diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat index 9b2258590d..09a7e1563c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat @@ -67,6 +67,7 @@ define HAL_BATT_CURR_SCALE 28.5 define HAL_BATT_MONITOR_DEFAULT 4 PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 15 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 @@ -129,7 +130,7 @@ STORAGE_FLASH_PAGE 1 define HAL_LOGGING_DATAFLASH_ENABLED 1 # spi devices -SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ +SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 4*MHZ @@ -145,6 +146,10 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1 # one BARO BARO BMP280 I2C:0:0x76 +BARO SPL06 I2C:0:0x76 +define AP_BARO_BACKEND_DEFAULT_ENABLED 0 +define AP_BARO_SPL06_ENABLED 1 +define AP_BARO_BMP280_ENABLED 1 # setup for OSD define OSD_ENABLED 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/GOKUGN745AIO_Pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/GOKUGN745AIO_Pinout.png new file mode 100644 index 0000000000..70641c0845 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/GOKUGN745AIO_Pinout.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/README.md new file mode 100644 index 0000000000..8f6a923de3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/README.md @@ -0,0 +1,109 @@ +# Flywoo GOKU GN 745 40A AIO + +https://flywoo.net/products/goku-gn745-40a-aio-bl_32-mpu6000-25-5-x-25-5 + +The Flywoo GOKU GN 745 AIO is a flight controller produced by [Flywoo](https://flywoo.net/). + +## Features + +- MCU: STM32F745 32-bit processor,216MHz, 512Kbytes Flash +- IMU: MPU6000 (SPI) +- Barometer: SPL06 +- Onboard LED：WS2812*4 +- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART) +- 7 hardware UARTS (UART1,2,3,4,5,6,7) +- Supports serial receivers (SBUS, iBus, Spektrum, Crossfire) only. +- PPM and PWM receivers are not supported. +- Onbord 8Mbytes for Blackbox logging +- 9V Power Out: 1.5A max +- 5V Power Out: 2.0A max +- 3.3V Power Out: 0.5A max +- Dimensions: 33.5x33.5mm +- Mounting Holes: Standard 25.5/26.5mm square to center of holes +- Weight: 8.5g + +- Built-in 40A BL_32 4in1 ESC +- Support BLheli / BLHELI_32 +- Support PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600,Dshot1200 +- Input Voltage: 2-6S Lipo +- Continuous Current: 40A +- Firmware: BLHELI_32 + +## Pinout + +![GOKU GN 745 40A AIO](GOKUGN745AIO_Pinout.png "GOKU GN 745 40A AIO") + +## 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|UART1 (TELEM)| +|SERIAL2|TX2/RX2|UART2 (TELEM)| +|SERIAL3|TX3/RX3|UART3 (RC Input/Output)| +|SERIAL4|TX4/RX4|UART4| +|SERIAL5|TX5/RX5|UART5| +|SERIAL6|TX6/RX6|UART6 (GPS)| +|SERIAL7|TX7/RX7|UART7| + +UART3 supports RX and TX DMA. UART1, UART2, UART4, and UART6 supports TX DMA. UART5 and UART7 do not support DMA. + +## RC Input + +RC input is configured on the UART3, which supports serial RC protocols. This board does not support PPM. + +## OSD Support + +The GOKU GN 745 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The GOKU GN 745 AIO supports up to 8 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs, there are four additional pads for PWM 5-8. All 8 outputs support DShot as well as all PWM types. + +The PWM are in 5 groups: + +PWM 1,3,7,8: Group 1 +PWM 2: Group 2 +PWM 4-5: Group 3 +PWM 6: Group 4 +LED: Group 5 + + +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. + +## 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 12 + - BATT_VOLT_MULT around 10.9 + - BATT_CURR_PIN 13 + - BATT_CURR_MULT around 62.0 + +These are set by default in the firmware and shouldn't need to be adjusted + +## Compass + +The GOKU GN 745 AIO does not have a builtin compass but it does have an external I2C connector. + +## NeoPixel LED + +The board includes a NeoPixel LED pad. + +## 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. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/defaults.parm new file mode 100644 index 0000000000..4fad765c65 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/defaults.parm @@ -0,0 +1,13 @@ +# setup the four built-in Neopixel LEDs on chan 9 +SERVO9_FUNCTION 120 +NTF_LED_TYPES 257 +NTF_LED_LEN 4 + +# setup SERIAL3 for RCIN +SERIAL3_PROTOCOL 23 + +# disable GPS on Serial 4 +SERIAL4_PROTOCOL -1 + +# setup SERIAL6 for GPS +SERIAL6_PROTOCOL 5 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef-bl.dat new file mode 100644 index 0000000000..b86a7f086d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef-bl.dat @@ -0,0 +1 @@ +include ../FlywooF745/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef.dat new file mode 100644 index 0000000000..63706475ed --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745v2/hwdef.dat @@ -0,0 +1,21 @@ +# hw definition file for processing by chibios_pins.py +# for FLYWOO Goku GN F745 v2 +# thanks to betaflight for pin information + +include ../FlywooF745/hwdef.dat + +undef PB1 PB0 PE9 PE11 PC9 PA3 PB4 PB5 + +# MOTORS +PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) BIDIR # M1 +PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51) BIDIR # M2 +PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3 +PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR # M4 +PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54) # M5 +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6 +PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56) # M7 +PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) # M8 + +undef HAL_BATT_CURR_SCALE +define HAL_BATT_CURR_SCALE 62.0 +