ChibiOS: add support and bootloader for PilotGaeaSH7V1-bdshot

Author: PilotGaea2001

Tools/bootloaders/PilotGaeaSH7V1-bdshot_bl.bin

@@ -910,13 +910,13 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
             bool param_isinf = true;
             float param_value;
             switch (param.value.type) {
-            case PARAMETER_INTEGER: {
+            case ParameterType::PARAMETER_INTEGER: {
                 param_isnan = isnan(param.value.integer_value);
                 param_isinf = isinf(param.value.integer_value);
                 param_value = float(param.value.integer_value);
                 break;
             }
-            case PARAMETER_DOUBLE: {
+            case ParameterType::PARAMETER_DOUBLE: {
                 param_isnan = isnan(param.value.double_value);
                 param_isinf = isinf(param.value.double_value);
                 param_value = float(param.value.double_value);
@@ -1009,38 +1009,38 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
 
             vp = AP_Param::find(param_key, &var_type);
             if (vp == nullptr) {
-                get_parameters_response.values[i].type = PARAMETER_NOT_SET;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_NOT_SET;
                 successful_read &= false;
                 continue;
             }
 
             switch (var_type) {
             case AP_PARAM_INT8: {
-                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_INTEGER;
                 get_parameters_response.values[i].integer_value = ((AP_Int8 *)vp)->get();
                 successful_read &= true;
                 break;
             }
             case AP_PARAM_INT16: {
-                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_INTEGER;
                 get_parameters_response.values[i].integer_value = ((AP_Int16 *)vp)->get();
                 successful_read &= true;
                 break;
             }
             case AP_PARAM_INT32: {
-                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_INTEGER;
                 get_parameters_response.values[i].integer_value = ((AP_Int32 *)vp)->get();
                 successful_read &= true;
                 break;
             }
             case AP_PARAM_FLOAT: {
-                get_parameters_response.values[i].type = PARAMETER_DOUBLE;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_DOUBLE;
                 get_parameters_response.values[i].double_value = vp->cast_to_float(var_type);
                 successful_read &= true;
                 break;
             }
             default: {
-                get_parameters_response.values[i].type = PARAMETER_NOT_SET;
+                get_parameters_response.values[i].type = ParameterType::PARAMETER_NOT_SET;
                 successful_read &= false;
                 break;
             }

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -0,0 +1,139 @@
+# PilotGaeaSH7V1 Flight Controller
+
+The PilotGaeaSH7V1 is a flight controller designed and produced by PilotGaea
+
+## Features
+
+ - STM32H743 microcontroller
+ - Dual ICM42688P IMUs
+ - DPS310 barometer
+ - AT7456E OSD
+ - MicroSD card slot
+ - Dual camera input
+ - 1 USB
+ - 5.5 UARTs, one with CTS/RTS flow control pins
+ - 10 PWM / Dshot outputs
+ - 1 I2C
+ - 1 CAN
+ - 5 ADC inputs
+ - 5V/1.5A BEC for main power supply
+ - 8V/1.5A BEC for powering Video Transmitter 
+
+## Mechanical
+
+ - Dimensions: 36 x 36 x 17 mm
+ - Weight: 10.5g
+
+## Physical and pinout
+
+![PilotGaeaSH7V1 front view](./PilotGaea_front_view_Pin.jpg)
+
+![PilotGaeaSH7V1 rear view](./PilotGaea_rear_view_Pin.jpg)
+
+## Power supply
+
+The PilotGaeaSH7V1 supports 3-8s Li battery input. It has 2 ways of BEC, which result in 3 ways of power supplys. Please see the table below.
+
+| Power symbol | Power source                                      | Max power (current) |
+|--------------|---------------------------------------------------|---------------------|
+| BAT          | directly from battery                             |                     |
+| 5V           | from 5V BEC                                       | 7.5W (1.5A)         |
+| 8V           | from 8V BEC, controlled by MCU                    | 12W (1.5A)          |
+| 4V5          | from USB or 5V BEC, diodes isolate the two powers | 4.7W (1A)           |
+
+## UART Mapping
+
+The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
+
+| ArduPilot Serial | Hardware UART  | Default Function | DMA Support | DMA Stream (Shared/Dedicated)                  |
+|------------------|----------------|------------------|-------------|------------------------------------------------|
+| SERIAL0	       | OTG1	        | USB	           | No          | Handled by USB Controller                      |
+| SERIAL1	       | UART7(CTS/RTS)	| Telem 1          | Yes         | Shared TX (Stream 7) / Dedicated RX (Stream 0) |
+| SERIAL2	       | USART1         | GPS              | Yes         | Shared TX (Stream 7) / Shared RX (Stream 5)    |  
+| SERIAL3	       | USART2         | Telem 2          | Yes         | Shared TX (Stream 7) / Shared RX (Stream 6)    | 
+| SERIAL4	       | USART3         | not available    | Yes         | Shared TX (Stream 7) / Shared RX (Stream 7)    |
+| SERIAL5	       | UART8	        | ESC Telem        | No (NODMA)  | (CPU-based PIO)                                |
+| SERIAL6	       | UART4          | User Port        | No (NODMA)  | (CPU-based PIO)                                |
+| SERIAL7	       | USART6         | RCIN             | Yes         | Shared TX (Stream 7) / Shared RX (Stream 1)    |
+ 
+Any UART can be re-tasked by changing its protocol parameter.
+
+## RC Input
+
+The default RC input is configured on the UART6 and supports all RC protocols except PPM. The SBUS pin is inverted and connected to RX6. RC can be attached to any UART port as long as the serial port protocol is set to `SERIALn_PROTOCOL=23` and SERIAL6_Protocol is changed to something other than '23'.
+
+## OSD Support
+
+The PilotGaeaSH7V1 Supports onboard analog OSD using the AT7456 chip.The composited image is output via the VTX pin.
+
+## PWM Output and DShot
+
+The PilotGaeaSH7V1 supports up to **11 physical PWM outputs**, organized into **6 independent timer groups**. All groups support DShot, but **Bi-directional DShot (BDShot)** is fully optimized for **Groups 1-4 (Outputs 1-8)**.
+
+### PWM Grouping Table
+
+| Group | PWM Output | Timer | BDShot Support | Recommended Use |
+| :--- | :--- | :--- | :--- | :--- |
+| **1** | 1, 2 | TIM3 | **Full (DMA)** | Motors 1-2 (BDShot) |
+| **2** | 3, 4 | TIM2 | **Full (DMA)** | Motors 3-4 (BDShot) |
+| **3** | 5, 6 | TIM5 | **Full (DMA)** | Motors 5-6 (BDShot) |
+| **4** | 7, 8 | TIM4 | **Full (DMA)** | Motors 7-8 (BDShot) |
+| **5** | 11, 12 | TIM15 | No (NODMA) | Auxiliary / Servos |
+| **6** | 13 | TIM1 | No (NODMA) | NeoPixel / LED |
+
+### Bi-directional DShot Configuration
+To use BDShot for RPM filtering, you must flash the `PilotGaeaSH7V1-bdshot` firmware. 
+- **Outputs 1-8:** Fully optimized with dedicated DMA resources to ensure stable DShot600 performance and telemetry feedback.
+- **Outputs 11-13:** Configured with `NODMA`. While they support standard PWM/DShot, they do not support RPM telemetry. This design prioritizes DMA bandwidth for the primary IMU (SPI1) and core motor functions.
+
+> **Note:** PWM 9 and 10 are defined in firmware but not physically broken out.
+
+> **Important:** Every output within a timer group must use the same protocol (e.g., Output 3 & 4 must both be DShot).
+
+## Battery Monitoring
+
+The board has two internal voltage sensors and two external current sensor input.
+The voltage sensors can handle up to 8S LiPo batteries.
+
+Primary Battery (BATT):
+Enable Battery monitor with these parameter settings :
+* BATT_MONITOR 4 (Then reboot)
+* BATT_VOLT_PIN 10
+* BATT_CURR_PIN 11
+* BATT_VOLT_MULT 11.0
+* BATT_AMP_PERVLT 40.0
+
+Secondary Battery (BATT2):
+* BATT2_VOLT_PIN 18
+* BATT2_CURR_PIN 7
+* BATT2_VOLT_MULT 21.0 (Must be manually set to 21.0)
+* BATT2_AMP_PERVLT 40.0
+
+### Battery Monitoring (BATT2) Setup
+The second battery monitor is **disabled** by default. To use it:
+1. Set `BATT2_MONITOR` = **4** (Analog Voltage and Current) and reboot.
+2. **Crucial:** Change `BATT2_VOLT_MULT` to **21.0** in Mission Planner. 
+   *(The firmware default is 11.0, but the physical circuit on this board requires 21.0 for correct readings).*
+
+## Compass
+
+The PilotGaeaSH7V1 has no built-in compass, so if needed, you should use an external compass.
+
+## Analog cameras
+
+The PilotGaeaSH7V1 supports up to 2 cameras, connected to pin C1 and C2. You can select the video signal to VTX from camera by an RC channel. Set the parameters below:
+- RELAY2_FUNCTION 1
+- RELAY_PIN2 82
+- RC8_OPTION 34
+
+## 8V switch
+
+The 8V power supply can be controlled by an RC channel. Set the parameters below:
+- RELAY1_FUNCTION  1
+- RELAY_PIN 81
+- RC7_OPTION 28
+
+## 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/PilotGaeaSH7V1-bdshot/PilotGaea_front_view_Pin.jpg

@@ -0,0 +1,49 @@
+# hw definition file for processing by chibios_pins.py
+# for PilotGaea SH743-V1 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1213
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make sure Vsw is on during bootloader
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU3_CS CS