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AP_HAL_ChibiOS: adds Flywoo/Goku F405 HD 1-2S ELRS AIO v2 flight controller support

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Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
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rotorman 2024-05-24 16:34:09 -05:00 committed by Peter Barker
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commit 0962b759b0
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libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/GokuF405HD_AIOv2_Pinout.png Normal file
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# GOKU F405 HD 1-2S AIO v2 w/ built-in ELRS 2.4g RX
https://flywoo.net/products/goku-f405-hd-1-2s-elrs-aio-v2
The Flywoo GOKU F405 HD AIO v2 is a flight controller produced by [Flywoo](https://flywoo.net/).
## Features
- MCU: STM32F405 32-bit processor. 1024Kbytes Flash
- IMU: MPU6000 (SPI) or ICM42688 (SPI)
- Barometer: DPS310/SPL06
- Onboard LED：WS2812*2
- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
- 6 hardware UARTS (UART1,2,3,4,5,6)
- Built-in ELRS 2.4 GHz serial receiver (on some models)
- Also supports external serial receivers (SBUS, iBus, Spektrum, Crossfire)
- Onbord 8 Mbytes for Blackbox logging
- 5V Power Out: 2.0A max
- 9V Power Out: 2.0A max (on/off software controllable via PINIO)
- Dimensions: 30x30mm
- Mounting Holes: Standard 25.5/25.5mm square to center of holes
- Weight: 4.9g
- Built-in 12A BLHeli_S 4in1 ESC
- Supports BLheli_S / BlueJay / J-ESC
- Supports Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
- Input Voltage: 1-2S Lipo
- Continuous Current: 12A
- Firmware: Z_H_30_REV16.7
## Pinout
![GOKU F405 HD 12A AIO v2](GokuF405HD_AIOv2_Pinout.png "GOKU F405 HD 12A AIO v2")
## UART Mapping
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
|Name|Pin|Function|
|:-|:-|:-|
|SERIAL0|COMPUTER|USB|
|SERIAL1|RX1/TX1|USART1 (ELRS, DMA-enabled)|
|SERIAL2|TX2/RX2|USART2 (Telem, DMA on RX)|
|SERIAL3|TX3/RX3|USART3 (USER, DMA-enabled)|
|SERIAL4|TX4/RX4|UART4 (GPS)|
|SERIAL5|TX5/RX5|UART5|
|SERIAL6|TX6/RX6|UART6 (DisplayPort)|
USART1 and USART3 supports RX and TX DMA. UART4 supports TX DMA. USART2 supports RX DMA. UART5 and UART6 do not support DMA.
## RC Input
RC input is configured as ELRS by default using UART1. Alternatively, UART3 could be used for RC inputs other than ELRS but its protocol would need to be changed to 23 and UART1 disabled by setting its protocol as -1. This board does not support PPM.
## OSD Support
The GOKU F405 HD AIO v2 supports OSD using OSD_TYPE 5 (MSP DisplayPort).
## PWM Output
The GOKU F405 AIO supports up to 5 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs. All 5 outputs support DShot.
The PWM are in 3 groups:
PWM 1-2: Group 1
PWM 3-4: Group 2
LED: Group 3
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. PWM 1-4 support bidirectional dshot.
.. note:: for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:
- :ref:`FRAME_CLASS<FRAME_CLASS>` = 1 (Quad)
- :ref:`FRAME_TYPE<FRAME_TYPE>` = 12 (BetaFlightX)
## Battery Monitoring
The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S
LiPo batteries.
The correct battery setting parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 13
- BATT_VOLT_MULT around 11
- BATT_CURR_PIN 12
- BATT_AMP_PERVLT around 60.2
These are set by default in the firmware and shouldn't need to be adjusted
## Compass
The GOKU F405 HD AIO v2 does not have a builtin compass but it does have an external I2C connector.
## NeoPixel LED
The board includes a NeoPixel LED pad.
## 9V/VTX Electronic Switch
9V/VTX state can be controlled using ArduPilot Relay, GPIO pin 81.
## Loading Firmware (you will need to compile your own 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.

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# setup for LEDs on chan9
SERVO5_FUNCTION 120
NTF_LED_LEN 2
# ESC setup
MOT_PWM_TYPE 5
SERVO_BLH_AUTO 1
SERVO_BLH_TRATE 0
# RC setup
RC_OPTIONS 8704
OSD_TYPE 5
SERIAL3_PROTOCOL -1
SERIAL2_PROTOCOL 2
SERIAL6_PROTOCOL 42

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libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef-bl.dat Normal file
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# hw definition file for processing by chibios_hwdef.py
# for FLYWOOF405HD_AIOv2 hardware.
# thanks to betaflight for pin information
include ../FlywooF405S-AIO/hwdef-bl.dat
#undefine items to be changed
undef APJ_BOARD_ID
# board ID for firmware load
APJ_BOARD_ID 1180
#required to prevent ELRS from changing modes at boot
PD6 USART2_RX USART2 OUTPUT HIGH

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libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/hwdef.dat Normal file
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# hw definition file for processing by chibios_hwdef.py
# for FLYWOOF405HD_AIOv2 hardware.
# thanks to betaflight for pin information
include ../FlywooF405S-AIO/hwdef.dat
#undefine items to be changed
undef APJ_BOARD_ID
# board ID for firmware load
APJ_BOARD_ID 1180
# GPIOs
PB5 PINIO1 OUTPUT GPIO(81) LOW