[chibios] add support of DSHOT to chibios

- driver for DSHOT protocol, including telemetry (but used yet)
- actuators interface for Paparazzi
- generic DMA driver
- configuration for Apogee board

conf/modules/actuators_dshot.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="actuators_dshot" dir="actuators" task="actuators">
+  <doc>
+    <description>
+      Driver for DSHOT speed controller.
+
+      Beware that servo output from the same timer cannot mix PWM and DSHOT.
+      It might be required to disable by hand some PWM output to avoid conflicts when they are activated by default on a board.
+      Currently only implemented over ChibiOS.
+    </description>
+    <define name="DSHOT_SPEED" value="600" description="DSHOT speed (150,300,600,1200)"/>
+  </doc>
+  <header>
+    <file name="actuators_dshot.h"/>
+  </header>
+  <makefile>
+    <define name="ACTUATORS"/>
+    <file_arch name="actuators_dshot_arch.c"/>
+    <file_arch name="esc_dshot.c" cond="ifeq ($(RTOS),chibios)"/>
+    <file_arch name="hal_stm32_dma.c" dir="mcu_periph" cond="ifeq ($(RTOS),chibios)"/>
+  </makefile>
+</module>
+