AP_HAL_ChibiOS: bdshot version of CUAVv5

libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/README.md

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+# CUAVv5 Flight Controller
+
+The CUAVv5 flight controller is sold by [CUAV](http://store.cuav.net/)
+
+The full schematics of the board are available here:
+
+  https://github.com/ArduPilot/Schematics/tree/master/CUAV/CUAVv5
+
+## Features
+
+ - STM32F765 microcontroller
+ - Three IMUs: ICM20689, MPU6000 and BMI055
+ - internal vibration isolation for IMUs
+ - MS5611 SPI barometer
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 6 UARTs plus USB
+ - 14 PWM outputs
+ - Four I2C and two CAN ports
+ - External Buzzer
+ - builtin RGB LED
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## Pinout
+
+![CUAVv5 Board](CUAVv5-pinout.jpg "CUAVv5")
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2)
+ - SERIAL5 -> UART6 (spare)
+ - SERIAL6 -> UART7 (spare, debug)
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The UART7 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+ 
+RC input is configured on the RCIN pin, at one end of the servo rail,
+marked RC in the above diagram. This pin supports all RC protocols.
+
+## PWM Output
+
+The CUAVv5 supports up to 14 PWM outputs. First first 8 outputs (labelled
+"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
+outputs support all PWM output formats, but not DShot.
+
+The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
+outputs. These are directly attached to the STM32F765 and support all
+PWM protocols as well as DShot.
+
+All 14 PWM outputs have GND on the top row, 5V on the middle row and
+signal on the bottom row.
+
+The 8 main PWM outputs are in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5, 6, 7 and 8 in group3
+
+The 6 auxillary PWM outputs are in 2 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5 and 6 in group2
+
+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 two dedicated power monitor ports on 6 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The CUAVv5 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - AUX1 50
+ - AUX2 51
+ - AUX3 52
+ - AUX4 53
+ - AUX5 54
+ - AUX6 55
+
+## Analog inputs
+
+The CUAVv5 has 7 analog inputs
+
+ - ADC Pin0 -> Battery Voltage
+ - ADC Pin1 -> Battery Current Sensor
+ - ADC Pin2 -> Battery Voltage 2
+ - ADC Pin3 -> Battery Current Sensor 2
+ - ADC Pin4 -> ADC port pin 2
+ - ADC Pin14 -> ADC port pin 3
+ - ADC Pin10 -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin103 -> RSSI voltage monitoring
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.
+
+## Acknowledgements
+
+Thanks to [CUAV](http://cuav.net) for images

libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef-bl.dat

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+include ../CUAVv5/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef.dat

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+# Bi-directional dshot version of CUAVv5
+
+include ../CUAVv5/hwdef.dat
+
+undef PA10 PE11 PD13 PD14
+
+# This gives bi-dir dshot on the first four channels
+PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
+
+# On the regular CUAVv5 TIM4_UP cannot be assigned, this just makes it clear
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) NODMA
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) NODMA
+
+DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM*