From 909c112a1f056fb14edf30869f6b6e649189fe25 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 13 Jun 2024 15:08:35 +0100 Subject: [PATCH] AP_HAL_ChibiOS: KakuteF4-Wing --- .../hwdef/KakuteF4-Wing/README.md | 93 +++++++++++ .../hwdef/KakuteF4-Wing/defaults.parm | 4 + .../hwdef/KakuteF4-Wing/hwdef-bl.dat | 43 +++++ .../hwdef/KakuteF4-Wing/hwdef.dat | 156 ++++++++++++++++++ .../hwdef/KakuteF4-Wing/kakutef4-esc.png | Bin 0 -> 82134 bytes .../hwdef/KakuteF4-Wing/kakutef4-uart.png | Bin 0 -> 90507 bytes .../hwdef/KakuteF4-Wing/kakutef4-uart2.png | Bin 0 -> 95485 bytes .../scripts/convert_betaflight_unified.py | 12 +- 8 files changed, 305 insertions(+), 3 deletions(-) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/kakutef4-esc.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/kakutef4-uart.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/kakutef4-uart2.png diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/README.md b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/README.md new file mode 100644 index 00000000000000..7fce398d54d911 --- /dev/null +++ b/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. + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/defaults.parm new file mode 100644 index 00000000000000..18c9c24de3f115 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/defaults.parm @@ -0,0 +1,4 @@ +# setup for LEDs on chan5 +SERVO7_FUNCTION 120 + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef-bl.dat new file mode 100644 index 00000000000000..0e2f5951533a5f --- /dev/null +++ b/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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/hwdef.dat new file mode 100644 index 00000000000000..ecc41f78790713 --- /dev/null +++ b/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 low +PC13 USART3_RXINV OUTPUT HIGH GPIO(78) POL(0) + +# 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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/kakutef4-esc.png b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4-Wing/kakutef4-esc.png new file mode 100644 index 0000000000000000000000000000000000000000..b165f1ce0d54b28f6c241ea806632cbb337de419 GIT binary patch literal 82134 zcmeEs_uc(f z?U(%z_QU<~bUk&u>vY$>efyjUHHaK08Yvna92};Cy!0nHID`i{I7B}bgnyP1akZ~- za8z&#(h?f(@W*Ysv$g}DDekkPgblHX!Cc+*ao&j2IdtnBlk=8WF)OMf#H-?IO7CcY zvr;|;Dwr6vf#bldD_~*+D9bi98xJF3@{I5-g_@zuu=8(ldUUz7X~S3?O3$8($X(`J 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z3bXsxw!flQZw-iaGM|$jbC!Ggn8C3_0d&&05Tt!=ZM+<0)&9{7KJVuD`N>p`r?$a| z6OgIL&prNVSXI1=ADO~HsV~cNxK;I$bhL zKCZ3dIx=ZSCYgjkyV$NFyGt(JK3&g%69$YKlRpdLWyZ0lY=|;8jW#t%oB^z6&cJ1P z87alfuTrO_27I0KlitxVT7Sw`k*h83vYM|Z|4?D5%Y)`-JC;D9Gjb0-~AkA&_2zx_Wo1NWkYcXOQ0YA;k9lwU^u51PefiU0rr literal 0 HcmV?d00001 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py index ba4ad7e09185be..29ef61b9836c39 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py @@ -255,14 +255,20 @@ def convert_file(fname, board_id): 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])