mirror of https://github.com/ArduPilot/ardupilot
hwdef: added JHEMCUGF16F405
This commit is contained in:
Alex P
Peter Barker
parent
3fbf3368fc
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# hw definition file for processing by chibios_hwdef.py
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# for JHEF405 hardware.
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# thanks to betaflight for pin information
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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 AP_HW_JHEMCUGF16F405
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 48
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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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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# Chip select pins
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PB3 FLASH1_CS CS
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PB14 OSD1_CS CS
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PB12 GYRO1_CS CS
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PA9 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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@ -0,0 +1,152 @@
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# hw definition file for processing by chibios_hwdef.py
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# for JHEM_JHEF405 hardware.
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# thanks to betaflight for pin information
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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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# https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
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APJ_BOARD_ID AP_HW_JHEMCUGF16F405 # 1081
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 48
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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STM32_ST_USE_TIMER 5
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# SPI devices
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# SPI1
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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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# SPI3
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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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# Chip select pins
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PB3 FLASH1_CS CS
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PB14 OSD1_CS CS
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PB12 GYRO1_CS CS
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# Beeper
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PC13 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA10 USART1_RX USART1
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PB6 USART1_TX USART1
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# UART4
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_SmartAudio
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# USART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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# I2C ports
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I2C_ORDER I2C1
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# I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Servos
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# ADC ports
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# ADC1
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PC0 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 10
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_CURR_SCALE 58.8
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_VOLT_SCALE 11.0
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define HAL_BATT_MONITOR_DEFAULT 4
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# MOTORS
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
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PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # M3
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PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) # M4
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PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) # M5
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PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC9 TIM8_CH4 TIM8 PWM(7) GPIO(56) # M7
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PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57) # M8
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# LEDs
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PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # LED
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PC14 LED0 OUTPUT LOW GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# Dataflash setup
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SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# OSD setup
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SPIDEV osd SPI3 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# Barometer setup
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BARO BMP280 I2C:0:0x76
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# Barometer setup
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BARO DPS310 I2C:0:0x76
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# IMU setup
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SPIDEV icm42688 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
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DMA_NOSHARE TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
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DMA_PRIORITY TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
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# no built-in compass, but 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 HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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include ../include/minimize_common.inc
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# define AP_GPS_NMEA_ENABLED 1
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AUTOBUILD_TARGETS Copter
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Binary file not shown.
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After Width: | Height: | Size: 169 KiB |
Binary file not shown.
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After Width: | Height: | Size: 715 KiB |
Binary file not shown.
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After Width: | Height: | Size: 111 KiB |
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# JHEMCU GF16-BMI stack F405 (JHEM_JHEF405) Flight Controller with 13A ESC
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JHEMCU GF16-BMI stack F405 Flight control 13A ESC
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produced by [JHEMCU](https://www.jhemcu.com/)
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There are 5 serial ports (UART1, UART2, UART3, UART4, UART6), 8 motor ports, 1 I2C port, and 1 SBUS interface (the serial port used by SBUS is RX1), with WS2812 interface reserved. Built in black box 16MB and barometer, with buzzer interface and camera interface.
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### Specs:
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**Flight control parameters:**
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* MCU: STM32F405
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* Gyroscope/Accelerometer: BMI270
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* OSD: AT7456E
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* Barometer: BMP280
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* Black box: 16MB
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* I2C: Support
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* BEC: 5V/3A
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* UART: UART1 (RC), UART2, UART3, UART4, UART6
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* USB: micro USB
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* Size: 16 * 16MM M3
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* Receiver: ELRS (CRSF), TBS (CRSF), SBUS, IBUS, DSM2, DSMX
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* Support programmable LED such as WS2812
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* Support buzzer
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* Built-in voltage and current sensors
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**Electrical adjustment parameters:**
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* Input voltage: 2-4S LiPo/2-4S HV LiPo
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* BEC output: None
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* Continuous working current of single electric regulator: 13A * 4
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* External electrical adjustment size: 24 * 25mm (including the maximum size of solder pads and protruding points)
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* Screw hole pitch 16 * 16MM, hole diameter 3MM
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* Firmware: BLHELI_ S G_ H_ 30_ 16_ 7. HEX
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* Supports Dshot600, Dshot300, Dshot150, Oneshot125, Multispot, PWM control signals
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Weight: flight control+electric adjustment=5.8g
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|RX1/TX1|USART1 (DMA) - RC Input/Output |
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|SERIAL2|TX2/RX2|USART2 (DMA RX only) - MAVLink2 |
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|SERIAL3|TX3/RX3|USART3 (DMA TX only) - GPS1 |
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|SERIAL4|TX4/RX4|UART4 (DMA TX only) - VTX |
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|SERIAL6|TX6/RX6|USART6 - User |
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## RC Input
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SBUS input must be on SBUS pin, all others can use RX1, CRSF/ELRS/SRXL2 must also use TX pin
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## OSD Support
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The GSF405A supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The JHEM_JHEF405 supports up to 9 PWM outputs (PWM9 is the serial LED output, by default). All outputs support DShot.
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The PWM is in 5 groups:
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* PWM 1,2,5 in group1
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* PWM 3,4 in group2
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* PWM 6 in group3
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* PWM 7,8 in group4
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* PWM 9 in group5
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Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in that group would need to use DShot.
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## Battery Monitoring
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The board has a built-in voltage and current sensors.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 13
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- BATT_VOLT_SCALE 11.0
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- BATT_CURR_PIN 12
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- BATT_CURR_SCALE 58.8
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These are set by default in the firmware and shouldn't need to be adjusted
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## Compass
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The JHEM_JHEF405 does not have a builtin compass, but you can attach an external compass to the I2C pins.
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## LED
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The board includes a LED_STRIP output, which is assigned a timer and DMA. This is the PWM 9 output.
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## Loading Firmware
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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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