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AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603
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AP_HAL_ChibiOS: hwdef: ARK_FPV board support
dakejahl 6eb6081
added common.inc, added README
dakejahl 5df3d64
added defaults.parm
dakejahl f6e004d
cleanup
dakejahl 8e0ffd4
optimize size, reserve board_id, add bootloader
dakejahl 31582d5
added pinout to readme, moved serial port defaults to hwdef
dakejahl 52200b1
review feedback
dakejahl 66204f5
serial1 baud 57, bidir dshot on 1-4
dakejahl bcbf2b4
USART2 NODMA
dakejahl 22436be
remove SCLAN TODO
dakejahl 2f6d5ce
added ARK FPV to board list frozen set
dakejahl db23298
add images
dakejahl a52e63c
rename
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| Original file line number | Diff line number | Diff line change |
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| # ARK FPV Flight Controller | ||
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| https://arkelectron.com/product/ark-fpv-flight-controller/ | ||
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| ## Features | ||
| #### Processor | ||
| - STM32H743 32-bit processor | ||
| - 480MHz | ||
| - 2MB Flash | ||
| - 1MB RAM | ||
| #### Sensors | ||
| - Invensense IIM-42653 Industrial IMU with heater resistor | ||
| - Bosch BMP390 Barometer | ||
| - ST IIS2MDC Magnetometer | ||
| #### Power | ||
| - 5.5V - 54V (2S - 12S) input | ||
| - 12V, 2A output | ||
| - 5V, 2A output. 300ma for main system, 200ma for heater | ||
| #### Interfaces | ||
| - **Micro SD** | ||
| - **USB-C** | ||
| - VBUS In, USB | ||
| - **PWM** | ||
| - VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable | ||
| - JST-GH 8 Pin | ||
| - **PWM EXTRA** | ||
| - 5x PWM and Bidirectional-DSHOT capable | ||
| - JST-SH 6 Pin | ||
| - **RC Input** | ||
| - 5V Out, UART | ||
| - JST-GH 4 Pin | ||
| - **POWER AUX** | ||
| - 12V Out, VBAT In/Out | ||
| - JST-GH 3 Pin | ||
| - **TELEM** | ||
| - 5V Out, UART with flow control | ||
| - JST-GH 6 Pin | ||
| - **GPS** | ||
| - 5V Out, UART, I2C | ||
| - JST-GH 6 Pin | ||
| - **CAN** | ||
| - 5V Out, CAN | ||
| - JST-GH 4 Pin | ||
| - **VTX** | ||
| - 12V Out, UART TX/RX, UART RX | ||
| - JST-GH 6 Pin | ||
| - **SPI** (OSD or External IMU) | ||
| - 5V Out, SPI | ||
| - JST-SH 8 Pin | ||
| - **DEBUG** | ||
| - 3.3V Out, UART, SWD | ||
| - JST-SH 6 Pin | ||
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| ##### Dimensions | ||
| - Size: 3.6 × 3.6 × 0.8 cm | ||
| - Weight: 7.5g with MicroSD card | ||
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| ## Pinout | ||
| #### PWM UART4 - 8 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-----------------|--------------| | ||
| | 1 | VBAT IN | 5.5V-54V | | ||
| | 2 | CURR_IN_EXT | 3.3V | | ||
| | 3 | UART4_RX_EXT | 3.3V | | ||
| | 4 | FMU_CH1_EXT | 3.3V | | ||
| | 5 | FMU_CH2_EXT | 3.3V | | ||
| | 6 | FMU_CH3_EXT | 3.3V | | ||
| | 7 | FMU_CH4_EXT | 3.3V | | ||
| | 8 | GND | GND | | ||
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| #### RC - 4 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|---------------------|---------| | ||
| | 1 | 5.0V | 5.0V | | ||
| | 2 | USART6_RX_IN_EXT | 3.3V | | ||
| | 3 | USART6_TX_OUTPUT_EXT| 3.3V | | ||
| | 4 | GND | GND | | ||
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| #### PWM EXTRA - 6 Pin JST-SH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-----------------|---------| | ||
| | 1 | FMU_CH5_EXT | 3.3V | | ||
| | 2 | FMU_CH6_EXT | 3.3V | | ||
| | 3 | FMU_CH7_EXT | 3.3V | | ||
| | 4 | FMU_CH8_EXT | 3.3V | | ||
| | 5 | FMU_CH9_EXT | 3.3V | | ||
| | 6 | GND | GND | | ||
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| #### POWER AUX - 3 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-------------|--------------| | ||
| | 1 | 12.0V | 12.0V | | ||
| | 2 | VBAT IN/OUT | 5.5V-54V | | ||
| | 3 | GND | GND | | ||
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| #### CAN - 4 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-------------|---------| | ||
| | 1 | 5.0V | 5.0V | | ||
| | 2 | CAN1_P | 5.0V | | ||
| | 3 | CAN1_N | 5.0V | | ||
| | 4 | GND | GND | | ||
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| #### GPS - 6 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|---------------------|---------| | ||
| | 1 | 5.0V | 5.0V | | ||
| | 2 | USART1_TX_GPS1_EXT | 3.3V | | ||
| | 3 | USART1_RX_GPS1_EXT | 3.3V | | ||
| | 4 | I2C1_SCL_GPS1_EXT | 3.3V | | ||
| | 5 | I2C1_SDA_GPS1_EXT | 3.3V | | ||
| | 6 | GND | GND | | ||
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| #### TELEM - 6 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-----------------------|---------| | ||
| | 1 | 5.0V | 5.0V | | ||
| | 2 | UART7_TX_TELEM1_EXT | 3.3V | | ||
| | 3 | UART7_RX_TELEM1_EXT | 3.3V | | ||
| | 4 | UART7_CTS_TELEM1_EXT | 3.3V | | ||
| | 5 | UART7_RTS_TELEM1_EXT | 3.3V | | ||
| | 6 | GND | GND | | ||
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| #### VTX - 6 Pin JST-GH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-----------------------|---------| | ||
| | 1 | 12.0V | 12.0V | | ||
| | 2 | GND | GND | | ||
| | 3 | UART5_TX_TELEM2_EXT | 3.3V | | ||
| | 4 | UART5_RX_TELEM2_EXT | 3.3V | | ||
| | 5 | USART2_RX_TELEM3_EXT | 3.3V | | ||
| | 6 | GND | GND | | ||
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| #### SPI (OSD or IMU) - 8 Pin JST-SH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|---------------------|---------| | ||
| | 1 | 5.0V | 5.0V | | ||
| | 2 | SPI6_SCK_EXT | 3.3V | | ||
| | 3 | SPI6_MISO_EXT | 3.3V | | ||
| | 4 | SPI6_MOSI_EXT | 3.3V | | ||
| | 5 | SPI6_nCS1_EXT | 3.3V | | ||
| | 6 | SPI6_DRDY1_EXT | 3.3V | | ||
| | 7 | SPI6_nRESET_EXT | 3.3V | | ||
| | 8 | GND | GND | | ||
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| #### Flight Controller Debug - 6 Pin JST-SH | ||
| | Pin | Signal Name | Voltage | | ||
| |-----|-----------------|---------| | ||
| | 1 | 3V3_FMU | 3.3V | | ||
| | 2 | USART4_TX_DEBUG | 3.3V | | ||
| | 3 | USART4_RX_DEBUG | 3.3V | | ||
| | 4 | FMU_SWDIO | 3.3V | | ||
| | 5 | FMU_SWCLK | 3.3V | | ||
| | 6 | GND | GND | | ||
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| ## UART Mapping | ||
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| |Name|Function| | ||
| |:-|:-| | ||
| |SERIAL0|USB| | ||
| |SERIAL1|UART7 (Telem)| | ||
| |SERIAL2|UART5 (VTX - DJI Air Unit, RX/TXT)| | ||
| |SERIAL3|USART1 (GPS1)| | ||
| |SERIAL4|USART2 (VTX - DJI Air Unit, RX only)| | ||
| |SERIAL5|UART4 (ESC Telem, RX only)| | ||
| |SERIAL6|USART6 (RC Input)| | ||
| |SERIAL7|OTG2 (SLCAN)| | ||
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| All UARTS support DMA. | ||
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| ## OSD Support | ||
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| This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH. | ||
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| ## Motor Output | ||
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| Motors 1-8 are capable of Bidirectional-DSHOT and PWM. All outputs in the motor groups below must be either PWM or DShot: | ||
| - Motors 1-4 Group1 (TIM5) | ||
| - Motors 5-8 Group2 (TIM8) |
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| Original file line number | Diff line number | Diff line change |
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| # MCU class and specific type | ||
| MCU STM32H7xx STM32H743xx | ||
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| # board ID for firmware load | ||
| APJ_BOARD_ID 59 | ||
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| # crystal frequency | ||
| OSCILLATOR_HZ 16000000 | ||
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| # 480Hz is only value support on H7 | ||
| # MCU_CLOCKRATE_MHZ 320 | ||
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| # flash size | ||
| FLASH_SIZE_KB 2048 | ||
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| # enable DFU reboot for installing bootloader | ||
| # note that if firmware is build with --secure-bl then DFU is | ||
| # disabled | ||
| ENABLE_DFU_BOOT 1 | ||
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| # USB | ||
| PA11 OTG_FS_DM OTG1 | ||
| PA12 OTG_FS_DP OTG1 | ||
| PA9 VBUS INPUT OPENDRAIN | ||
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| # SWD | ||
| PA13 JTMS-SWDIO SWD | ||
| PA14 JTCK-SWCLK SWD | ||
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| # debug uart | ||
| PD8 USART3_TX USART3 | ||
| PD9 USART3_RX USART3 |
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| Original file line number | Diff line number | Diff line change |
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| # CAN | ||
| CAN_P1_DRIVER 1 # Enables the use of CAN | ||
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| # Onboard OSD | ||
| OSD_TYPE 5 # MSP | ||
| OSD_CELL_COUNT 0 # auto based on voltage at start |
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| Original file line number | Diff line number | Diff line change |
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| # Processed by chibios_hwdef.py | ||
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| include common.inc | ||
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| # Bootloader is installed at zero offset | ||
| FLASH_RESERVE_START_KB 0 | ||
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| # Location where the bootloader will put the firmware | ||
| FLASH_BOOTLOADER_LOAD_KB 128 | ||
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| SERIAL_ORDER OTG1 UART7 USART1 USART3 | ||
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| PI9 IMU1_CS CS # SPI1 CS - IIM42653 | ||
| PI10 EXT1_CS CS # SPI6 CS - external | ||
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| # Telem1 - Telem | ||
| PE8 UART7_TX UART7 | ||
| PF6 UART7_RX UART7 | ||
| PF8 UART7_RTS UART7 | ||
| PE10 UART7_CTS UART7 | ||
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| # GPS | ||
| PB6 USART1_TX USART1 | ||
| PB7 USART1_RX USART1 | ||
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| # Armed indication | ||
| PE6 nARMED OUTPUT HIGH | ||
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| # 12V peripheral enable | ||
| PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH | ||
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| # LEDs | ||
| PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red | ||
| PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue | ||
| define HAL_LED_ON 0 |
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this causes CI to fail
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yeah seems like a pretty low id
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The ID is already set in PX4 and QGC. Why would the board ID make the CI fail?
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IDK, one for @peterbarker
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looks like bl/fmu don't share IDs
https://github.com/ArduPilot/ardupilot/blob/master/Tools/autotest/validate_board_list.py#L55-L66