Support for SpeedyBee F405 v3

Tools/AP_Bootloader/board_types.txt

@@ -180,8 +180,9 @@ AP_HW_PixSurveyA1                    1076
 AP_HW_AEROFOX_AIRSPEED               1077
 AP_HW_ATOMRCF405                     1078
 AP_HW_CUBEPILOT_CANMOD               1079
-AP_HW_AEROFOX_PMU                     1080
+AP_HW_AEROFOX_PMU                    1080
 AP_HW_JHEMCUGF16F405                 1081
+AP_HW_SPEEDYBEEF4V3                  1082
 
 AP_HW_CUBEORANGE_PERIPH              1400
 AP_HW_CUBEBLACK_PERIPH               1401

Tools/scripts/generate_manifest.py

@@ -87,6 +87,7 @@
     'OmnibusNanoV6' : ('Omnibus Nano V6', 'Airbot'),
     'OmnibusNanoV6-bdshot' : ('Omnibus Nano V6', 'Airbot'),
     'speedybeef4' : ('SpeedyBee F4', 'SpeedyBee'),
+    'speedybeef4v3' : ('SpeedyBee F4 v3', 'SpeedyBee'),
     'QioTekZealotF427' : ('ZealotF427', 'QioTek'),
     'BeastH7' : ('Beast H7 55A AIO', 'iFlight'),
     'BeastH7v2' : ('Beast H7 v2 55A AIO', 'iFlight'),

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. Updates should be done with the
+*.apj firmware files.
+

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/defaults.parm

@@ -0,0 +1,2 @@
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257

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

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