added pinout to readme, moved serial port defaults to hwdef

ArduPilot · Dec 12, 2024 · 31582d5 · 31582d5
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md
@@ -57,7 +57,103 @@ https://arkelectron.com/product/ark-fpv-flight-controller/
 - Weight: 7.5g with MicroSD card
 
 ## Pinout
-TODO
+#### 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          |
+
+#### 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     |
+
+#### 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     |
+
+#### 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          |
+
+#### 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     |
+
+#### 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     |
+
+#### 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     |
+
+#### 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     |
+
+#### 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     |
+
+#### 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     |
+
 
 ## UART Mapping
 
@@ -80,8 +176,6 @@ This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible J
 
 ## Motor Output
 
-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)
+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)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm
@@ -4,14 +4,3 @@ CAN_P1_DRIVER 1  # Enables the use of CAN
 # Onboard OSD
 OSD_TYPE 5 # MSP
 OSD_CELL_COUNT 0 # auto based on voltage at start
-
-# Serial ports
-SERIAL1_PROTOCOL 2  # Mavlink
-SERIAL2_PROTOCOL 42 # DisplayPort
-SERIAL3_PROTOCOL 5  # GPS
-SERIAL4_PROTOCOL 0  # TODO: DJI HDL?
-SERIAL5_PROTOCOL 16 # ESC telemetry
-SERIAL6_PROTOCOL 23 # RCIN
-SERIAL7_PROTOCOL 22 # SLCAN
-
-
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
@@ -21,6 +21,9 @@ env OPTIMIZE -Os
 
 SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2
 
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_SLCAN
+
 # Debug console
 STDOUT_SERIAL SD3
 STDOUT_BAUDRATE 57600
@@ -33,22 +36,30 @@ PE8  UART7_TX  UART7
 PF6  UART7_RX  UART7
 PF8  UART7_RTS UART7
 PE10 UART7_CTS UART7
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL1_BAUD 115
 
 # Telem2 - VTX (DJI Air Unit)
 PC12 UART5_TX UART5
 PD2  UART5_RX UART5
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
+define DEFAULT_SERIAL2_BAUD 115
 
 # GPS1
 PB6 USART1_TX USART1
 PB7 USART1_RX USART1
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS
 
 # Telem3 - VTX (DJI Air Unit, RX only)
 PA3 USART2_RX USART2
 PD5 USART2_TX USART2
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None # TODO: DJI HDL?
 
 # ESC telem RX only
 PH13 UART4_TX UART4
 PH14 UART4_RX UART4
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+define DEFAULT_SERIAL5_BAUD 115
 
 # RC Input
 PC6 USART6_TX USART6