AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603

dakejahl · 2024-11-13T02:01:38Z

Adds board support for the ARK FPV.
https://arkelectron.com/product/ark-fpv-flight-controller/

Testing Checklist

From https://ardupilot.org/dev/docs/porting.html

the board boots and connects to a GCS via USB (Mission Planner, QGC, MAVProxy,etc.)
the GPS and Compass is recognized.
the RC is recognized and RC input follows the TX
the pitch and roll reports (ie HUD horizon) follows autopilot movement correctly (ie IMU is oriented properly and working). test each IMU individually using the INSx_USE parameters.
the board arms with default arming checks (may need to force arm if GPS is indoors)
- I get a warning about FS_THR_VALUE, due to FS_THR_ENABLE being default. Not entirely sure what these params do.
attach a battery either directly if onboard power sensors or via external power module and make sure voltage is correctly displayed and current indication present
attach a test servo to each output after setting the output to a normal function like elevator, and exercise each one with TX while in MANUAL mode to check output functionality. Bdshot capable outputs should be tested with a BLHeli32 esc for passthrough mode communication (non-IOMCU outputs).
move the GPS to each UART output after setting all other UART protocols to NONE and the tested UART to GPS to assure the UART is functioning.
UARTs with CTS/RTS lines should use a telemetry radio with those connected to be sure they function with BRD_SERx__CTSRTS=1

From my own notes

Questions

How do I configure the ADC for the 12V input?

Requires

IIS2MDC compass driver PR
#28602

dakejahl · 2024-11-18T06:07:29Z

~~I want to reduce the clock speed to 320MHz to reduce heat but adding MCU_CLOCKRATE_MHZ 320 to the hwdef causes the build to fail. Any ideas?~~

From Andy

The only value supported is 480 on H7, its a way of raising the clockrate from the default of 400. bit of history the rev X&Y versions of the H7 had silicon bugs which meant they would only work at 400MHz, that's why its an option - and should only be used with rev V

AlexKlimaj · 2024-12-10T18:25:49Z

Just built and flashed. Looks like it is working.

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

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

andyp1per · 2024-12-12T10:50:41Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+PI5  TIM8_CH1 TIM8 PWM(5) GPIO(54) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55) BIDIR
+PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
+PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57) BIDIR


remove bidir

how did you determine the correct ones to select for BIDIR? I was reading through some forum posts where you explained it, I thought as long as they didn't share DMA it was okay. I'm also surprised the group is split across two timers. I recently worked on bidir dshot in PX4 so I would love to hear the technical reasons and understand how it works in ardupilot.

should I set any new default params for bidir dshot? Or better to let the user configure these?

MOT_PWM_TYPE
SERVO_BLH_BDMASK
SERVO_BLH_OTYPE
SERVO_DSHOT_ESC
SERVO_DSHOT_RATE

Unless you know what ESC the user is going to use I would leave these alone

Just tested this and it works

PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR PI5 TIM8_CH1 TIM8 PWM(5) GPIO(54) PI6 TIM8_CH2 TIM8 PWM(6) GPIO(55) PI7 TIM8_CH3 TIM8 PWM(7) GPIO(56) PI2 TIM8_CH4 TIM8 PWM(8) GPIO(57) PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

dakejahl · 2024-12-12T19:34:43Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PB1 VDD_5V_SENS ADC1 SCALE(2)
+# TODO: 12V monitor
+# PA4 SCALED2_V3V3 ADC1 SCALE(7.66)


Do non int values work here? Is this the right way to do it?

dakejahl · 2024-12-12T19:36:29Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+# Motors, see STM32H743xx.py
+PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50)
+PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
+PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
+PI5  TIM8_CH1 TIM8 PWM(5) GPIO(54) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55)
+PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
+PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57)
+PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)


All 8 channels are DMA capable. Is it possible to allow usage of all of them, but only have 4 at a time configured for use? How does the user figure out which channels they need to use?

dakejahl · 2024-12-12T19:37:27Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+# I2C2 (BMP390 baro, internal)
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C4 (IIS2MDC compass, internal)
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4


Both of these busses are "internal". I noticed most other boards only have 1 internal bus, is this okay to have 2 internal busses? I assume so since the I2C_INTERNAL_MASK bitmask exists, but wanted to double check.

dakejahl · 2024-12-12T19:38:37Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+# TODO: should we use this?
+# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5


Good practice to set an IMU temp low margin? Or just pre-arm annoyance?

dakejahl · 2024-12-12T19:39:28Z

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

+
+# SPI6 external bus
+# SPIDEV adis16507 SPI6 DEVID1  EXT1_CS MODE3  1*MHZ  2*MHZ
+# IMU ADIS1647x    SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN


Should I have this driver active by default? Along with any other IMU drivers we want to support on external SPI?

dakejahl · 2024-12-12T20:07:50Z

Tools/AP_Bootloader/board_types.txt

@@ -57,6 +58,7 @@ Reserved "PX4 [BL] FMU v6X.x"          53
 Reserved "PX4 [BL] FMU v6C.x"          56

 Reserved "ARK [BL] FMU v6X.x"          57
+Reserved "ARK [BL] FPV"                59


this causes CI to fail

dakejahl · 2024-12-12T22:39:58Z

ESC Bidir DShot passthrough works using BIDIR on Channels 1 - 4

peterbarker added the NewBoardSupport label Nov 13, 2024

dakejahl force-pushed the pr-ark_fpv branch from 056c5b6 to 818f105 Compare November 13, 2024 02:51

dakejahl mentioned this pull request Nov 18, 2024

AP_Compass: add IIS2MDC driver #28602

Open

dakejahl force-pushed the pr-ark_fpv branch from 818f105 to 2b17d2d Compare November 18, 2024 06:06

dakejahl force-pushed the pr-ark_fpv branch from 2b17d2d to 6f9f344 Compare November 19, 2024 00:11

dakejahl marked this pull request as draft November 21, 2024 20:27

dakejahl force-pushed the pr-ark_fpv branch 2 times, most recently from cbfd219 to 20bfdc2 Compare December 10, 2024 18:51

dakejahl marked this pull request as ready for review December 10, 2024 18:56

dakejahl force-pushed the pr-ark_fpv branch from 39b9e8f to 20bfdc2 Compare December 10, 2024 18:57

AP_HAL_ChibiOS: hwdef: ARK_FPV board support

f83ba71

dakejahl force-pushed the pr-ark_fpv branch from 20bfdc2 to f83ba71 Compare December 11, 2024 00:41

added common.inc, added README

6eb6081

dakejahl marked this pull request as draft December 12, 2024 00:44

dakejahl added 2 commits December 11, 2024 16:12

added defaults.parm

5df3d64

cleanup

f6e004d

dakejahl force-pushed the pr-ark_fpv branch from ae41c9d to f6e004d Compare December 12, 2024 02:06

dakejahl added 2 commits December 11, 2024 17:36

optimize size, reserve board_id, add bootloader

8e0ffd4

added pinout to readme, moved serial port defaults to hwdef

31582d5

dakejahl marked this pull request as ready for review December 12, 2024 03:12

andyp1per reviewed Dec 12, 2024

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review feedback

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dakejahl force-pushed the pr-ark_fpv branch from 73170b0 to 52200b1 Compare December 12, 2024 19:40

dakejahl commented Dec 12, 2024

View reviewed changes

serial1 baud 57, bidir dshot on 1-4

66204f5

USART2 NODMA

bcbf2b4

remove SCLAN TODO

22436be

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AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603

AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603

dakejahl commented Nov 13, 2024 •

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dakejahl commented Dec 12, 2024

AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603

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AP_HAL_ChibiOS: hwdef: ARK_FPV board support #28603

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dakejahl commented Nov 13, 2024 • edited Loading

Testing Checklist

Requires

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dakejahl commented Dec 12, 2024

dakejahl commented Nov 13, 2024 •

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dakejahl commented Nov 18, 2024 •

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