ADD new target DAKEFPVF405

Tools/AP_Bootloader/board_types.txt

@@ -306,6 +306,7 @@ AP_HW_3DRControlN1                   1186
 AP_HW_CORVON405V2_1                  1187
 AP_HW_NarinH5                        1188
 AP_HW_CORVON743V1                    1189
+AP_HW_DAKEFPVF405                    1190
 
 AP_HW_JFB200                         1200
 

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVF405/README.md

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+# DAKEFPV F405 Flight Controller
+
+The DAKEFPV F405 is a flight controller produced by [DAKEFPV](https://www.dakefpv.com/).
+
+## Features
+
+ - MCU - STM32F405 32-bit processor. 1024Kbytes Flash
+ - IMU - Dual ICM42688
+ - Barometer - SPL06
+ - OSD - AT7456E
+ - Onboard Flash: 16MByte
+ - 8x UARTs
+ - 13x PWM Outputs (12 Motor Output, 1 LED)
+ - Battery input voltage: 4S-12S
+ - BEC 3.3V 0.5A
+ - BEC 5V 3A
+ - BEC 12V 3A for video, gpio controlled
+ - Dual switchable camera inputs
+
+## Pinout
+
+![DAKEFPV F405 Board Top](Top.jpg "DAKEFPV F405 Top")
+![DAKEFPV F405 Board Bottom](Bottom.jpg "DAKEFPV F405 Bottom")
+
+## DAKEFPV F405 Wiring Diagram
+
+![DAKEFPV F405 Wiring Diagram Top]( WiringDiagramTop.jpg "DAKEFPV F405 Wiring Diagram Top")
+![DAKEFPV F405 Wiring Diagram Bottom](WiringDiagramBottom.jpg "DAKEFPV F405 Wiring Diagram Bottom")
+
+## 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 (ELRS)
+ - SERIAL3 -> UART3 (ESC Telemetry)
+ - SERIAL4 -> UART4 (VTX)
+ - SERIAL5 -> UART5 (User)
+ - SERIAL6 -> UART6 (User)
+
+## RC Input
+
+RC input is configured by default via the USART5 RX input. It supports all serial RC protocols except PPM.
+
+Note: If the receiver is FPort the receiver must be tied to the USART5 TX pin , RSSI_TYPE set to 3,
+and SERIAL5_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both
+RX5 and TX5 and set RSSI_TYPE also to 3.
+
+## FrSky Telemetry
+
+FrSky Telemetry is supported using an unused UART, such as the T5 pin (UART5 transmit).
+You need to set the following parameters to enable support for FrSky S.PORT:
+
+  - SERIAL5_PROTOCOL 10
+  - SERIAL5_OPTIONS 7
+
+## PWM Output
+
+The DAKEFPV F405 supports up to 6 PWM or DShot outputs. The pads for motor output
+M1 to M6 are provided on both the motor connectors and on separate pads.
+
+The PWM is in 3 groups:
+
+ - PWM 1-2   in group1
+ - PWM 3-4   in group2
+ - PWM 5-6   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. Channels 1-10 support bi-directional dshot.
+
+## Battery Monitoring
+
+The board has a built-in voltage sensor and external current sensor input. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 12S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 11
+ - BATT_CURR_PIN 13
+ - BATT_VOLT_MULT 11.1
+ - BATT_AMP_PERVLT 40
+
+## Compass
+
+The DAKEFPV F405 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Camera control
+
+GPIO 82 controls the camera output to the connectors marked "CAM1" and "CAM2". Setting this GPIO low switches the video output from CAM1 to CAM2. By default RELAY3 is configured to control this pin and sets the GPIO high.
+
+## 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/DAKEFPVF405/defaults.parm

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+# setup SERIAL2 for RCIN
+SERIAL2_PROTOCOL 23
+
+# disable GPS on Serial 4
+SERIAL4_PROTOCOL -1
+
+# setup SERIAL1 for GPS
+SERIAL1_PROTOCOL 5
+
+# Onboard ELRS
+RC2_REVERSED 1 # Prevent inverse pitch controls

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVF405/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for AAAAF405 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_DAKEFPVF405
+
+# 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
+PC13 BARO1_CS CS
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+PB3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/DAKEFPVF405/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for AAAAF405 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_DAKEFPVF405
+
+# 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
+
+STM32_ST_USE_TIMER 5
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3
+PB5 SPI3_MOSI SPI3
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+
+# Chip select pins
+PC13 BARO1_CS CS
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+
+SPIDEV dps310 SPI2 DEVID3  BARO1_CS MODE3  5*MHZ  5*MHZ
+
+BARO SPL06  SPI:dps310
+BARO BMP280 SPI:dps310
+
+# Beeper
+PC3 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+
+# USART2
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# USART3
+PB10 USART3_TX USART3
+PB11 USART3_RX USART3
+
+# UART4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# 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 I2C1
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# Servos
+PA8 CAMERA1 OUTPUT GPIO(70) LOW
+define RELAY2_PIN_DEFAULT 70
+
+# ADC ports
+
+# ADC1
+PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 10
+define HAL_BATT_CURR_SCALE 83.3
+PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_VOLT_SCALE 11.0
+PC2 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 12
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PC8 TIM8_CH3 TIM8 PWM(1) GPIO(50)       # M1
+PC9 TIM8_CH4 TIM8 PWM(2) GPIO(51)       # M2
+PB6 TIM4_CH1 TIM4 PWM(3) GPIO(52)       # M3
+PB7 TIM4_CH2 TIM4 PWM(4) GPIO(53)       # M4
+PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)       # M5
+PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)       # M6
+
+# Camera switch control - should be high at startup to ensure Camera 1 selected
+PC5 CAM_CTRL OUTPUT HIGH GPIO(82)
+define RELAY3_PIN_DEFAULT 82
+
+# LEDs
+PB3 TIM2_CH2 TIM2 PWM(7) GPIO(56) # M7
+
+PC14 LED0 OUTPUT LOW GPIO(90)
+define HAL_GPIO_A_LED_PIN 90
+
+PC15 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_B_LED_PIN 91
+
+# 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
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+DMA_NOSHARE TIM8_UP TIM4_UP TIM3_UP SPI1*
+DMA_PRIORITY TIM8_UP TIM4_UP TIM3_UP SPI1*
+
+IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_270
+
+# 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 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# save some flash
+include ../include/minimize_fpv_osd.inc