+# LUMINOUS BEE 5.32/5.4
 # hw definition file for processing by chibios_hwdef.py
+#define new bootloader baudrate
+
+define BOOTLOADER_BAUDRATE 921600
 
 # MCU class and specific type
 MCU STM32H7xx STM32H743xx
@@ -26,7 +29,13 @@ I2C_ORDER I2C1
 define HAL_I2C_INTERNAL_MASK 0
 
 # order of UARTs (and USB) for bootloading
-SERIAL_ORDER OTG1 UART7
+SERIAL_ORDER USART2 OTG1
+
+# USART2 serial2 telem1
+
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
 
 # UART7 is debug
 PE7 UART7_RX UART7 NODMA
@@ -41,11 +50,11 @@ PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
 # CS lines
-PB4 UWB_CS CS
+#PB4 UWB_CS CS
 PC2 BMI088_ACCEL_CS CS
 PC15 BMI088_GYRO_CS CS
 PD7 BARO_CS CS
 PE15 MAG_CS CS
 
 PB11 LED_BOOTLOADER  OUTPUT
-define HAL_LED_ON 0
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat

@@ -1,6 +1,10 @@
-# LUMINOUS BEE 5.1
+#42605 AND 42688 TOGETHER
+# With suggestions by Andy
+# LUMINOUS BEE 5.32/5.4 bidirectional telemetry 
 # hw definition file for processing by chibios_hwdef.py
 
+MCU_CLOCKRATE_MHZ 480 
+
 # MCU class and specific type
 MCU STM32H7xx STM32H743xx
 
@@ -20,8 +24,13 @@ FLASH_RESERVE_START_KB 128
 
 define HAL_STORAGE_SIZE 16384
 
+#define FAST_MCU 1 # HAL_HAVE_FAST_MCU 1 	# 480 Mhz
+
 # only one I2C bus
 I2C_ORDER I2C1
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE 
+
 
 define HAL_I2C_INTERNAL_MASK 0
 
@@ -42,6 +51,9 @@ PA5 SPI1_SCK SPI1
 PA6 SPI1_MISO SPI1
 PA7 SPI1_MOSI SPI1
 
+# optional baro2
+PA8 BARO2_CS CS
+
 # This is the pin that senses USB being connected. It is an input pin
 # setup as OPENDRAIN.
 PA9 VBUS INPUT #OPENDRAIN
@@ -62,21 +74,21 @@ PB2 BOOT1 INPUT
 PB5 VDD_BRICK_VALID INPUT PULLDOWN
 
 # USART1 TX  now as led strip control
-PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 
+PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
 # PB6 USART1_TX USART1
 PB7 USART1_RX USART1
 
 
 # UWB DW1000
-PB4 UWB_CS CS
+#PB4 UWB_CS CS
 
 PB8 I2C1_SCL I2C1
 PB9 I2C1_SDA I2C1
 
 # SPI2 is FRAM
 PB10 SPI2_SCK SPI2
-PB12 CAN2_RX CAN2
-PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
+#PB12 CAN2_RX CAN2
+#PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
 PB14 SPI2_MISO SPI2
 PB15 SPI2_MOSI SPI2
 
@@ -84,13 +96,15 @@ PB15 SPI2_MOSI SPI2
 PC0 VBUS_VALID INPUT PULLDOWN
 
 #BMI088 CS
-PC2 BMI088_ACCEL_CS CS
-PC15 BMI088_GYRO_CS CS
+#PC2 BMI088_ACCEL_CS CS	#opt. second imu
+#PC15 BMI088_GYRO_CS CS	#opt. second imu
 
 PC3 LED_SAFETY OUTPUT
 PC4 SAFETY_IN INPUT PULLDOWN
 PC5 VDD_PERIPH_EN OUTPUT HIGH
-PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial 
+
+
 
 # Now setup the pins for the microSD card, if available.
 PC8 SDMMC1_D0 SDMMC1
@@ -101,14 +115,15 @@ PC12 SDMMC1_CK SDMMC1
 PD2 SDMMC1_CMD SDMMC1
 
 
-PC13 SBUS_INV OUTPUT
+#PC13 SBUS_INV OUTPUT
 
 
-PD0 CAN1_RX CAN1
-PD1 CAN1_TX CAN1
+#PD0 CAN1_RX CAN1
+#PD1 CAN1_TX CAN1
 
-# USART2 serial2 telem1
+# USART2 serial1 telem1
 
+PD3 IMU_CS CS # ex usart2 RTS
 
 PD5 USART2_TX USART2
 PD6 USART2_RX USART2
@@ -116,7 +131,7 @@ PD6 USART2_RX USART2
 PD7 BARO_CS CS
 
 
-# USART3 serial3 telem2
+# USART3 serial2 telem2
 PD8 USART3_TX USART3
 PD9 USART3_RX USART3
 PD11 USART3_CTS USART3
@@ -127,35 +142,40 @@ PD12 USART3_RTS USART3
 PD10 FRAM_CS CS SPEED_VERYLOW
 
 
-PD15 20608_DRDY INPUT  # IMU Luminous Bee
-# UART8 serial4 FrSky
+#PD15 20608_DRDY INPUT  # IMU Luminous Bee
+# CROSSFIRE RX
 PE0 UART8_RX UART8
+# CROSSFIRE TX
 PE1 UART8_TX UART8
 
 
 
-#set up SPI bus4 for UWB
+#set up SPI bus4
 PE2 SPI4_SCK SPI4
 PE5 SPI4_MISO SPI4
 PE6 SPI4_MOSI SPI4
+DMA_NOSHARE for SPI4* #ANDY
 
 
-PE3 VDD_SENSORS_EN OUTPUT HIGH
-PE4 SPEKTRUM_PWR OUTPUT HIGH
 
-# UART7 is debug
+#PE3 VDD_SENSORS_EN OUTPUT HIGH
+#PE4 SPEKTRUM_PWR OUTPUT HIGH
+
+# UART7 FOR REMOTE ID OPTIONS
 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
+PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)  BIDIR   #52
+PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)  BIDIR   #50
 PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
 PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
 PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
 
+DMA_PRIORITY TIM1_UP TIM1_CH4 TIM1_CH2
 
-PE12 MAG_DRDY INPUT
+
+#PE12 MAG_DRDY INPUT
 PE15 MAG_CS CS
 
 # SPI device table. The DEVID values are chosen to match the PX4 port
@@ -165,10 +185,13 @@ PE15 MAG_CS CS
 SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
 #SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
 SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
-SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
+#SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
+#SPIDEV bmi088_a    SPI1 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
+#SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
+SPIDEV icm42605     SPI4 DEVID4  IMU_CS     		MODE3   2*MHZ  16*MHZ
+SPIDEV icm42688     SPI4 DEVID4  IMU_CS     		MODE3   2*MHZ  16*MHZ
+
 
 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
 define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
@@ -179,7 +202,7 @@ define HAL_STORAGE_SIZE        16384
 define HAL_WITH_RAMTRON 1
 
 # fallback to flash is no FRAM fitted
-#STORAGE_FLASH_PAGE 22
+#define STORAGE_FLASH_PAGE 22
 
 # Enable FAT filesystem support (needs a microSD defined via SDMMC).
 define HAL_OS_FATFS_IO 1
@@ -202,16 +225,22 @@ define HAL_GPIO_C_LED_PIN 2
 # battery setup
 define HAL_BATT_VOLT_PIN 14
 define HAL_BATT_CURR_PIN 15
-define HAL_BATT_VOLT_SCALE 10.1
-define HAL_BATT_CURR_SCALE 17.0
+define HAL_BATT_VOLT_SCALE 3.28
+define HAL_BATT_CURR_SCALE 3.06
 
 # setup serial port defaults for ESP8266
 define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink
 define DEFAULT_SERIAL5_BAUD 921600
 
+# 6 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 7
+
+
 # two IMUs
 #IMU Invensense SPI:icm20608 ROTATION_YAW_180
-IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+IMU Invensensev3 SPI:icm42605 ROTATION_NONE
+IMU Invensensev3 SPI:icm42688 ROTATION_NONE
+#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
@@ -222,5 +251,5 @@ COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
 # also probe all types of external I2C compasses
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
-# TWO barometer
+# ONE barometer
 BARO DPS280      SPI:dps310