AP_HAL_ChibiOS: KakuteF4-Wing

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/README.md

@@ -0,0 +1,93 @@
+# KakuteF4-Wing Flight Controller
+
+The KakuteF4-Wing is a flight controller produced by [Holybro](http://www.holybro.com/).
+
+## Features
+    Processor
+        STM32F405 32-bit processor
+        AT7456E OSD
+    Sensors
+        ICM42688 Acc/Gyro
+        SLP06 barometer
+    Power
+        2S - 8S Lipo input voltage with voltage monitoring
+        9V/12V, 1.5A BEC for powering Video Transmitter
+        6V/7.2V, ?A BEC for servos
+        3.3V, 1A BEC
+    Interfaces
+        7x PWM outputs DShot capable, 4 outputs BiDirDShot capable
+        1x RC input
+        5x UARTs/serial for GPS and other peripherals
+        1x I2C ports for external compass, airspeed, etc.
+        USB-C port
+
+## Pinout
+
+![KakuteF4-Wing Bottom](kakutef4-esc.png)
+![KakuteF4-Wing Top Underside](kakutef4-uart.png)
+![KakuteF4-Wing Top](kakutef4-uart2.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 -> UART1 (GPS) DMA-Enabled
+ - SERIAL2 -> UART2 (Telem1) DMA Enabled
+ - SERIAL3 -> UART3 (RX) DMA Enabled
+ - SERIAL5 -> UART5 (User)
+ - SERIAL6 -> USART6 (User)
+
+## RC Input
+
+RC input is configured on the R3 (UART3_RX) pin. It supports all serial RC
+protocols.
+   
+## OSD Support
+
+The KakuteF4-Wing supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The KakuteF4 supports up to 7 PWM outputs. All outputs support DShot. Outputs 1-4 support BiDirDshot.
+
+The PWM is in 5 groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-4 in group2
+ - PWM 5-6 in group3
+ - PWM 7   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 ?? 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 11
+ - BATT_AMP_PERVLT 40
+ 
+## Compass
+
+The KakuteF4-Wing 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 “KakuteF4-Wing”.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "KakuteF4-Wing_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Subsequently, you can update firmware with Mission Planner.
+
+

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/defaults.parm

@@ -0,0 +1,4 @@
+# setup for LEDs on chan5
+SERVO7_FUNCTION 120
+
+

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef-bl.dat

@@ -0,0 +1,43 @@
+
+# hw definition file for processing by chibios_hwdef.py
+# for KAKUTEF4WING 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_Holybro-KakuteF4-Wing
+
+# 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
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PC14 FLASH1_CS CS
+PC15 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PA1 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef.dat

@@ -0,0 +1,156 @@
+
+# hw definition file for processing by chibios_hwdef.py
+# for KAKUTEF4WING 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_Holybro-KakuteF4-Wing
+
+# 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
+
+define STM32_ST_USE_TIMER 9
+define CH_CFG_ST_RESOLUTION 16
+
+# 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
+PC14 FLASH1_CS CS
+PC15 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 EMPTY UART5 USART6
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# This is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN.
+PA10 VBUS INPUT OPENDRAIN
+
+# USART1
+PB7 USART1_RX USART1
+PB6 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS
+
+# USART2
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2 NODMA
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MAVLink2
+
+# USART3 - RX
+PC10 USART3_TX USART3
+PC11 USART3_RX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN
+# SBUS inversion control pin, active high
+PC13 USART3_RXINV OUTPUT HIGH GPIO(78) POL(1)
+
+# UART5
+PC12 UART5_TX UART5 NODMA
+PD2 UART5_RX UART5 NODMA
+
+# USART6
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA
+
+# I2C ports
+I2C_ORDER I2C2
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# Servos
+
+# 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 40
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)           # M1
+PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51) BIDIR     # M2
+PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)           # M3
+PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR     # M4
+PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54)           # M5
+PC9 TIM8_CH4 TIM8 PWM(6) GPIO(55)           # M6
+
+# LEDs
+PA1 TIM5_CH2 TIM5 PWM(7) GPIO(56) # M7
+
+define AP_NOTIFY_GPIO_LED_1_ENABLED 1
+PC5 LED_BLUE OUTPUT LOW GPIO(90)
+define AP_NOTIFY_GPIO_LED_1_PIN 90
+
+# GPIOs
+PB14  PINIO1 OUTPUT GPIO(81) LOW
+PB15  PINIO2 OUTPUT GPIO(82) LOW
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+SPIDEV osd SPI2 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
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+# one IMU
+IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
+
+DMA_PRIORITY I2C2* SPI3*
+
+# Baro setup
+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
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc

libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py

@@ -255,14 +255,20 @@ define STORAGE_FLASH_PAGE 1
         if (spin != int(spi[0])):
             spin = int(spi[0])
             f.write("\n# SPI%s\n" % spin)
-        f.write("%s SPI%s_%s SPI%s\n" % (spi[1], spin, spi[3].split('_')[1], spin))
+        fn = spi[3].split('_')[1]
+        if fn == "SDI":
+            fn = "MISO"
+        elif fn == "SDO":
+            fn = "MOSI"
+        f.write("%s SPI%s_%s SPI%s\n" % (spi[1], spin, fn, spin))
 
     f.write("\n# Chip select pins\n")
     for cs in chip_select.values():
         f.write("%s %s%s_CS CS\n" % (cs[1], cs[2], int(cs[0])))
 
-    beeper = list(functions["BEEPER"].values())[0]
-    f.write('''\n# Beeper
+    if len(functions["BEEPER"].values()) > 0:
+        beeper = list(functions["BEEPER"].values())[0]
+        f.write('''\n# Beeper
 %s BUZZER OUTPUT GPIO(80) LOW
 define HAL_BUZZER_PIN 80
 ''' % beeper[1])