mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: Add SpeedyBeeF405WING
This commit is contained in:
parent
3a40f41f29
commit
b4c48d366a
|
@ -0,0 +1,102 @@
|
|||
# SpeedyBeeF405WING Flight Controller
|
||||
|
||||
The SpeedyBeeF405WING is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
|
||||
|
||||
## Features
|
||||
Processor
|
||||
STM32F405 168Mhz, 1MB 32-bit processor
|
||||
AT7456E OSD
|
||||
Sensors
|
||||
ICM42688P Acc/Gyro
|
||||
SPL006 barometer
|
||||
Power
|
||||
2S - 6S Lipo input voltage with voltage monitoring
|
||||
90A Cont., 215A peak current monitor
|
||||
9V/12/5V, 1.8A BEC for powering Video Transmitter
|
||||
4.9V/6V/7.2V, 4.5A BEC for servos
|
||||
5V, 2.4A BEC for internal and peripherals
|
||||
Interfaces
|
||||
12x PWM outputs DShot capable (Serail LED output is PWM12)
|
||||
1x RC input
|
||||
5x UARTs/serial for GPS and other peripherals, 6th UART internally tied to Wireless board)
|
||||
I2C port for external compass, airspeed, etc.
|
||||
microSDCard for logging, etc.
|
||||
USB-C port
|
||||
|
||||
|
||||
## Pinout
|
||||
|
||||
![SpeedyBeeF405WING](SpeedyBeeF405WING.png)
|
||||
|
||||
## Wiring Diagram
|
||||
|
||||
![SpeedyBeeF405WING Wiring](SpeedyBeeF405WING_wiring.png)
|
||||
|
||||
## 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 -> USART1 (Serial RC input) (DMA capable)
|
||||
- SERIAL2 -> USART2 (RX tied to inverted SBUS RC input, but can be used as normal UART if :ref:`BRD_ALT_CONFIG<>` =1)
|
||||
- SERIAL3 -> UART3 (GPS) (TX DMA capable)
|
||||
- SERIAL4 -> UART4 (User) (TX DMA capable)
|
||||
- SERIAL5 -> UART5 (User, available on DJI air unit connector) (TX DMA capable)
|
||||
- SERIAL6 -> UART6 (tied to internal wireless module, MAVLink2 telem)
|
||||
|
||||
|
||||
## RC Input
|
||||
|
||||
RC input is configured on the SBUS pin (inverted and sent to UART2_RX). It supports all RC
|
||||
protocols except serial protocols such as CRSF, ELRS, etc. Those devices can be connected to USART1 TX and RX, instead.
|
||||
Fport can be connected to USART1 TX also, but will require an external bi-directional inverter and the ref:`SERIAL1_OPTION<SERIAL1_OPTION>' = 4 (HalfDuplex) set.
|
||||
|
||||
## OSD Support
|
||||
|
||||
The SpeedyBeeF405Wing supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using UART5 or any other free UART5. See :ref:`common-msp-osd-overview-4.2` for more info.
|
||||
|
||||
## PWM Output
|
||||
|
||||
The SpeedyBeeF405Wing supports up to 12 PWM outputs (PWM12 is the serial LED output, by default). All outputs support DShot.
|
||||
|
||||
The PWM is in 5 groups:
|
||||
|
||||
- PWM 1,2 in group1
|
||||
- PWM 2,4 in group2
|
||||
- PWM 5-7 in group3
|
||||
- PWM 8-10 in group4
|
||||
- PWM 11,12 in group5 Note: PWM12 is setup for LED use by default, if PWM11 is used, you must re-assign PMW12 to a normal PWM output or nothing
|
||||
|
||||
Channels within the same group need to use the same output rate. If
|
||||
any channel in a group uses DShot then all channels in that group would need
|
||||
to use DShot.
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has a builting voltage and current sensor. The current
|
||||
sensor can read up to 90A continuosly, 215 Amps peak. The voltage sensor can handle up to 6S
|
||||
LiPo batteries.
|
||||
|
||||
The correct battery setting parameters are set by default and are:
|
||||
|
||||
- BATT_MONITOR 4
|
||||
- BATT_VOLT_PIN 10
|
||||
- BATT_CURR_PIN 11
|
||||
- BATT_VOLT_MULT 11.5
|
||||
- BATT_AMP_PERVLT 50
|
||||
|
||||
## Compass
|
||||
|
||||
The SpeedyBeeF405Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
|
||||
|
||||
## Loading Firmware
|
||||
Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “SpeedyBeeF405Wing”.
|
||||
|
||||
Initial firmware load can be done with DFU by plugging in USB with the
|
||||
boot button pressed. Then you should load the "SpeedyBeeF405Wing_bl.hex"
|
||||
firmware, using your favourite DFU loading tool.
|
||||
|
||||
Subsequently, you can update firmware with Mission Planner.
|
||||
|
||||
|
Binary file not shown.
After Width: | Height: | Size: 636 KiB |
Binary file not shown.
After Width: | Height: | Size: 85 KiB |
|
@ -0,0 +1,9 @@
|
|||
# WS2812 LED
|
||||
NTF_LED_LEN,4
|
||||
NTF_LED_TYPES 257
|
||||
SERVO12_FUNCTION,120
|
||||
|
||||
#Serial Port defaults
|
||||
SERIAL1_PROTOCOL 23
|
||||
SERIAL4_PROTOCOL -1
|
||||
SERIAL6_PROTOCOL 2
|
|
@ -0,0 +1,37 @@
|
|||
# hw definition file for processing by chibios_pins.py
|
||||
# for speedybeef4 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32F4xx STM32F405xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1106
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
FLASH_SIZE_KB 1024
|
||||
|
||||
# bootloader is installed at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
FLASH_BOOTLOADER_LOAD_KB 64
|
||||
|
||||
# LEDs
|
||||
PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0)
|
||||
PA13 LED_ACTIVITY OUTPUT LOW GPIO(1)
|
||||
define HAL_LED_ON 0
|
||||
|
||||
# order of UARTs
|
||||
SERIAL_ORDER OTG1
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
# Add CS pins to ensure they are high in bootloader
|
||||
PA4 MPU_CS CS
|
||||
PB12 OSD_CS CS
|
||||
PC14 SDCARD_CS CS
|
|
@ -0,0 +1,224 @@
|
|||
# hw definition file for SpeedyBee F4 WING hardware
|
||||
# tested on the Speedybee F405 WING board
|
||||
#
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32F4xx STM32F405xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1106
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
define STM32_ST_USE_TIMER 5
|
||||
define CH_CFG_ST_RESOLUTION 32
|
||||
|
||||
# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
|
||||
FLASH_RESERVE_START_KB 64
|
||||
FLASH_SIZE_KB 1024
|
||||
|
||||
define HAL_STORAGE_SIZE 15360
|
||||
STORAGE_FLASH_PAGE 1
|
||||
|
||||
# only one I2C bus
|
||||
I2C_ORDER I2C1
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
|
||||
|
||||
# LEDs
|
||||
PA13 LED_GREEN OUTPUT LOW GPIO(0)
|
||||
PA14 LED_BLUE OUTPUT LOW GPIO(1)
|
||||
|
||||
define HAL_GPIO_A_LED_PIN 0
|
||||
define HAL_GPIO_B_LED_PIN 1
|
||||
|
||||
# buzzer
|
||||
PC15 BUZZER OUTPUT GPIO(80) LOW
|
||||
define HAL_BUZZER_PIN 80
|
||||
define HAL_BUZZER_ON 1
|
||||
define HAL_BUZZER_OFF 0
|
||||
|
||||
# spi1 bus for IMU
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
PA4 MPU_CS CS
|
||||
|
||||
# spi2 for OSD
|
||||
PB13 SPI2_SCK SPI2
|
||||
PC2 SPI2_MISO SPI2
|
||||
PC3 SPI2_MOSI SPI2
|
||||
PB12 OSD_CS CS
|
||||
|
||||
# spi3 for sdcard
|
||||
PB3 SPI3_SCK SPI3
|
||||
PB4 SPI3_MISO SPI3
|
||||
PB5 SPI3_MOSI SPI3
|
||||
PC14 SDCARD_CS CS
|
||||
|
||||
# only one I2C bus in normal config
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# analog pins
|
||||
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
PC4 RSSI_ADC_PIN ADC1 SCALE(1)
|
||||
|
||||
PC5 PRESSURE_SENS ADC1 SCALE(1)
|
||||
define HAL_DEFAULT_AIRSPEED_PIN 15
|
||||
|
||||
# define default battery setup
|
||||
define HAL_BATT_MONITOR_DEFAULT 4
|
||||
define HAL_BATT_VOLT_PIN 10
|
||||
define HAL_BATT_CURR_PIN 11
|
||||
define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board
|
||||
define HAL_BATT_CURR_SCALE 50 # matched to PDB board
|
||||
|
||||
# analog rssi pin
|
||||
define BOARD_RSSI_ANA_PIN 14
|
||||
|
||||
# USART1 (ELRS)
|
||||
PA9 USART1_TX USART1
|
||||
PA10 USART1_RX USART1
|
||||
|
||||
|
||||
# USART2 (RCIN with inverter)
|
||||
|
||||
PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
|
||||
|
||||
# alternative with PA3 as USART2_RX
|
||||
PA2 USART2_TX USART2 NODMA
|
||||
PA3 USART2_RX USART2 NODMA ALT(1)
|
||||
|
||||
# USART3 (GPS)
|
||||
PC10 USART3_TX USART3
|
||||
PC11 USART3_RX USART3 NODMA
|
||||
|
||||
# UART4 serial4
|
||||
PA0 UART4_TX UART4
|
||||
PA1 UART4_RX UART4 NODMA
|
||||
|
||||
# USART5 (DJI / VTX)
|
||||
PC12 UART5_TX UART5
|
||||
PD2 UART5_RX UART5 NODMA
|
||||
|
||||
# UART6 (onboard Telemetry)
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
define HAL_SERIAL6_BAUD 115
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# PWM out pins. Note that channel order follows the ArduPilot motor
|
||||
# order conventions
|
||||
PB7 TIM4_CH2 TIM4 PWM(1) GPIO(50)
|
||||
PB6 TIM4_CH1 TIM4 PWM(2) GPIO(51)
|
||||
PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
|
||||
PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53)
|
||||
PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)
|
||||
PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)
|
||||
PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56)
|
||||
|
||||
PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57)
|
||||
PB10 TIM2_CH3 TIM2 PWM(9) GPIO(58)
|
||||
PB11 TIM2_CH4 TIM2 PWM(10) GPIO(59)
|
||||
|
||||
PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60)
|
||||
PA8 TIM1_CH1 TIM1 PWM(12) GPIO(61)# LED
|
||||
|
||||
# one IMU
|
||||
IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 1
|
||||
|
||||
# one baro
|
||||
BARO SPL06 I2C:0:0x76
|
||||
define AP_BARO_BACKEND_DEFAULT_ENABLED 0
|
||||
define AP_BARO_SPL06_ENABLED 1
|
||||
|
||||
# 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
|
||||
|
||||
# ICM42688P on SPI1
|
||||
SPIDEV icm42605 SPI1 DEVID1 MPU_CS MODE3 2*MHZ 8*MHZ
|
||||
|
||||
# OSD on SPI2
|
||||
SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
|
||||
|
||||
# SD Card on SPI3
|
||||
SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
||||
|
||||
# filesystem setup on sdcard
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
# setup for OSD
|
||||
define OSD_ENABLED 1
|
||||
define HAL_OSD_TYPE_DEFAULT 1
|
||||
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
|
||||
|
||||
define STM32_PWM_USE_ADVANCED TRUE
|
||||
|
||||
# reduce max size of embedded params for apj_tool.py
|
||||
define AP_PARAM_MAX_EMBEDDED_PARAM 1024
|
||||
define HAL_WITH_DSP FALSE
|
||||
|
||||
# save some flash
|
||||
|
||||
# disable SMBUS and fuel battery monitors to save flash
|
||||
define AP_BATTMON_SMBUS_ENABLE 0
|
||||
define AP_BATTMON_FUEL_ENABLE 0
|
||||
define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
|
||||
define HAL_BATTMON_INA2XX_ENABLED 0
|
||||
|
||||
# disable parachute and sprayer to save flash
|
||||
define HAL_PARACHUTE_ENABLED 0
|
||||
define HAL_SPRAYER_ENABLED 0
|
||||
define AP_GRIPPER_ENABLED 0
|
||||
define HAL_GENERATOR_ENABLED 0
|
||||
define AP_ICENGINE_ENABLED 0
|
||||
#define LANDING_GEAR_ENABLED 0
|
||||
define WINCH_ENABLED 0
|
||||
define HAL_ADSB_ENABLED 0
|
||||
|
||||
define AC_OAPATHPLANNER_ENABLED 0
|
||||
define PRECISION_LANDING 0
|
||||
#define HAL_BARO_WIND_COMP_ENABLED 0
|
||||
define AP_OPTICALFLOW_ENABLED 0
|
||||
|
||||
|
||||
# Disable un-needed hardware drivers
|
||||
define HAL_WITH_ESC_TELEM 0
|
||||
define AP_FETTEC_ONEWIRE_ENABLED 0
|
||||
|
||||
define AP_VOLZ_ENABLED 0
|
||||
define AP_ROBOTISSERVO_ENABLE 0
|
||||
define HAL_PICCOLO_CAN_ENABLE 0
|
||||
define HAL_TORQEEDO_ENABLED 0
|
||||
define HAL_RUNCAM_ENABLED 0
|
||||
define HAL_HOTT_TELEM_ENABLED 0
|
||||
define HAL_NMEA_OUTPUT_ENABLED 0
|
||||
define HAL_BUTTON_ENABLED 0
|
||||
define AP_NOTIFY_OREOLED_ENABLED 0
|
||||
|
||||
#only support MS4525 ANALOG ASP5033 driver
|
||||
define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
|
||||
define AP_AIRSPEED_MS4525_ENABLED 1
|
||||
define AP_AIRSPEED_ANALOG_ENABLED 1
|
||||
define AP_AIRSPEED_ASP5033_ENABLED 1
|
||||
|
||||
#only support UBLOX and NMEA GPS driver
|
||||
define AP_GPS_BACKEND_DEFAULT_ENABLED 0
|
||||
define AP_GPS_UBLOX_ENABLED 1
|
||||
define AP_GPS_NMEA_ENABLED 1
|
||||
|
||||
define AP_TRAMP_ENABLED 1
|
Loading…
Reference in New Issue