mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add support for SpeedyBeeF405v4
This commit is contained in:
Andy Piper
Randy Mackay
parent
7591e188e8
commit
83098e64ad
|
|
@ -0,0 +1,100 @@
|
|||
# SpeedyBee F405 v4 Flight Controller
|
||||
|
||||
The SpeedyBee F405 v4 is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
|
||||
|
||||
## Features
|
||||
|
||||
- STM32F405 microcontroller
|
||||
- ICM42688 IMU
|
||||
- DPS310 barometer
|
||||
- SDCard
|
||||
- AT7456E OSD
|
||||
- 6 UARTs
|
||||
- 9 PWM outputs
|
||||
|
||||
## Pinout
|
||||
|
||||
|
||||
|
||||
|
||||
## 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 v4 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 v4 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 5 groups:
|
||||
|
||||
- PWM 1-2 in group1
|
||||
- PWM 3-4 in group2
|
||||
- PWM 5-6 in group3
|
||||
- PWM 7-8 in group4
|
||||
- PWM 9 in group5
|
||||
|
||||
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 v4 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.
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 104 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 143 KiB |
|
|
@ -0,0 +1,43 @@
|
|||
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for SPEEDYBEEF405V4 hardware.
|
||||
# thanks to betaflight for pin information
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32F4xx STM32F405xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1136
|
||||
|
||||
# crystal frequency, setup to use external oscillator
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
FLASH_SIZE_KB 1024
|
||||
|
||||
# bootloader starts at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
FLASH_BOOTLOADER_LOAD_KB 48
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1
|
||||
|
||||
# PA10 IO-debug-console
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# default to all pins low to avoid ESD issues
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
|
||||
# Chip select pins
|
||||
PC14 SDCARD1_CS CS
|
||||
PB12 OSD1_CS CS
|
||||
PA4 GYRO1_CS CS
|
||||
|
||||
PA8 LED_BOOTLOADER OUTPUT LOW
|
||||
define HAL_LED_ON 0
|
||||
|
|
@ -0,0 +1,165 @@
|
|||
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for SPEEDYBEEF405V4 hardware.
|
||||
# thanks to betaflight for pin information
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32F4xx STM32F405xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1136
|
||||
|
||||
# crystal frequency, setup to use external oscillator
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
FLASH_SIZE_KB 1024
|
||||
|
||||
# bootloader takes first sector
|
||||
FLASH_RESERVE_START_KB 48
|
||||
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
define STORAGE_FLASH_PAGE 1
|
||||
|
||||
STM32_ST_USE_TIMER 5
|
||||
|
||||
# SPI devices
|
||||
|
||||
# SPI1
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
|
||||
# SPI2
|
||||
PB13 SPI2_SCK SPI2
|
||||
PC2 SPI2_MISO SPI2
|
||||
PC3 SPI2_MOSI SPI2
|
||||
|
||||
# SPI3
|
||||
PB3 SPI3_SCK SPI3
|
||||
PB4 SPI3_MISO SPI3
|
||||
PB5 SPI3_MOSI SPI3
|
||||
|
||||
# Chip select pins
|
||||
PC14 SDCARD1_CS CS
|
||||
PB12 OSD1_CS CS
|
||||
PA4 GYRO1_CS CS
|
||||
|
||||
# Beeper
|
||||
PC15 BUZZER OUTPUT GPIO(80) LOW
|
||||
define HAL_BUZZER_PIN 80
|
||||
|
||||
# SERIAL ports
|
||||
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
|
||||
# PA10 IO-debug-console
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# USART1 (DJI / VTX)
|
||||
PA10 USART1_RX USART1 NODMA
|
||||
PA9 USART1_TX USART1 NODMA
|
||||
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
|
||||
|
||||
# USART2 (RCIN)
|
||||
PA2 USART2_TX USART2
|
||||
PA3 USART2_RX USART2
|
||||
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
|
||||
|
||||
# USART3 (CAM)
|
||||
PC10 USART3_TX USART3 NODMA
|
||||
PC11 USART3_RX USART3 NODMA
|
||||
define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
|
||||
|
||||
# UART4 (Bluetooth)
|
||||
PA0 UART4_TX UART4 NODMA
|
||||
PA1 UART4_RX UART4 NODMA
|
||||
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
|
||||
|
||||
# UART5 (ESC Telemetry)
|
||||
PD2 UART5_RX UART5 NODMA
|
||||
define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
|
||||
define DEFAULT_SERIAL5_BAUD 19200
|
||||
|
||||
# USART6 (GPS)
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
|
||||
define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
|
||||
|
||||
# I2C ports
|
||||
I2C_ORDER I2C1
|
||||
# I2C1
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# Servos
|
||||
PB14 CAMERA1 OUTPUT GPIO(70) LOW
|
||||
define RELAY2_PIN_DEFAULT 70
|
||||
|
||||
# ADC ports
|
||||
|
||||
# ADC1
|
||||
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
define HAL_BATT_VOLT_PIN 10
|
||||
define HAL_BATT_VOLT_SCALE 11.0
|
||||
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
define HAL_BATT_CURR_PIN 11
|
||||
define HAL_BATT_CURR_SCALE 25.0
|
||||
PC5 RSSI_ADC ADC1
|
||||
define BOARD_RSSI_ANA_PIN 15
|
||||
define HAL_BATT_MONITOR_DEFAULT 4
|
||||
|
||||
# MOTORS
|
||||
PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) # M1
|
||||
PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
|
||||
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3
|
||||
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4
|
||||
PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # M5
|
||||
PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) # M6
|
||||
PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) # M7
|
||||
PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) # M8
|
||||
|
||||
# LEDs
|
||||
PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
|
||||
|
||||
PC13 LED0 OUTPUT LOW GPIO(90)
|
||||
define HAL_GPIO_A_LED_PIN 90
|
||||
define HAL_GPIO_LED_OFF 1
|
||||
|
||||
# OSD setup
|
||||
SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
|
||||
|
||||
define OSD_ENABLED 1
|
||||
define HAL_OSD_TYPE_DEFAULT 1
|
||||
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
||||
|
||||
# Barometer setup
|
||||
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
|
||||
define AP_BARO_SPL06_ENABLED 1
|
||||
BARO SPL06 I2C:0:0x76
|
||||
|
||||
# IMU setup
|
||||
SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
|
||||
# SDCard
|
||||
SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS MODE0 400*KHZ 25*MHZ
|
||||
|
||||
IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
|
||||
DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1*
|
||||
DMA_PRIORITY TIM3_UP TIM8_UP TIM2_UP SPI1*
|
||||
|
||||
# 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
|
||||
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 3
|
||||
# Motor order implies Betaflight/X for standard ESCs
|
||||
define HAL_FRAME_TYPE_DEFAULT 12
|
||||
|
||||
# filesystem setup on sdcard
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
# minimal drivers to reduce flash usage
|
||||
include ../include/minimize_fpv_osd.inc
|
||||
|
||||
define DEFAULT_NTF_LED_TYPES 257
|
||||
Loading…
Reference in New Issue