mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add support for SpeedyBeeF405v4
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Andy Piper
Randy Mackay
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# SpeedyBee F405 v4 Flight Controller
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The SpeedyBee F405 v4 is a flight controller produced by [SpeedyBee](http://www.speedybee.com/).
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## Features
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- STM32F405 microcontroller
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- ICM42688 IMU
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- DPS310 barometer
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- SDCard
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- AT7456E OSD
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- 6 UARTs
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- 9 PWM outputs
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (DJI-VTX, DMA-enabled)
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- SERIAL2 -> UART2 (RCIN, DMA-enabled)
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- SERIAL3 -> UART3 (CAM)
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- SERIAL4 -> UART4 (connected to internal BT module, not currently usable by ArduPilot)
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- SERIAL5 -> UART5 (ESC Telemetry)
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- SERIAL6 -> UART6 (GPS, DMA-enabled)
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## RC Input
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RC input is configured on the R2 (UART2_RX) pin for most RC unidirectional protocols except SBUS which should be applied at the SBUS pin. PPM is not supported.
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For Fport, a bi-directional inverter will be required. See https://ardupilot.org/plane/docs/common-connecting-sport-fport.html
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For CRSF/ELRS/SRXL2 connection of the receiver to T2 will also be required.
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## FrSky Telemetry
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FrSky Telemetry is supported using the Tx pin of any UART including SERIAL2/UART2. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL3).
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- SERIAL3_PROTOCOL 10
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- SERIAL3_OPTIONS 7
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## OSD Support
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The SpeedyBee F405 v4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## VTX Support
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The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
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this to a peripheral requiring 5v.
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## PWM Output
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The SpeedyBee F405 v4 supports up to 9 PWM outputs. The pads for motor output
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M1 to M4 on the motor connector, plus M9 for LED strip or another
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PWM output.
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The PWM is in 5 groups:
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- PWM 1-2 in group1
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- PWM 3-4 in group2
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- PWM 5-6 in group3
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- PWM 7-8 in group4
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- PWM 9 in group5
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot. Channels 1-4 support bi-directional DShot.
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## Battery Monitoring
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The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
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The voltage sensor can handle up to 6S.
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LiPo batteries.
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The default battery parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 11.2
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- BATT_AMP_PERVLT 52.7 (will need to be adjusted for whichever current sensor is attached)
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## Compass
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The SpeedyBee F405 v4 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Loading Firmware
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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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Binary file not shown.
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After Width: | Height: | Size: 104 KiB |
Binary file not shown.
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After Width: | Height: | Size: 143 KiB |
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@ -0,0 +1,43 @@
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# hw definition file for processing by chibios_hwdef.py
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# for SPEEDYBEEF405V4 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1136
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 48
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# Chip select pins
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PC14 SDCARD1_CS CS
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PB12 OSD1_CS CS
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PA4 GYRO1_CS CS
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PA8 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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@ -0,0 +1,165 @@
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# hw definition file for processing by chibios_hwdef.py
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# for SPEEDYBEEF405V4 hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F4xx STM32F405xx
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# board ID for firmware load
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APJ_BOARD_ID 1136
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 48
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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STM32_ST_USE_TIMER 5
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# SPI devices
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# SPI1
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2
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PB13 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# SPI3
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# Chip select pins
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PC14 SDCARD1_CS CS
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PB12 OSD1_CS CS
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PA4 GYRO1_CS CS
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# Beeper
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PC15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1 (DJI / VTX)
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PA10 USART1_RX USART1 NODMA
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PA9 USART1_TX USART1 NODMA
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV
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# USART2 (RCIN)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3 (CAM)
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PC10 USART3_TX USART3 NODMA
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PC11 USART3_RX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (Bluetooth)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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# UART5 (ESC Telemetry)
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PD2 UART5_RX UART5 NODMA
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
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define DEFAULT_SERIAL5_BAUD 19200
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# USART6 (GPS)
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
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define DEFAULT_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD
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# I2C ports
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I2C_ORDER I2C1
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# I2C1
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Servos
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PB14 CAMERA1 OUTPUT GPIO(70) LOW
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define RELAY2_PIN_DEFAULT 70
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# ADC ports
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# ADC1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 11.0
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 25.0
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 15
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define HAL_BATT_MONITOR_DEFAULT 4
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# MOTORS
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PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) # M1
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PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52) # M3
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PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4
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PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) # M5
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PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55) # M6
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PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) # M7
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PA15 TIM2_CH1 TIM2 PWM(8) GPIO(57) # M8
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
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PC13 LED0 OUTPUT LOW GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# OSD setup
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SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# Barometer setup
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define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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define AP_BARO_SPL06_ENABLED 1
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BARO SPL06 I2C:0:0x76
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# IMU setup
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SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
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# SDCard
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SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS MODE0 400*KHZ 25*MHZ
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IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
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DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1*
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DMA_PRIORITY TIM3_UP TIM8_UP TIM2_UP SPI1*
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# filesystem setup on sdcard
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define HAL_OS_FATFS_IO 1
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# minimal drivers to reduce flash usage
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include ../include/minimize_fpv_osd.inc
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define DEFAULT_NTF_LED_TYPES 257
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