diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/README.md b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/README.md new file mode 100644 index 0000000000..f929f66ecb --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/README.md @@ -0,0 +1,97 @@ +# KakuteF7 Mini Flight Controller + +http://www.holybro.com/product/kakute-f7-mini/ + +The KakuteF7 Mini is a flight controller produced by [Holybro](http://www.holybro.com/product/59). + +## Features + + - STM32F745 microcontroller + - ICM20689 IMU + - BMP280 barometer + - 128Mbit dataflash + - MAX7456 OSD + - 6 UARTs + - 6 PWM outputs + +### KakuteF7 Mini Pinout + +![KakuteF7 Mini Board](kakutef7mini.jpg "KakuteF7 Mini") + +## 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](https://shop.holybro.com/tekko32-f3-4in1-45a-mini-esc_p1132.html) 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. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef-bl.dat new file mode 100644 index 0000000000..f871c39b8c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef-bl.dat @@ -0,0 +1,7 @@ +# hw definition file for processing by chibios_pins.py +# for Holybro KakuteF7 Mini bootloader + +include ../KakuteF7/hwdef-bl.dat +undef APJ_BOARD_ID + +APJ_BOARD_ID 145 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat new file mode 100644 index 0000000000..71dfa0b9fa --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat @@ -0,0 +1,156 @@ +# hw definition file for processing by chibios_pins.py +# for Holybro KakuteF7 Mini hardware. +@ thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F7xx STM32F745xx + +# board ID for firmware load +APJ_BOARD_ID 145 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +define STM32_LSECLK 32768U +define STM32_LSEDRV (3U << 3U) + +define STM32_PLLSRC STM32_PLLSRC_HSE +define STM32_PLLM_VALUE 8 +define STM32_PLLN_VALUE 432 +define STM32_PLLP_VALUE 2 +define STM32_PLLQ_VALUE 9 + +FLASH_SIZE_KB 1024 + +# leave 2 sectors free +FLASH_RESERVE_START_KB 96 + +# board voltage +STM32_VDD 330U + +# only one I2C bus +I2C_ORDER I2C1 + +# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen +UART_ORDER OTG1 USART3 USART1 USART2 UART4 EMPTY USART6 UART7 + +# buzzer +PD15 TIM4_CH4 TIM4 GPIO(77) ALARM +#PD15 BUZZER OUTPUT GPIO(80) LOW +#define HAL_BUZZER_PIN 80 +#define HAL_BUZZER_ON 1 +#define HAL_BUZZER_OFF 0 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for M25P16 dataflash +PA4 FLASH_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI2 for MAX7456 OSD +PB12 MAX7456_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI4 for ICM20689 +PE4 ICM20689_CS CS +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# I2C1 for baro +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) + +# define default battery setup +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_VOLT_SCALE 10.9 +define HAL_BATT_CURR_SCALE 28.5 + +PC5 RSSI_ADC ADC1 + +PA2 LED0 OUTPUT LOW + +# USART1 +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 + +# USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 (GPS) +PB11 USART3_RX USART3 +PB10 USART3_TX USART3 + +# UART4 (GPS2) +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA + +# USART6, RX only for RCIN +PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW +PC6 USART6_TX USART6 NODMA LOW + +# UART7, RX only for ESC Telemetry +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 NODMA LOW + +# Motors +PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50) +PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) +PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) +PC9 TIM3_CH4 TIM3 PWM(5) GPIO(54) +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) + +# extra PWM outs +#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin +#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer) + +DMA_PRIORITY S* + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +# enable logging to dataflash +define HAL_LOGGING_DATAFLASH + +# spi devices +SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ +SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ +SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_180 + +# one BARO +BARO BMP280 I2C:0:0x76 + +# setup for OSD +define OSD_ENABLED ENABLED +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +define BOARD_PWM_COUNT_DEFAULT 6 +define STM32_PWM_USE_ADVANCED TRUE + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/kakutef7mini.jpg b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/kakutef7mini.jpg new file mode 100644 index 0000000000..09ec4127c6 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/kakutef7mini.jpg differ