f9c5f9be00
refactor rcout into separate thread and process all dshot requests there move uart DMA completion to event model process dshot locks in strick reverse order when unlocking convert Shared_DMA to use mutexes move UART transmit to a thread-per-uart do blocking UART DMA transactions do blocking dshot DMA transactions trim stack sizes cancel dma transactions on dshot when timeout occurs support contention stats on blocking locking move thread supression into chibios_hwdef.py invalidate DMA bounce buffer correctly separate UART initialisation into two halves cleanup UART transaction timeouts add @SYS/uarts.txt move half-duplex handling to TX thread correct thread statistics after use of ExpandingString set unbuffered TX thread priority owner + 1 correctly unlock serial_led_send() don't share IMU RX on KakuteF7Mini observe dshot pulse time more accurately. set TRBUFF bit for UART DMA transfers deal with UART DMA timeouts correctly don't deadlock on reverse ordered DMA locks change PORT_INT_REQUIRED_STACK to 128 |
||
|---|---|---|
| .. | ||
| README.md | ||
| hwdef-bl.dat | ||
| hwdef.dat | ||
| kakutef7mini.jpg | ||
README.md
KakuteF7 Mini Flight Controller
http://www.holybro.com/product/kakute-f7-mini/
The KakuteF7 Mini is a flight controller produced by Holybro.
Features
- STM32F745 microcontroller
- ICM20689 IMU
- BMP280 barometer
- 128Mbit dataflash
- MAX7456 OSD
- 6 UARTs
- 6 PWM outputs
KakuteF7 Mini Pinout
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 (Telem1)
- SERIAL2 -> UART2 (Telem2)
- SERIAL3 -> UART3 (GPS)
- SERIAL4 -> UART4
- SERIAL6 -> UART6 (Transmit only, FrSky)
- SERIAL7 -> UART7 (Receive only, ESC Telemetry)
ESC Telemetry
The SERIAL7 port (UART7) is for ESC telemetry. It is connected through the motor connector and works out of the box with the Tekko32 F3 Mini which is commonly paired with this flight controller
RC Input
RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols.
FrSky Telemetry
FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT
- SERIAL6_PROTOCOL 10
- SERIAL6_OPTIONS 7
OSD Support
The KakuteF7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
PWM Output
The KakuteF7 supports up to 6 PWM outputs. M1 to M4 are accessed via the connector. M5 and M6 are the pads shown on the above diagram. All 6 outputs support DShot as well as all PWM types.
The PWM is in 3 groups:
- PWM 1, 2 and 3 in group1
- PWM 4 and 5 in group2
- PWM 6 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.
Battery Monitoring
The board has a builting voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 13
- BATT_CURR_PIN 12
- BATT_VOLT_MULT 10.9
- BATT_AMP_PERVLT 28.5
Compass
The KakuteF7 Mini 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.
Note that this hardware has problems going into DFU mode if a GPS is connected and powered - please disconnect your GPS when flashing for the first time.
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.