AP_HAL_ChibiOS: FoxeerF405v2

libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/README.md

@@ -0,0 +1,98 @@
+# FoxeerF405v2 Flight Controller
+
+The FoxeerF405v2 is a flight controller produced by [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.
+

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

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

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: