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AP_HAL_ChibiOS: support bi-dir dshot and ELRS on Flywoo F405S AIO

This commit is contained in:
Andy Piper 2023-02-22 21:04:28 +00:00 committed by Peter Barker
parent be8a380629
commit 8a3ed0bb05
3 changed files with 129 additions and 17 deletions
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103
libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/README.md Normal file
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# GOKU F405 1-2S 12A AIO w/ built-in ELRS 2.4g RX
https://flywoo.net/collections/aio-evo-stacks-combo/products/goku-versatile-f405-2s-12a-aio-w-build-in-elrs-2-4g-rx-mpu6000
The Flywoo GOKU F405 AIO is a flight controller produced by [Flywoo](https://flywoo.net/).
## Features
- MCU: STM32F405 32-bit processor. 1024Kbytes Flash
- IMU: MPU6000 (SPI)
- Barometer: BMP280
- Onboard LED：WS2812*2
- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
- 6 hardware UARTS (UART1,2,3,4,5,6)
- Built-in ELRS 2.4Ghz serial receiver
- Also supports external serial receivers (SBUS, iBus, Spektrum, Crossfire)
- Onbord 8Mbytes for Blackbox logging
- 5V Power Out: 2.0A max
- Dimensions: 30x30mm
- Mounting Holes: Standard 25.5/26.5mm square to center of holes
- Weight: 8.5g
- Built-in 12A BLHeli_S 4in1 ESC
- Supports BLheli_S / BlueJay / J-ESC
- Supports Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
- Input Voltage: 1-2S Lipo
- Continuous Current: 12A
- Firmware: Z_H_30_REV16.7
## Pinout
![GOKU F405 12A AIO](GOKUF405AIO_Pinout.png "GOKU F405 12A 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|USART1 (ELRS, DMA-enabled)|
|SERIAL2|TX2/RX2|USART2 (GPS, DMA on RX)|
|SERIAL3|TX3/RX3|USART3 (RC Input/Output, DMA-enabled)|
|SERIAL4|TX4/RX4|UART4 (TELEM)|
|SERIAL5|TX5/RX5|UART5|
|SERIAL6|TX6/RX6|UART6 (VTX)|
USART1 and USART3 supports RX and TX DMA. UART4 supports TX DMA. USART2 supports RX DMA. UART5 and UART6 do not support DMA.
## RC Input
RC input is configured on UART1 or UART3, which supports serial RC protocols. This board does not support PPM.
## OSD Support
The GOKU F405 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
## PWM Output
The GOKU F405 AIO supports up to 5 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs.All 5 outputs support DShot.
The PWM are in 3 groups:
PWM 1-2: Group 1
PWM 3-4: Group 2
LED: Group 3
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 11
- BATT_CURR_PIN 13
- BATT_CURR_MULT around 60.2
These are set by default in the firmware and shouldn't need to be adjusted
## Compass
The GOKU F405 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.

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libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/defaults.parm Normal file
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# setup for LEDs on chan9
SERVO5_FUNCTION 120
NTF_LED_TYPES 257
NTF_LED_LEN 2
# ESC setup
MOT_PWM_TYPE 6
SERVO_BLH_AUTO 1
SERVO_BLH_TRATE 0
# RC setup
RC_OPTIONS 8704
SERIAL1_PROTOCOL 23

32
libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat
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@ -51,26 +51,28 @@ SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# USART1
# USART1 (ELRS)
PA10 USART1_RX USART1
PB6 USART1_TX USART1
define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
# USART2
PD5 USART2_TX USART2
# USART2 (GPS)
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2
define HAL_SERIAL2_PROTOCOL SerialProtocol_GPS
# USART3
# USART3 (RX)
PB10 USART3_TX USART3
PB11 USART3_RX USART3
# UART4
# UART4 (TELEM)
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA1 UART4_RX UART4 NODMA
# UART5
PD2 UART5_RX UART5 NODMA
# USART6
# USART6 (VTX)
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA
@ -97,16 +99,12 @@ define HAL_BATT_MONITOR_DEFAULT 4
# MOTORS
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) # M3
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) # M4
PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) # M5
PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
PC9 TIM8_CH4 TIM8 PWM(7) GPIO(56) # M7
PC8 TIM8_CH3 TIM8 PWM(8) GPIO(57) # M8
# LEDs
PA9 TIM1_CH2 TIM1 PWM(9) GPIO(58) # M9
PA9 TIM1_CH2 TIM1 PWM(5) GPIO(54) # M5
PC14 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90
@ -122,7 +120,7 @@ SPIDEV osd SPI3 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
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
# Barometer setup
BARO BMP280 I2C:0:0x76
@ -135,8 +133,8 @@ BARO DPS310 I2C:0:0x76
# IMU setup
SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
IMU Invensense SPI:imu1 ROTATION_YAW_90
DMA_NOSHARE TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
DMA_PRIORITY TIM3_UP TIM2_UP TIM4_UP TIM8_UP SPI1*
DMA_NOSHARE SPI1*
DMA_PRIORITY TIM3_UP TIM1_UP SPI1*
# no built-in compass, but probe the i2c bus for all possible
# external compass types