mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS/hwdef: add controller ACNS-F405AIO
hwdef: add a new integrated flight controller ACNS-F405AIO
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robin luo
Andrew Tridgell
parent
9d0f7f2586
commit
0137b1f31e
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# ACNS-F405AIO Integrated Flight Controller
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The ACNS-F405AIO is a low-cost compact flight controller for multi-rotor UAVs which integrated 4 BLheli_s ESCs on board.
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## Features
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- STM32F405RET microcontroller
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- IMU: BMI160, ICM42688
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- Mag: LIS3MDLTR
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- Baro: BMP280
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- 1 microSD card slot port
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- 6 UARTs and USB ports
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- 1 I2C port
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- 1 CAN port
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- 1 SBUS input and 8 PWM output (4 Internal ESCs,4 External PWM ports )
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- 1 External SPI port
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- 1 RGB LED on board
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- 128M flash on board
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- 4 BLheli_s ESCs, 3-4s, 30A, The motor order matches the Arducotper X frame type config
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- Small footprint and lightweight, 39mm X 39mm X 10mm, 9g(without shell)
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## UART Mapping
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- SERIAL0 -> USB (OTG1)
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- SERIAL1 -> USART1(Telem1) (DMA)
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- SERIAL2 -> USART3(Telem2) (DMA)
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- SERIAL3 -> UART4(GPS) (DMA)
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- SERIAL4 -> UART6(GPS2) (DMA)
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- SERIAL5 -> USART2(SBUS) (RC input, NO DMA)
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## RC Input
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RC input is configured on the SBUS pin (UART2_RX). It supports all RC protocols except serial protocols
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## PWM Output
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The ACNS-F405AIO supports up to 8 PWM outputs. All outputs support DShot (No BDshot).
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The PWM is in 3 groups:
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- PWM 1~4 in group1 (4 Motors)
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- PWM 5,6 in group2 (External PWM)
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- PWM 7,8 in group3 (External PWM)
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## GPIOs
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4 External PWM channels can be used for GPIO functions.
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The pin numbers for these PWM channels in ArduPilot are shown below:
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| PWM Channels | Pin |
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| ------------ | ---- |
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| PWM5 | 54 |
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| PWM6 | 55 |
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| PWM7 | 56 |
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| PWM8 | 57 |
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## Battery Monitoring
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The correct battery setting parameters are set by default and are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 11
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- BATT_CURR_PIN 12
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- BATT_VOLT_SCALE 9.2
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- BATT_CURR_SCALE 50.0
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## Compass
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The ACNS-F405AIO has one built-in compass LIS3MDLTR, you can also attach an external compass using I2C on the SDA and SCL pads.
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## Loading Firmware
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Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “ACNS-F405AIO”.
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Initial firmware load can be done with DFU by plugging in USB with the
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boot button pressed. Then you should load the "xxx_bl.hex"
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firmware, using your favorite DFU loading tool.
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Subsequently, you can update the firmware with Mission Planner.
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## Pinout<div align=center>
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<img width="500" src=F405AIO_top.jpg/>
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<img width="500" src=F405AIO_bottom.jpg/>
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# hw definition file for processing by chibios_pins.py
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# for F405AIO bootloader
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1116
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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FLASH_SIZE_KB 1024
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 64
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# order of UARTs
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SERIAL_ORDER OTG1 USART1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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#PC13 VBUS INPUT OPENDRAIN
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PC14 LED_BOOTLOADER OUTPUT LOW GPIO(0)
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PA13 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional
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define HAL_LED_ON 1
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# Add CS pins to ensure they are high in bootloader
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PA4 GYRO1_CS CS
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PC3 GYRO2_CS CS
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PB12 MAG_CS CS
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PD2 SDCARD_CS CS
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PA14 FLASH_CS CS
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PA8 ESPI_CS CS
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# hw definition file for processing by chibios_pins.py
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# F405AIO, developed by Robin Luo
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#################################################
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### MCU CONFIGURATION ###
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#################################################
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1116
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# crystal frequency
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OSCILLATOR_HZ 16000000
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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#define HAL_STORAGE_SIZE 16384
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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# enable FLASH/RAMTROM parameter storage
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#define HAL_WITH_DATAFLASH 1
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# enable logging to dataflash
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#define HAL_LOGGING_DATAFLASH_ENABLED 1
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# order of UARTs
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# | sr0| sr1 | sr2 | GPS |
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SERIAL_ORDER OTG1 USART1 USART3 UART4 USART6 USART2
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#################################################
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### PIN DEFINITIONS ###
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#################################################
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# default to timer for RC input
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
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# alternative using USART2
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA ALT(1)
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# IMU SPI
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PA4 GYRO1_CS CS
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PC3 GYRO2_CS CS
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PC4 GYRO1_DRDY INPUT
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PB2 GYRO2_DRDY INPUT
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# SD CARD SPI
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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PD2 SDCARD_CS CS
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PA14 FLASH_CS CS
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# MAG SPI
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PB12 MAG_CS CS
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PC5 MAG_DRDY INPUT
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PA8 ESPI_CS CS
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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#define HAL_USE_I2C TRUE
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#define STM32_I2C_USE_I2C1 TRUE
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# I2C Buses
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I2C_ORDER I2C1
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#define HAL_I2C_CLEAR_ON_TIMEOUT 0
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# CAN
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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# CAN Buses
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#CAN_ORDER 1
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# reduce memory usage
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define UAVCAN_NODE_POOL_SIZE 1024
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PC0 RSSI_ADC_PIN ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC14 LED_BLUE OUTPUT LOW GPIO(0)
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PA13 LED_GREEN OUTPUT LOW GPIO(1)
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PC15 LED_RED OUTPUT LOW GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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#pwm output
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)
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PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51)
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PB4 TIM3_CH1 TIM3 PWM(3) GPIO(52)
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
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PB3 TIM2_CH2 TIM2 PWM(5) GPIO(54)
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PA15 TIM2_CH1 TIM2 PWM(6) GPIO(55)
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56)
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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#PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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#PA2 TIM2_CH3 TIM2 PWM(10) GPIO(59)
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PC13 VBUS INPUT OPENDRAIN
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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#################################################
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### DEVICES ###
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#################################################
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# BMI160 on SPI1
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SPIDEV bmi160 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 4*MHZ
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# ICM42688 on SPI1
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SPIDEV icm42688 SPI1 DEVID2 GYRO2_CS MODE3 1*MHZ 4*MHZ
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# QMI8658 on SPI1
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#SPIDEV LSM6DSL SPI1 DEVID2 GYRO2_CS MODE3 1*MHZ 4*MHZ
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# MAG on SPI2
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SPIDEV lis3mdl SPI2 DEVID3 MAG_CS MODE3 500*KHZ 500*KHZ
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#SPIDEV lis3mdl SPI2 DEVID6 MAG_CS MODE3 500*KHZ 500*KHZ
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# SD Card on SPI3
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SPIDEV sdcard SPI3 DEVID4 SDCARD_CS MODE3 400*KHZ 25*MHZ
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# Flash Card on SPI3
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SPIDEV dataflash SPI3 DEVID5 FLASH_CS MODE3 500*KHZ 25*MHZ
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# two IMU
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IMU BMI160 SPI:bmi160 ROTATION_ROLL_180_YAW_270
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IMU Invensensev3 SPI:icm42688 ROTATION_NONE
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#IMU LSM6DSL SPI:lsm6dsl ROTATION_ROLL_180
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# one baro, multiple possible choices for different board variants
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BARO BMP280 I2C:0:0x76
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# one mag
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_ROLL_180_YAW_90
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 9.2
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define HAL_BATT_CURR_SCALE 50.0
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#analog rssi pin (also could be used as analog airspeed input)
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# PC0 - ADC1_CH10
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define BOARD_RSSI_ANA_PIN 10
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# probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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#define OSD_ENABLED 0
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define STM32_PWM_USE_ADVANCED TRUE
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# --------------------- save flash ----------------------
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include ../include/minimize_features.inc
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include ../include/minimal.inc
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