A ChibiOS multicopter code.

Using on FEZ Cerb40 STM32F4 board with FreeIMU v0.4r3,
S.BUS RX and 24LC256 EEPROM and up to 8 PWM motors.

Some code and ideas from:
- MultiWii
- Autoquad
- Diydrones Arducopter
- Madgwick
- Baseflight/Baseflightplus from afrodevices T.C.
- CH Robotics
- i2cdev libraries files
- barthess u: https://github.com/barthess/u

Pins used(WARNING: * PINS IS NOT 5V TOLERANT):
PA0  - TIM2 CH1
PA1  - TIM2 CH2
PA2  - USART2 TX
PA3  - USART2 RX
*PA4  - SPI1 NSS
*PA5  - SPI1 SCK
PA6  - SPI1 MISO
PA7  - SPI1 MOSI
PA8  - 
PA13 - SWDIO Debug
PA14 - SWCLK Debug
PB3  - LED BLUE
PB4  - LED GREEN
PB5  - LED RED
PB6  - USART1 TX
PB7  - USART1 RX
PB8  - I2C1 SCL
PB9  - I2C1 SDA
PB10 - TIM2 CH3
PB11 - TIM2 CH4
PB14 - 
PB15 - 
PC0  - MPU6050 IRQ
PC1  - HMC5883L IRQ
PC2  - 
PC3  - 
PC6  - TIM3 CH1
PC7  - TIM3 CH2
PC8  - TIM3 CH3
PC9  - TIM3 CH4
PC10 - USART3 TX
PC11 - USART3 RX 
PC12 - 
PD2  - 

USART1 - S.BUS Radio
USART2 - Mavlink output 115200bps
USART3 - GPS
I2C1   - FreeIMU + EEPROM
TIM2   - Motors/ESC PWM Connections
TIM3   - Motors/ESC PWM Connections
 

Copyright (C) 2012-2013 Wagner Sartori Junior <wsartori@gmail.com>
http://www.wsartori.com

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.