AP_HAL_ChibiOS: add support for SpeedyBeeF405v4

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v4/README.md

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+# SpeedyBee F405 v4 Flight Controller
+
+The SpeedyBee F405 v4 is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
+
+## Features
+
+ - STM32F405 microcontroller
+ - ICM42688 IMU
+ - DPS310 barometer
+ - SDCard
+ - AT7456E OSD
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Pinout
+
+![SpeedyBee F405 v4](SpeedyBee_F405_v4_Board_Top.JPG "SpeedyBee F405 v4")
+![SpeedyBee F405 v4](SpeedyBee_F405_v4_Board_Bottom.JPG "SpeedyBee F405 v4")
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DJI-VTX, DMA-enabled)
+ - SERIAL2 -> UART2 (RCIN, DMA-enabled) 
+ - SERIAL3 -> UART3 (CAM)
+ - SERIAL4 -> UART4 (connected to internal BT module, not currently usable by ArduPilot)
+ - SERIAL5 -> UART5 (ESC Telemetry)
+ - SERIAL6 -> UART6 (GPS, DMA-enabled)
+
+## RC Input
+
+RC input is configured on the R2 (UART2_RX) pin for most RC unidirectional protocols except SBUS which should be applied at the SBUS pin. PPM is not supported.
+For Fport, a bi-directional inverter will be required. See https://ardupilot.org/plane/docs/common-connecting-sport-fport.html
+For CRSF/ELRS/SRXL2 connection of the receiver to T2 will also be required.
+
+## FrSky Telemetry
+
+FrSky Telemetry is supported using the Tx pin of any UART including SERIAL2/UART2. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL3).
+
+  - SERIAL3_PROTOCOL 10
+  - SERIAL3_OPTIONS 7
+
+## OSD Support
+
+The SpeedyBee F405 v4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## VTX Support
+
+The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
+this to a peripheral requiring 5v.
+
+## PWM Output
+
+The SpeedyBee F405 v4 supports up to 9 PWM outputs. The pads for motor output
+M1 to M4 on the motor connector, plus M9 for LED strip or another
+PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-4 in group2
+ - PWM 5-6 in group3
+ - PWM 7-8 in group4
+ - PWM 9 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. Channels 1-4 support bi-directional DShot.
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S.
+LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11.2
+ - BATT_AMP_PERVLT 52.7 (will need to be adjusted for whichever current sensor is attached)
+
+## Compass
+
+The SpeedyBee F405 v4 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## 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/speedybeef4v4/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for SPEEDYBEEF405V4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1136
+
+# 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
+PC14 SDCARD1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v4/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for SPEEDYBEEF405V4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1136
+
+# 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
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+# SPI3
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# Chip select pins
+PC14 SDCARD1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# Beeper
+PC15 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 (DJI / VTX)
+PA10 USART1_RX USART1 NODMA
+PA9 USART1_TX USART1 NODMA
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
+
+# USART2 (RCIN)
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 (CAM)
+PC10 USART3_TX USART3 NODMA
+PC11 USART3_RX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART4 (Bluetooth)
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+
+# UART5 (ESC Telemetry)
+PD2 UART5_RX UART5 NODMA
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+define DEFAULT_SERIAL5_BAUD 19200
+
+# USART6 (GPS)
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
+define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
+
+# I2C ports
+I2C_ORDER I2C1
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# Servos
+PB14 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
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 25.0
+PC5 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 15
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50)        # M1
+PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR  # M2
+PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)        # M3
+PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR  # M4
+PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)        # M5
+PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)        # M6
+PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56)       # M7
+PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)       # M8
+
+# LEDs
+PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
+
+PC13 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# OSD setup
+SPIDEV osd SPI2 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
+
+# Barometer setup
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+BARO SPL06 I2C:0:0x76
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+# SDCard
+SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS  MODE0 400*KHZ 25*MHZ
+
+IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
+DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1*
+DMA_PRIORITY TIM3_UP TIM8_UP TIM2_UP 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 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc
+
+define DEFAULT_NTF_LED_TYPES 257