AP_HAL_ChibiOS: TBS LUCID PRO

libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md

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+# TBS LUCID PRO Flight Controller
+
+The TBS LUCID PRO is a flight controller produced by [Team Black Sheep](https://www.team-blacksheep.com/).
+
+## Features
+
+ - MCU - STM32F405 32-bit processor running at 168 MHz
+ - IMU - ICM42688 or MPU6000
+ - Barometer - SPL06
+ - OSD - AT7456E
+ - Onboard Flash: 4MByte
+ - 6x UARTs
+ - 8x PWM Outputs (4 Motor Output, 2 GPIOS, 1 Camera PWM and 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 3.3V 0.5A
+ - BEC 5V 3A
+ - BEC 9V 3A for video, gpio controlled
+ - Dual switchable camera inputs
+
+## Pinout
+
+![TBS LUCID PRO Board Top](Top.jpg "TBS LUCID PRO Top")
+![TBS LUCID PRO Board Bottom](Bottom.jpg "TBS LUCID PRO Bottom")
+
+## 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 (User, DMA-enabled)
+ - SERIAL2 -> UART2 (ESC Telem)
+ - SERIAL3 -> UART3 (HD RX, DMA-Enabled)
+ - SERIAL4 -> UART4 (SmartAudio)
+ - SERIAL5 -> UART5 (RX, DMA-enabled)
+ - SERIAL6 -> UART6 (GPS, DMA-Enabled)
+
+## RC Input
+
+RC input is configured by default via the USART5 RX input. It supports all serial RC protocols except PPM.
+
+Note: If the receiver is FPort the receiver must be tied to the USART5 TX pin , RSSI_TYPE set to 3,
+and SERIAL5_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both
+RX5 and TX5 and set RSSI_TYPE also to 3.
+
+## FrSky Telemetry
+
+FrSky Telemetry is supported using an unused UART, such as the T1 pin (UART3 transmit).
+You need to set the following parameters to enable support for FrSky S.PORT:
+
+  - SERIAL1_PROTOCOL 10
+  - SERIAL1_OPTIONS 7
+
+## OSD Support
+
+The TBS LUCID PRO supports OSD using OSD_TYPE 1 (MAX7456 driver) and simultaneously DisplayPort using TX3/RX3 on the HD VTX connector.
+
+## PWM Output
+
+The TBS LUCID PRO supports up to 8 PWM or DShot outputs. The pads for motor output
+M1 to M4 are provided on both the motor connector and on separate pads, plus
+M5-7 on a separate pads for LED strip and other PWM outputs.
+
+The PWM is in 4 groups:
+
+ - PWM 1-4   in group1
+ - PWM 5     in group2 (No DShot)
+ - PWM 6-8   in group3
+
+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 built-in voltage sensor and external current sensor input. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11.1
+ - BATT_AMP_PERVLT 25
+
+## Compass
+
+The TBS LUCID PRO does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+
+GPIO 81 controls the VTX BEC output to pins marked "10V". Setting this GPIO low removes voltage supply to pins.
+By default RELAY2 is configured to control this pin and sets the GPIO high.
+
+## Camera control
+
+GPIO 82 controls the camera output to the connectors marked "CAM1" and "CAM2". Setting this GPIO low switches the video output from CAM1 to CAM2. By default RELAY3 is configured to control this pin and sets the GPIO high.
+
+## 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/TBS_LUCID_PRO/defaults.parm

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+SERVO13_FUNCTION 120
+OSD_TYPE2 5

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

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+
+# hw definition file for processing by chibios_hwdef.py
+# for OMNIBUSF4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_LUCID_PRO
+
+# 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
+
+PC14 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS

libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for OMNIBUSF4 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_LUCID_PRO
+
+# 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 - IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 - OSD
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 - Flash
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# Beeper
+PC13 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
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
+
+# USART2 - ESC Telem
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA
+DEFAULT_SERIAL2_PROTOCOL SerialProtocol_ESCTelemetry
+
+# USART3 - HD
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART4 - SmartAudio
+PA0 UART4_TX UART4 NODMA
+PA1 UART4_RX UART4 NODMA
+DEFAULT_SERIAL4_PROTOCOL SerialProtocol_SmartAudio
+
+# UART5 - Tracer
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+
+# USART6 - GPS
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
+
+# I2C ports
+I2C_ORDER I2C3
+
+# I2C3
+PA8 I2C3_SCL I2C3
+PC9 I2C3_SDA I2C3
+
+# Servos
+
+# ADC ports
+
+# ADC1
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 25.0
+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
+PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50)       # M1
+PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
+PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) BIDIR # M3
+PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53)       # M4
+PB3 TIM2_CH2 TIM2 PWM(5) GPIO(54) NODMA # M5 / GPIO1
+PB4 TIM3_CH1 TIM3 PWM(6) GPIO(55)       # M6 / GPIO2
+
+PC8 TIM3_CH3 TIM3 PWM(7) GPIO(56)       # CAMC_PWM
+PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57)       # LED
+
+DMA_PRIORITY UART5_RX
+
+PC14 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+PC15 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_B_LED_PIN 91
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 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
+
+# Baro setup
+BARO BMP388 I2C:0:0x76
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+SPIDEV imu2   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+IMU Invensensev3 SPI:imu1 ROTATION_YAW_90
+IMU Invensense SPI:imu2 ROTATION_ROLL_180_YAW_90
+
+# 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
+
+include ../include/minimize_fpv_osd.inc