AP_HAL_ChibiOS: hwdef for SpeedyBee F405 v3

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Andy Piper 2022-10-28 21:18:13 +01:00 committed by Randy Mackay
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# SpeedyBee F405 v3 Flight Controller
The SpeedyBee F405 v3 is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
## Features
- STM32F405 microcontroller
- BMI270 IMU
- DPS280 barometer
- SDCard
- AT7456E OSD
- 6 UARTs
- 9 PWM outputs
## Pinout
![SpeedyBee F405 v3](SpeedyBee_F405_v3_Board_Top.JPG "SpeedyBee F405 v3")
![SpeedyBee F405 v3](SpeedyBee_F405_v3_Board_Bottom.JPG "SpeedyBee F405 v3")
## 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.
- SERIAL0 -> USB
- SERIAL1 -> UART1 (DJI-VTX, DMA-enabled)
- SERIAL2 -> UART2 (RCIN, DMA-enabled)
- SERIAL3 -> UART3 (CAM)
- SERIAL4 -> UART4 (connected to internal BT module, not currently usable by ArduPilot)
- SERIAL5 -> UART5 (ESC Telemetry)
- SERIAL6 -> UART6 (GPS, DMA-enabled)
## RC Input
RC input is configured on the R2 (UART2_RX) pin for most RC unidirectional protocols except SBUS which should be applied at the SBUS pin. PPM is not supported.
For Fport, a bi-directional inverter will be required. See https://ardupilot.org/plane/docs/common-connecting-sport-fport.html
For CRSF/ELRS/SRXL2 connection of the receiver to T2 will also be required.
## FrSky Telemetry
FrSky Telemetry is supported using the Tx pin of any UART including SERIAL2/UART2. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL3).
- SERIAL3_PROTOCOL 10
- SERIAL3_OPTIONS 7
## OSD Support
The SpeedyBee F405 v3 supports OSD using OSD_TYPE 1 (MAX7456 driver).
## VTX Support
The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
this to a peripheral requiring 5v.
## PWM Output
The SpeedyBee F405 v3 supports up to 9 PWM outputs. The pads for motor output
M1 to M4 on the motor connector, plus M9 for LED strip or another
PWM output.
The PWM is in 3 groups:
- PWM 1-4 in group1
- PWM 5-8 in group2
- PWM 9 in group3
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. Channels 1-4 support bi-directional DShot.
## Battery Monitoring
The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
The voltage sensor can handle up to 6S.
LiPo batteries.
The default battery parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 10
- BATT_CURR_PIN 11
- BATT_VOLT_MULT 11.2
- BATT_AMP_PERVLT 52.7 (will need to be adjusted for whichever current sensor is attached)
## Compass
The SpeedyBee F405 v3 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
## Loading 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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SERVO9_FUNCTION 120
NTF_LED_TYPES 257

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# hw definition file for processing by chibios_pins.py
# for speedybeef4 bootloader
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
APJ_BOARD_ID 1082
# crystal frequency
OSCILLATOR_HZ 8000000
FLASH_SIZE_KB 1024
# don't allow bootloader to use more than 16k
FLASH_USE_MAX_KB 16
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
# the location where the bootloader will put the firmware
FLASH_BOOTLOADER_LOAD_KB 48
# LEDs
PC8 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 0
# order of UARTs
SERIAL_ORDER OTG1
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
DEFAULTGPIO OUTPUT LOW PULLDOWN
# Add CS pins to ensure they are high in bootloader
PA4 MPU6000_CS CS
PB12 MAX7456_CS CS
PA15 SDCARD_CS CS

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# hw definition file for SpeedyBee F4 v3 hardware
# tested on the Speedybee F4 v3 board
# with thanks to betaflight for pinout
# MCU class and specific type
MCU STM32F4xx STM32F405xx
# board ID for firmware load
APJ_BOARD_ID 1082
# crystal frequency
OSCILLATOR_HZ 8000000
define STM32_ST_USE_TIMER 5
FLASH_SIZE_KB 1024
# only one I2C bus
I2C_ORDER I2C2
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
# LEDs
PC8 LED_BLUE OUTPUT LOW GPIO(0)
define HAL_GPIO_A_LED_PIN 0
# buzzer
PC5 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
# spi1 bus for IMU
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PA4 BMI270_CS CS
# spi2 for OSD and sdcard
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
PB12 MAX7456_CS CS
PA15 SDCARD_CS CS
# only one I2C bus in normal config
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
# analog pins
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC2 RSSI_ADC_PIN ADC1 SCALE(1)
# define default battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 10
define HAL_BATT_CURR_PIN 11
define HAL_BATT_VOLT_SCALE 11.2 # matched to ESC output
define HAL_BATT_CURR_SCALE 52.7 # appropriate for a T-Motor F55A Pro II
# analog rssi pin
define BOARD_RSSI_ANA_PIN 12
# USART1 (DJI / VTX)
PA9 USART1_TX USART1
PA10 USART1_RX USART1
define HAL_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
# USART2 (RCIN)
PA2 USART2_TX USART2
PA3 USART2_RX USART2
define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
# USART3 (CAM)
PC10 USART3_TX USART3 NODMA
PC11 USART3_RX USART3 NODMA
define HAL_SERIAL3_PROTOCOL SerialProtocol_None
# UART4 (Bluetooth)
PA0 UART4_TX UART4 NODMA
PA1 UART4_RX UART4 NODMA
define HAL_SERIAL4_PROTOCOL SerialProtocol_None
# UART5 (ESC Telemetry)
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA
define HAL_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
define HAL_SERIAL5_BAUD 19200
# UART6 (GPS)
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define HAL_SERIAL6_PROTOCOL SerialProtocol_GPS
define HAL_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# PWM out pins. Note that channel order follows the ArduPilot motor
# order conventions
PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) BIDIR
PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51)
PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) BIDIR # DMA channel shared with I2C2_TX, beware - no alternatives
PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53)
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
PB5 TIM3_CH2 TIM3 PWM(7) GPIO(56)
PB4 TIM3_CH1 TIM3 PWM(8) GPIO(57)
PC9 TIM8_CH4 TIM8 PWM(9) GPIO(58) # LED
# OSD pad for TTL based OSD control, not supported by AP
PB3 CAM_C OUTPUT LOW GPIO(83) # labelled as "CC"
define HAL_STORAGE_SIZE 15360
STORAGE_FLASH_PAGE 1
# reserve 16k for bootloader and 32k for flash storage
FLASH_RESERVE_START_KB 48
# one IMU
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
# built-in barometer
BARO SPL06 I2C:0:0x76
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
define AP_BARO_SPL06_ENABLED 1
# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12
# SPI devices
SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 8*MHZ
SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
SPIDEV sdcard SPI2 DEVID2 SDCARD_CS MODE0 400*KHZ 25*MHZ
# filesystem setup on sdcard
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
# minimal drivers to reduce flash usage
include ../include/minimal.inc