diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/README.md b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/README.md new file mode 100644 index 0000000000..a133f33926 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/README.md @@ -0,0 +1,88 @@ +# HEEWING F405 Flight Controller + +https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual + +The HEEWING F405 is a flight controller produced by [HEEWING](https://www.heewing.com/pages/t1-ranger-vtol-pnp-manual) that is incorporated into their Ranger-T1 VTOL RTF airframe. + +## Features + + - STM32F405 microcontroller + - ICM42688 IMU + - SLP06 barometer + - NO dataflash + - MAX7456 OSD + - 4 UARTs + - 9 PWM outputs + +### HEEWING F405 Pinout + +![HEEWING F405 Board](heewingf405.jpg "HEEWING F405") + +## 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 -> UART3 (UART1 on casing, DMA-enabled) + - SERIAL2 -> UART1 (UART2 on casing, DMA-enabled) + - SERIAL5 -> UART5 (GPS) + - SERIAL6 -> UART2 (RCIN RX-only or RX/TX with BRD_ALT_CONFIG=1, DMA-enabled) + +## RC Input + +RC input is configured on the RCIN connector (UART2_RX) pin. It supports all serial RC protocols. It can be configured for two-way protocols (e.g. CRSF) by setting BRD_ALT_CONFIG=1 + +## FrSky Telemetry + +FrSky Telemetry can be supported using the transmit pin on a spare serial ports SERIAL1 and SERIAL2. + +## OSD Support + +The HEEWING F405 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The HEEWING F405 supports up to 9 PWM outputs. M1-M2, M5-M6 and M9 support bi-directional dshot. All outputs support dshot although M3-4 are not recommended for this purpose as they share resources with I2C. + +The PWM is in 4 groups: + + - PWM 1 and 2 in group1 + - PWM 3 and 4 in group2 + - PWM 5 and 6 in group3 + - PWM 7-9 in group4 + +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 a builting voltage and current sensor. The current +sensor can read up to 130 Amps. The voltage sensor can handle up to 6S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 7.71 + - BATT_AMP_PERVLT 26.67 + +## Compass + +The HEEWING F405 does not have a builtin compass, but you can attach an external compass using the GPS port. The RTF kit comes pre-supplied with a GPS and compass. + +## 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. + +Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time. + +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. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm new file mode 100644 index 0000000000..8099863e70 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm @@ -0,0 +1,4 @@ +ALT_HOLD_RTL,5000 +ARMING_RUDDER,2 +# GPS RX DMA conflicts with CRSF and I2C1 +GPS_DRV_OPTIONS,4 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/heewingf405.jpg b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/heewingf405.jpg new file mode 100644 index 0000000000..c45237a5d1 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/heewingf405.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef-bl.dat new file mode 100644 index 0000000000..410afb4ced --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef-bl.dat @@ -0,0 +1,41 @@ +# hw definition file for HEEWING-F405 + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# board ID for firmware load +APJ_BOARD_ID 1119 + +FLASH_RESERVE_START_KB 0 +FLASH_SIZE_KB 1024 +FLASH_BOOTLOADER_LOAD_KB 64 + +PC13 LED_BOOTLOADER OUTPUT LOW GPIO(0) +PC15 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional +define HAL_LED_ON 0 + +# order of UARTs +SERIAL_ORDER OTG1 USART1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + + +# Add CS pins to ensure they are high in bootloader +PA4 IMU_CS CS +PC4 OSD_CS CS +PC14 FLASH_CS CS +#PC1 SDCARD_CS CS + +# Turn on switched supply and camera switch/output during bootloader to match default +#PA4 PINIO1 OUTPUT LOW +#PB5 PINIO2 OUTPUT LOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat new file mode 100644 index 0000000000..168be33898 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat @@ -0,0 +1,196 @@ +# hw definition file for MATEK M9N-F405 + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# bootloader starts firmware at 64k +FLASH_RESERVE_START_KB 64 +FLASH_SIZE_KB 1024 + +# store parameters in pages 1 and 2 +STORAGE_FLASH_PAGE 1 +define HAL_STORAGE_SIZE 15360 + +# board ID for firmware load +APJ_BOARD_ID 1119 + +define STM32_ST_USE_TIMER 5 +define CH_CFG_ST_RESOLUTION 32 + +# crystal frequency +OSCILLATOR_HZ 8000000 + + +# --------------------- LED ----------------------- +PC13 LED0 OUTPUT LOW GPIO(90) # blue marked as ACT +PC15 LED1 OUTPUT LOW GPIO(91) # green marked as B/E +define HAL_GPIO_A_LED_PIN 91 +define HAL_GPIO_B_LED_PIN 90 + +define HAL_GPIO_LED_OFF 1 + + +# --------------------- PWM ----------------------- + +PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50) BIDIR +PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51) +PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) # UP shared with I2C2_RX, dshot not advised +PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # UP shared with I2C2_RX, dshot not advised +PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) BIDIR +PC8 TIM8_CH3 TIM8 PWM(6) GPIO(55) +PB15 TIM1_CH3N TIM1 PWM(7) GPIO(56) +PB14 TIM1_CH2N TIM1 PWM(8) GPIO(57) +PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) BIDIR +PA15 TIM2_CH1 TIM2 PWM(10) GPIO(59) NODMA # no output + +define STM32_PWM_USE_ADVANCED TRUE + +# Beeper +#PA7 TIM3_CH2 TIM3 GPIO(32) ALARM + +# GPIOs +#PA4 PINIO1 OUTPUT GPIO(81) LOW +#PB5 PINIO2 OUTPUT GPIO(82) LOW + +# --------------------- SPI1 ----------------------- +PB3 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PB5 SPI1_MOSI SPI1 + +PA4 IMU_CS CS + +# --------------------- SPI2 ----------------------- +PB13 SPI2_SCK SPI2 +PC2 SPI2_MISO SPI2 +PC3 SPI2_MOSI SPI2 + +PC4 OSD_CS CS + +# -------------------- I2C bus -------------------- +I2C_ORDER I2C1 I2C2 + +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# --------------------- UARTs --------------------------- +SERIAL_ORDER OTG1 USART3 USART1 UART5 UART4 USART6 USART2 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 (labelled UART2 on casing) +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 - RCIN with inverter / CRSF (4-pin RCIN connector) +PA2 USART2_TX USART2 +PA3 TIM9_CH2 TIM9 RCININT PULLDOWN + +# alternative with PA3 as USART2_RX +PA3 USART2_RX USART2 ALT(1) + +# USART3 - (labelled UART1 on casing) +PC10 USART3_TX USART3 +PC11 USART3_RX USART3 + +# UART4 - (NC) +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +# UART5 - (GPS) +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 NODMA + +# USART6 - (NC) +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# ------------------- DMA assignment ------------------- +DMA_PRIORITY ADC1 SPI1* SPI2* USART2* + +# ------------------- IMU ICM42605 --------------------- +SPIDEV icm42688 SPI1 DEVID1 IMU_CS MODE3 1*MHZ 8*MHZ +IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + + +# ------------------ OSD AT7456E ---------------------- +SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ + +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin + + +# ----------------- I2C compass & Baro ----------------- +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# built-in barometer +BARO SPL06 I2C:0:0x77 + + +# --------------------- ADC --------------------------- +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +// RSSI_ADC_PIN ADC1 SCALE(1) +//PC0 PRESSURE_SENS ADC1 SCALE(1) + +define HAL_BATT_MONITOR_DEFAULT 4 + +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_VOLT_SCALE 7.71 + +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_CURR_SCALE 26.7 + +#define BOARD_RSSI_ANA_PIN 8 +#define HAL_DEFAULT_AIRSPEED_PIN 10 + +# reduce max size of embedded params for apj_tool.py +define AP_PARAM_MAX_EMBEDDED_PARAM 1024 +define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 + +# --------------------- save flash ---------------------- +define AP_BATTMON_SMBUS_ENABLE 0 + +include ../include/minimal.inc +include ../include/save_some_flash.inc + +# features that users are likely to want +define AP_TRAMP_ENABLED 1 +define HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED 1 + +# features that users are unlikely to want +define AC_OAPATHPLANNER_ENABLED 0 +define AC_PRECLAND_ENABLED 0 +define AP_ICENGINE_ENABLED 0 +define AP_OPTICALFLOW_ENABLED 0 +define HAL_GENERATOR_ENABLED 0 + +define HAL_SPRAYER_ENABLED 0 +define PRECISION_LANDING 0 +define GRIPPER_ENABLED 0 +define HAL_HOTT_TELEM_ENABLED 0 +define HAL_NMEA_OUTPUT_ENABLED 0 +define HAL_BUTTON_ENABLED 0 +define HAL_OREO_LED_ENABLED 0 +define AP_OPTICALFLOW_ENABLED 0 +define AP_ICENGINE_ENABLED 0 +define AP_RANGEFINDER_ENABLED 0 +define AP_RPM_EFI_ENABLED 0 +define AP_RPM_PIN_ENABLED 0 +define AP_RPM_GENERATOR_ENABLED 0 +define HAL_PARACHUTE_ENABLED 0 + +AUTOBUILD_TARGETS Plane \ No newline at end of file