From 5df4266f9511d96cf5a18bfe7636fd32697d541d Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 2 Sep 2021 15:56:07 +0100 Subject: [PATCH] AP_HAL_ChibiOS: bdshot version of CUAVv5 --- .../hwdef/CUAVv5-bdshot/CUAVv5-pinout.jpg | Bin 0 -> 374701 bytes .../hwdef/CUAVv5-bdshot/README.md | 130 ++++++++++++++++++ .../hwdef/CUAVv5-bdshot/hwdef-bl.dat | 1 + .../hwdef/CUAVv5-bdshot/hwdef.dat | 15 ++ 4 files changed, 146 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/CUAVv5-pinout.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/CUAVv5-pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/CUAVv5-pinout.jpg new file mode 100644 index 0000000000000000000000000000000000000000..32707afc2f7e4f706662880fd3318f26843fcc89 GIT binary 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zfk|{Ukn(D&X~k#28WROX`^+u`Lbg6)6Z2fJ!T6$1I1aKryp10+&h$yP?`E#^{8t)t z9FG1htcQ0|^u%cRnCH`^i!o99kul@S_Y2# zr;;dmp%Z*d?F)YBTWZj69iPatr+@p_=EvmH{l5m?V6D8>2|l0J USB + - SERIAL1 -> UART2 (Telem1) + - SERIAL2 -> UART3 (Telem2) + - SERIAL3 -> UART1 (GPS) + - SERIAL4 -> UART4 (GPS2) + - SERIAL5 -> UART6 (spare) + - SERIAL6 -> UART7 (spare, debug) + +The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not +have RTS/CTS. + +The UART7 connector is labelled debug, but is available as a general +purpose UART with ArduPilot. + +## RC Input + +RC input is configured on the RCIN pin, at one end of the servo rail, +marked RC in the above diagram. This pin supports all RC protocols. + +## PWM Output + +The CUAVv5 supports up to 14 PWM outputs. First first 8 outputs (labelled +"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 +outputs support all PWM output formats, but not DShot. + +The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary" +outputs. These are directly attached to the STM32F765 and support all +PWM protocols as well as DShot. + +All 14 PWM outputs have GND on the top row, 5V on the middle row and +signal on the bottom row. + +The 8 main PWM outputs are in 3 groups: + + - PWM 1 and 2 in group1 + - PWM 3 and 4 in group2 + - PWM 5, 6, 7 and 8 in group3 + +The 6 auxillary PWM outputs are in 2 groups: + + - PWM 1, 2, 3 and 4 in group1 + - PWM 5 and 6 in group2 + +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. + +## Battery Monitoring + +The board has two dedicated power monitor ports on 6 pin +connectors. The correct battery setting parameters are dependent on +the type of power brick which is connected. + +## Compass + +The CUAVv5 has a builtin IST8310 compass. Due to potential +interference the board is usually used with an external I2C compass as +part of a GPS/Compass combination. + +## GPIOs + +The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To +use them you need to limit the number of these pins that is used for +PWM by setting the BRD_PWM_COUNT to a number less than 6. For example +if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for +use as GPIOs. + +The numbering of the GPIOs for PIN variables in ArduPilot is: + + - AUX1 50 + - AUX2 51 + - AUX3 52 + - AUX4 53 + - AUX5 54 + - AUX6 55 + +## Analog inputs + +The CUAVv5 has 7 analog inputs + + - ADC Pin0 -> Battery Voltage + - ADC Pin1 -> Battery Current Sensor + - ADC Pin2 -> Battery Voltage 2 + - ADC Pin3 -> Battery Current Sensor 2 + - ADC Pin4 -> ADC port pin 2 + - ADC Pin14 -> ADC port pin 3 + - ADC Pin10 -> ADC 5V Sense + - ADC Pin11 -> ADC 3.3V Sense + - ADC Pin103 -> RSSI voltage monitoring + +## Loading Firmware + +The board comes pre-installed with an ArduPilot compatible bootloader, +allowing the loading of *.apj firmware files with any ArduPilot +compatible ground station. + +## Acknowledgements + +Thanks to [CUAV](http://cuav.net) for images diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef-bl.dat new file mode 100644 index 0000000000..5331b9e915 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef-bl.dat @@ -0,0 +1 @@ +include ../CUAVv5/hwdef-bl.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef.dat new file mode 100644 index 0000000000..362ad10a2e --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAVv5-bdshot/hwdef.dat @@ -0,0 +1,15 @@ +# Bi-directional dshot version of CUAVv5 + +include ../CUAVv5/hwdef.dat + +undef PA10 PE11 PD13 PD14 + +# This gives bi-dir dshot on the first four channels +PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR + +# On the regular CUAVv5 TIM4_UP cannot be assigned, this just makes it clear +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) NODMA +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) NODMA + +DMA_PRIORITY TIM1_CH3 TIM1_CH2 TIM1_UP SDMMC* UART8* ADC* SPI* TIM*