From b045939f1d7abff9ea8eecad91941ed926a19081 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 20 Mar 2024 19:11:35 +0000 Subject: [PATCH] AP_HAL_ChibiOS: FoxeerF405v2 --- .../hwdef/FoxeerF405v2/FoxeerF405v2.jpg | Bin 0 -> 271390 bytes .../hwdef/FoxeerF405v2/README.md | 98 +++++++++++ .../hwdef/FoxeerF405v2/hwdef-bl.dat | 40 +++++ .../hwdef/FoxeerF405v2/hwdef.dat | 164 ++++++++++++++++++ .../scripts/convert_betaflight_unified.py | 4 +- 5 files changed, 305 insertions(+), 1 deletion(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/FoxeerF405v2.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/FoxeerF405v2.jpg b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/FoxeerF405v2.jpg new file mode 100644 index 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[Foxeer](https://www.foxeer.com/). + +## Features + + - MCU - STM32F405 32-bit processor + - IMU - ICM42688 + - Barometer - DPS310 + - OSD - AT7456E + - Onboard Flash: 128Mbit + - 6x UARTs + - 9x PWM Outputs (8 Motor Output, 1 LED) + - Battery input voltage: 2S-8S + - BEC 3.3V 0.5A + - BEC 5V 2A + - BEC 10V 2A + +## Pinout + +![FoxeerF405v2 Board](FoxeerF405v2.jpg "FoxeerF405v2") + +## 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 (ESC Telemetry) + - SERIAL2 -> UART2 (RX, DMA-enabled) + - SERIAL3 -> UART3 (VTX) + - SERIAL4 -> UART4 + - SERIAL5 -> UART5 (GPS, DMA-enabled) + - SERIAL6 -> UART6 + +## RC Input + +RC input is configured by default on the R2 (UART2_RX) pad. It supports all serial RC +protocols. For protocols requiring separate half-duplex serial to transmit +telemetry (such as FPort) you should setup SERIAL1 as an RC input serial port, +with half-duplex, pin-swap and inversion enabled. + +## FrSky Telemetry + +FrSky Telemetry can be supported using the T1 pin (UART1 transmit). You need to set the following parameters to enable support for FrSky S.PORT + + - SERIAL1_PROTOCOL 10 + - SERIAL1_OPTIONS 7 + +## OSD Support + +The FoxeerF405v2 supports OSD using OSD_TYPE 1 (MAX7456 driver) or OSD_TYPE 3 if using DJI OSD + +## PWM Output + +The FoxeerF405v2 supports up to 9 PWM outputs. The pads for motor output +M1 to M8 are provided on both the motor connectors and on separate pads, plus +M9 on a separate pad for LED strip or another PWM output. + +The PWM is in 4 groups: + + - PWM 1,4 in group1 + - PWM 2,3 in group2 + - PWM 5,9 in group3 + - PWM 6-8 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 8S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 11 + - BATT_AMP_PERVLT 142.9 + +## Compass + +The FoxeerF405v2 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. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef-bl.dat new file mode 100644 index 0000000000..fc17a78863 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef-bl.dat @@ -0,0 +1,40 @@ + +# hw definition file for processing by chibios_hwdef.py +# for FOXEERF405V2 hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_FOXEERF405_V2 + +# 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 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + + +# Chip select pins +PB12 FLASH1_CS CS +PC14 OSD1_CS CS +PA4 GYRO1_CS CS + +PA13 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat new file mode 100644 index 0000000000..4eef21fcf6 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat @@ -0,0 +1,164 @@ + +# hw definition file for processing by chibios_hwdef.py +# for FOXEERF405V2 hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +HAL_CHIBIOS_ARCH_F405 1 + +# board ID for firmware load +APJ_BOARD_ID AP_HW_FOXEERF405_V2 + +# 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 +PB12 FLASH1_CS CS +PC14 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 +PA10 USART1_RX USART1 NODMA +PA9 USART1_TX USART1 NODMA + +# USART2 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 +PC10 USART3_TX USART3 NODMA +PC11 USART3_RX USART3 NODMA + +# UART4 +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +# UART5 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 + +# USART6 +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA + +# I2C ports +I2C_ORDER I2C1 +# I2C1 +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# Servos +PB1 SERVO1 OUTPUT GPIO(70) LOW +define RELAY2_PIN_DEFAULT 70 +PB14 CAMERA1 OUTPUT GPIO(71) LOW +define RELAY3_PIN_DEFAULT 71 + +# 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 142.9 +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 15 +define HAL_BATT_MONITOR_DEFAULT 4 + +# MOTORS +PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) # M1 +PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51) # M2 +PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) # M3 +PB15 TIM1_CH3N TIM1 PWM(4) GPIO(53) # M4 +PB6 TIM4_CH1 TIM4 PWM(5) GPIO(54) # M5 +PA15 TIM2_CH1 TIM2 PWM(6) GPIO(55) # M6 +PB11 TIM2_CH4 TIM2 PWM(7) GPIO(56) # M7 +PB10 TIM2_CH3 TIM2 PWM(8) GPIO(57) # M8 + +PB7 TIM4_CH2 TIM4 PWM(9) GPIO(58) # LED + +# LEDs + +PA13 LED0 OUTPUT LOW GPIO(90) +define HAL_GPIO_A_LED_PIN 90 + +PA14 LED1 OUTPUT LOW GPIO(91) +define HAL_GPIO_B_LED_PIN 91 +define HAL_GPIO_LED_OFF 1 + +# Dataflash setup +SPIDEV dataflash SPI2 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ + +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# OSD setup +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 + +# Barometer setup +BARO DPS310 I2C:0:0x76 + +# IMU setup + +# IMU setup +SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ + +IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90 +DMA_NOSHARE TIM1_UP TIM8_UP TIM4_UP TIM2_UP SPI1* +DMA_PRIORITY TIM1_UP TIM8_UP TIM4_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 + +include ../include/minimize_fpv_osd.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py index 426854f440..ba4ad7e091 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py @@ -370,6 +370,8 @@ define HAL_BATT_CURR_SCALE %.1f for led in sorted(functions["LED"].values()): if (led[3].endswith('_STRIP')): pin = led[1] + if not pin in timers.keys(): + continue timer = timers[pin] nmotors = nmotors+1 f.write("%s %s_%s %s PWM(%s) GPIO(%s) # M%s\n" % (led[1], timer[1], timer[2], timer[1], nmotors, 49+nmotors, nmotors)) @@ -381,7 +383,7 @@ define HAL_GPIO_%s_LED_PIN %u ''' % (led[1], ledn-1, 89+ledn, chr(ledn+64), 89+ledn)) # write out devices - if settings['blackbox_device'] == 'SPIFLASH': + if 'blackbox_device' in settings and settings['blackbox_device'] == 'SPIFLASH' or 'USE_FLASH' in defines: write_flash_config(f, settings['flash_spi_bus']) if 'max7456_spi_bus' in settings: