ardupilot/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV

ARK FPV Flight Controller

https://arkelectron.com/product/ark-fpv-flight-controller/

Features

Processor

• STM32H743 32-bit processor
• 480MHz
• 2MB Flash
• 1MB RAM

Sensors

• Invensense IIM-42653 Industrial IMU with heater resistor
• Bosch BMP390 Barometer
• ST IIS2MDC Magnetometer

Power

• 5.5V - 54V (2S - 12S) input
• 12V, 2A output
• 5V, 2A output. 300ma for main system, 200ma for heater

Interfaces

• Micro SD
• USB-C
  • VBUS In, USB
• PWM
  • VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable
  • JST-GH 8 Pin
• PWM AUX
  • 5x PWM and Bidirectional-DSHOT capable
  • JST-SH 6 Pin
• RC Input
  • 5V Out, UART
  • JST-GH 4 Pin
• POWER AUX
  • 12V Out, VBAT In/Out
  • JST-GH 3 Pin
• TELEM
  • 5V Out, UART with flow control
  • JST-GH 6 Pin
• GPS
  • 5V Out, UART, I2C
  • JST-GH 6 Pin
• CAN
  • 5V Out, CAN
  • JST-GH 4 Pin
• VTX
  • 12V Out, UART TX/RX, UART RX
  • JST-GH 6 Pin
• SPI (OSD or External IMU)
  • 5V Out, SPI
  • JST-SH 8 Pin
• DEBUG
  • 3.3V Out, UART, SWD
  • JST-SH 6 Pin

Dimensions

• Size: 3.6 × 3.6 × 0.8 cm
• Weight: 7.5g with MicroSD card

Pinout

PWM UART4 - 8 Pin JST-GH

Pin	Signal Name	Voltage
1	VBAT IN	5.5V-54V
2	CURR_IN_EXT	3.3V
3	UART4_RX_EXT	3.3V
4	FMU_CH1_EXT	3.3V
5	FMU_CH2_EXT	3.3V
6	FMU_CH3_EXT	3.3V
7	FMU_CH4_EXT	3.3V
8	GND	GND

RC - 4 Pin JST-GH

Pin	Signal Name	Voltage
1	5.0V	5.0V
2	USART6_RX_IN_EXT	3.3V
3	USART6_TX_OUTPUT_EXT	3.3V
4	GND	GND

PWM AUX - 6 Pin JST-SH

Pin	Signal Name	Voltage
1	FMU_CH5_EXT	3.3V
2	FMU_CH6_EXT	3.3V
3	FMU_CH7_EXT	3.3V
4	FMU_CH8_EXT	3.3V
5	FMU_CH9_EXT	3.3V
6	GND	GND

POWER AUX - 3 Pin JST-GH

Pin	Signal Name	Voltage
1	12.0V	12.0V
2	GND	GND
3	VBAT IN/OUT	5.5V-54V

CAN - 4 Pin JST-GH

Pin	Signal Name	Voltage
1	5.0V	5.0V
2	CAN1_P	5.0V
3	CAN1_N	5.0V
4	GND	GND

GPS - 6 Pin JST-GH

Pin	Signal Name	Voltage
1	5.0V	5.0V
2	USART1_TX_GPS1_EXT	3.3V
3	USART1_RX_GPS1_EXT	3.3V
4	I2C1_SCL_GPS1_EXT	3.3V
5	I2C1_SDA_GPS1_EXT	3.3V
6	GND	GND

TELEM - 6 Pin JST-GH

Pin	Signal Name	Voltage
1	5.0V	5.0V
2	UART7_TX_TELEM1_EXT	3.3V
3	UART7_RX_TELEM1_EXT	3.3V
4	UART7_CTS_TELEM1_EXT	3.3V
5	UART7_RTS_TELEM1_EXT	3.3V
6	GND	GND

VTX - 6 Pin JST-GH

Note: connector pinout not in same order as standard HD VTX cabling

Pin	Signal Name	Voltage
1	12.0V	12.0V
2	GND	GND
3	UART5_TX_TELEM2_EXT	3.3V
4	UART5_RX_TELEM2_EXT	3.3V
5	USART2_RX_TELEM3_EXT	3.3V
6	GND	GND

SPI (OSD or IMU) - 8 Pin JST-SH

Pin	Signal Name	Voltage
1	5.0V	5.0V
2	SPI6_SCK_EXT	3.3V
3	SPI6_MISO_EXT	3.3V
4	SPI6_MOSI_EXT	3.3V
5	SPI6_nCS1_EXT	3.3V
6	SPI6_DRDY1_EXT	3.3V
7	SPI6_nRESET_EXT	3.3V
8	GND	GND

Flight Controller Debug - 6 Pin JST-SH

Pin	Signal Name	Voltage
1	3V3_FMU	3.3V
2	USART4_TX_DEBUG	3.3V
3	USART4_RX_DEBUG	3.3V
4	FMU_SWDIO	3.3V
5	FMU_SWCLK	3.3V
6	GND	GND

UART Mapping

Name	Function
SERIAL0	USB
SERIAL1	UART7 (Telem)
SERIAL2	UART5 (DisplayPort HD VTX)
SERIAL3	USART1 (GPS1)
SERIAL4	USART2 (User, SBUS pin on HD VTX, RX only)
SERIAL5	UART4 (ESC Telem, RX only)
SERIAL6	USART6 (RC Input)
SERIAL7	OTG2 (SLCAN)

All UARTS support DMA. Any UART may be re-tasked by changing its protocol parameter.

RC Input

RC input is configured on the RX6 (UART6_RX) pin. It supports all RC protocols except PPM. See :ref:Radio Control Systems <common-rc-systems> for details for a specific RC system. :ref:SERIAL6_PROTOCOL<SERIAL6_PROTOCOL> is set to “23”, by default, to enable this.

• SBUS/DSM/SRXL connects to the RX6 pin.
• FPort requires connection to TX6 and :ref:SERIAL6_OPTIONS<SERIAL2_OPTIONS> be set to “7”.
• CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry. Set :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS>
• SRXL2 requires a connecton to TX6 and automatically provides telemetry. Set :ref:SERIAL6_OPTIONS<SERIAL6_OPTIONS> to “4”. =3.

Battery Monitoring

The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. The board supports up to 12S LiPo batteries.

The default battery parameters are:

• BATT_MONITOR 4
• BATT_VOLT_PIN 9
• BATT_CURR_PIN 12
• BATT_VOLT_SCALE 21
• BATT_CURR_SCALE 120

Compass

This autopilot has a built-in compass. The compass is the IIS2MDC

OSD Support

This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.

Motor Output

All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectional-DSHOT. All outputs in the motor groups below must be either PWM or DShot:

• Motors 1-4 Group1 (TIM5)
• Motors 5-8 Group2 (TIM8)
• Motor 9 Group3 (TIM4)

Loading Firmware

Initial firmware load can be done with DFU by plugging in USB with the BOOT button pressed. You can then load the bootloader using your favorite DFU tool. The bootloader can be found at https://firmware.ardupilot.org/Tools/Bootloaders/

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.

Alternatively you can build the firmware from source

./waf configure --board ARK_FPV --bootloader
./waf bootloader

And flash the bootloader with your st-link to 0x08000000. Then build the firmware and upload it via USB-C

./waf configure --board ARK_FPV
./waf copter --upload