From e7ba5d6406fe2e61c263dd908056249301cb9e27 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Fri, 28 Oct 2022 21:18:13 +0100 Subject: [PATCH] AP_HAL_ChibiOS: hwdef for SpeedyBee F405 v3 --- .../hwdef/speedybeef4v3/README.md | 98 +++++++++++ .../SpeedyBee_F405_v3_Board_Bottom.JPG | Bin 0 -> 112342 bytes .../SpeedyBee_F405_v3_Board_Top.JPG | Bin 0 -> 161212 bytes .../hwdef/speedybeef4v3/defaults.parm | 2 + .../hwdef/speedybeef4v3/hwdef-bl.dat | 39 +++++ .../hwdef/speedybeef4v3/hwdef.dat | 157 ++++++++++++++++++ 6 files changed, 296 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/SpeedyBee_F405_v3_Board_Bottom.JPG create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/SpeedyBee_F405_v3_Board_Top.JPG create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/README.md b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/README.md new file mode 100644 index 0000000000..ac8a8f1253 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/README.md @@ -0,0 +1,98 @@ +# SpeedyBee F405 v3 Flight Controller + +The SpeedyBee F405 v3 is a flight controller produced by [SpeedyBee](http://www.speedybee.com/). + +## Features + + - STM32F405 microcontroller + - BMI270 IMU + - DPS280 barometer + - SDCard + - AT7456E OSD + - 6 UARTs + - 9 PWM outputs + +## Pinout + +![SpeedyBee F405 v3](SpeedyBee_F405_v3_Board_Top.JPG "SpeedyBee F405 v3") +![SpeedyBee F405 v3](SpeedyBee_F405_v3_Board_Bottom.JPG "SpeedyBee F405 v3") + +## 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 (DJI-VTX, DMA-enabled) + - SERIAL2 -> UART2 (RCIN, DMA-enabled) + - SERIAL3 -> UART3 (CAM) + - SERIAL4 -> UART4 (connected to internal BT module, not currently usable by ArduPilot) + - SERIAL5 -> UART5 (ESC Telemetry) + - SERIAL6 -> UART6 (GPS, DMA-enabled) + +## RC Input + +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. +For Fport, a bi-directional inverter will be required. See https://ardupilot.org/plane/docs/common-connecting-sport-fport.html +For CRSF/ELRS/SRXL2 connection of the receiver to T2 will also be required. + +## FrSky Telemetry + +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). + + - SERIAL3_PROTOCOL 10 + - SERIAL3_OPTIONS 7 + +## OSD Support + +The SpeedyBee F405 v3 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## VTX Support + +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 +this to a peripheral requiring 5v. + +## PWM Output + +The SpeedyBee F405 v3 supports up to 9 PWM outputs. The pads for motor output +M1 to M4 on the motor connector, plus M9 for LED strip or another +PWM output. + +The PWM is in 3 groups: + + - PWM 1-4 in group1 + - PWM 5-8 in group2 + - PWM 9 in group3 + +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. Channels 1-4 support bi-directional DShot. + +## Battery Monitoring + +The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. +The voltage sensor can handle up to 6S. +LiPo batteries. + +The default battery parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 11.2 + - BATT_AMP_PERVLT 52.7 (will need to be adjusted for whichever current sensor is attached) + +## Compass + +The SpeedyBee F405 v3 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. 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a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/defaults.parm new file mode 100644 index 0000000000..ea0adaf59c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/defaults.parm @@ -0,0 +1,2 @@ +SERVO9_FUNCTION 120 +NTF_LED_TYPES 257 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef-bl.dat new file mode 100644 index 0000000000..658ee1b32f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef-bl.dat @@ -0,0 +1,39 @@ +# 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 1082 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# don't allow bootloader to use more than 16k +FLASH_USE_MAX_KB 16 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 48 + +# LEDs +PC8 LED_BOOTLOADER OUTPUT LOW +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 MPU6000_CS CS +PB12 MAX7456_CS CS +PA15 SDCARD_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat new file mode 100644 index 0000000000..6bb549c6e4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat @@ -0,0 +1,157 @@ +# hw definition file for SpeedyBee F4 v3 hardware +# tested on the Speedybee F4 v3 board +# with thanks to betaflight for pinout + +# MCU class and specific type +MCU STM32F4xx STM32F405xx + +# board ID for firmware load +APJ_BOARD_ID 1082 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +define STM32_ST_USE_TIMER 5 + +FLASH_SIZE_KB 1024 + +# only one I2C bus +I2C_ORDER I2C2 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 + +# LEDs +PC8 LED_BLUE OUTPUT LOW GPIO(0) + +define HAL_GPIO_A_LED_PIN 0 + +# buzzer +PC5 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 BMI270_CS CS + +# spi2 for OSD and sdcard +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 +PB12 MAX7456_CS CS +PA15 SDCARD_CS CS + +# only one I2C bus in normal config +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# analog pins +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +PC2 RSSI_ADC_PIN ADC1 SCALE(1) + +# 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 11.2 # matched to ESC output +define HAL_BATT_CURR_SCALE 52.7 # appropriate for a T-Motor F55A Pro II + +# analog rssi pin +define BOARD_RSSI_ANA_PIN 12 + +# USART1 (DJI / VTX) +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 +define HAL_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV + +# USART2 (RCIN) +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 (CAM) +PC10 USART3_TX USART3 NODMA +PC11 USART3_RX USART3 NODMA +define HAL_SERIAL3_PROTOCOL SerialProtocol_None + +# UART4 (Bluetooth) +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA +define HAL_SERIAL4_PROTOCOL SerialProtocol_None + +# UART5 (ESC Telemetry) +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA +define HAL_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry +define HAL_SERIAL5_BAUD 19200 + +# UART6 (GPS) +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +define HAL_SERIAL6_PROTOCOL SerialProtocol_GPS +define HAL_SERIAL6_BAUD AP_SERIALMANAGER_GPS_BAUD + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# PWM out pins. Note that channel order follows the ArduPilot motor +# order conventions +PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50) BIDIR +PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) +PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) BIDIR # DMA channel shared with I2C2_TX, beware - no alternatives +PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53) +PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) +PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) +PB5 TIM3_CH2 TIM3 PWM(7) GPIO(56) +PB4 TIM3_CH1 TIM3 PWM(8) GPIO(57) +PC9 TIM8_CH4 TIM8 PWM(9) GPIO(58) # LED + +# OSD pad for TTL based OSD control, not supported by AP +PB3 CAM_C OUTPUT LOW GPIO(83) # labelled as "CC" + +define HAL_STORAGE_SIZE 15360 +STORAGE_FLASH_PAGE 1 + +# reserve 16k for bootloader and 32k for flash storage +FLASH_RESERVE_START_KB 48 + +# one IMU +IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 + +# built-in barometer +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 + +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12 + +# SPI devices +SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 8*MHZ +SPIDEV osd SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ +SPIDEV sdcard SPI2 DEVID2 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/font*.bin + +# minimal drivers to reduce flash usage +include ../include/minimal.inc