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AP_HAL_ChibiOS: add hwdef files for NarinFC-H5 #29753

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Merged
merged 3 commits into from
Apr 29, 2025
Merged

AP_HAL_ChibiOS: add hwdef files for NarinFC-H5 #29753

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a9ffd9f
AP_HAL_ChibiOS: add NarinFC-H5
vololand Apr 18, 2025
908e835
Tools: add NarinFC-H5
vololand Apr 18, 2025
684b5fb
AP_HAL_ChibiOS: UPDATE NarinFC-H5 (hwdef.dat)
vololand Apr 21, 2025
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2 changes: 2 additions & 0 deletions Tools/AP_Bootloader/board_types.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -304,6 +304,8 @@ AP_HW_BrahmaF4 1184
AP_HW_X-MAV-AP-F405Mini 1185
AP_HW_3DRControlN1 1186
AP_HW_CORVON405V2_1 1187
AP_HW_NarinH5 1188


AP_HW_JFB200 1200

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Binary file added Tools/bootloaders/NarinFC-H5_bl.bin
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9 changes: 9 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/NarinFC-H5/README.md
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# [NarinFC-H5 VOLOLAND CO., LTD](https://vololand.com/pages/product/computer "NarinFC-H5")

The NarinFC-H5 is the same autopilot as the NarinFC-H7 but uses different IMUs:

- **Sensors**
- Accelerometer/Gyroscope: ICM-45686 *2
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611*2
12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/NarinFC-H5/defaults.parm
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# temperature control. We need lower P/I values
# to prevent oscillation of the BMI088 temperature
# the ADIS16470 is factory temperature calibrated,
# but the BMI088 isn't, so temperature control is still
# worthwhile
BRD_HEAT_TARG 45
BRD_HEAT_P 50
BRD_HEAT_I 0.07

# turn on the CAN power monitoring(default)
CAN_P1_DRIVER 1
BATT_MONITOR 8
7 changes: 7 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/NarinFC-H5/hwdef-bl.dat
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include ../NarinFC-H7/hwdef-bl.dat

#undefine items to be changed
undef APJ_BOARD_ID

# board ID. See Tools/AP_Bootloader/board_types.txt
APJ_BOARD_ID AP_HW_NarinH5
25 changes: 25 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/NarinFC-H5/hwdef.dat
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include ../NarinFC-H7/hwdef.dat

#undefine items to be changed
undef APJ_BOARD_ID

# board ID. See Tools/AP_Bootloader/board_types.txt
APJ_BOARD_ID AP_HW_NarinH5

undef PF10 PG6 PE7 PJ0
undef IMU adis16470 icm20689

#new SPI CS
PF10 ICM45686_CS1 CS SPEED_VERYLOW
PG6 ICM45686_CS CS SPEED_VERYLOW

#new DRDY
PE7 DRDY1_ICM45686_a INPUT GPIO(93)
PJ0 DRDY5_ICM45686_b INPUT

#new SPI IMUs
SPIDEV icm45686_a SPI1 DEVID4 ICM45686_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686_b SPI1 DEVID5 ICM45686_CS MODE3 2*MHZ 8*MHZ
IMU Invensensev3 SPI:icm45686_a ROTATION_PITCH_180_YAW_270
IMU Invensensev3 SPI:icm45686_b ROTATION_PITCH_180_YAW_270

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