Add ACNS-CM4Pilot board

common/source/docs/common-acns-cm4pilot.rst

@@ -0,0 +1,141 @@
+.. _common-acns-cm4pilot:
+
+=============
+ACNS-CM4Pilot
+=============
+
+The ACNS-CM4Pilot is a low-cost and compact flight controller which integrates a Raspberry Pi CM4 onboard as its :ref:`Companion computer <companion-computers>`.
+
+.. image:: ../../../images/CM4pilot_inshell.jpg
+    :target: ../_images/CM4pilot_inshell.jpg
+    :width: 450px
+
+Specifications
+==============
+
+-  **Processor**
+
+   -  STM32F405 ARM (168MHz)
+   -  Broadcom BCM2711, quad-core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz (Raspberry Pi CM4)
+
+-  **Sensors**
+
+   -  BMI088 IMU (accel, gyro)
+   -  BMP280 barometer
+   -  LIS3MDLTR magnetometer
+
+-  **Interfaces (Autopilot)**
+
+   -  8x PWM outputs DShot capable
+   -  1 CAN
+   -  1x RC input
+   -  5x UARTs/serial for GPS and other peripherals, one normally used for RC input, one for CM4 connection
+   -  I2C port for external compass, airspeed, etc.
+   -  Power module input
+   -  microSDCard for logging, etc.
+   -  USB-C port
+   -  Analog RSSI/Airspeed input
+   -  DFU boot button
+
+-  **Interfaces (CM4)**
+
+   -  4 USB, 1 OTG USB-C ports
+   -  microSDCard
+   -  2x GPIO
+   -  UART
+   -  2x Camera Interfaces
+
+-  **Size and Dimensions**
+
+.. image:: ../../../images/CM4pilot_size.jpg
+
+Where to Buy
+============
+???
+
+Block Diagram
+=============
+
+.. image:: ../../../images/CM4Pilot_structure.jpg
+
+Pinouts
+=======
+
+.. image:: ../../../images/CM4Pilot_Pinout.jpg
+    :target: ../_images/CM4Pilot_Pinout.jpg
+
+Default UART order
+==================
+
+The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the
+receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB(OTG1)
+ - SERIAL1 -> USART1(Telem1)(DMA capable)
+ - SERIAL2 -> USART3 (CM4)(DMA capable)
+ - SERIAL3 -> UART4 (GPS)(DMA capable)
+ - SERIAL4 -> UART6 (GPS2)(DMA capable)
+ - SERIAL5 -> USART2 (SBUS)(RC input, not DMA capable)(RX2 can be re-configured as a normal UART input using :ref:`BRD_ALT_CONFIG<BRD_ALT_CONFIG>` = 1
+
+Serial protocols shown are defaults, but can be adjusted to personal preferences.
+
+Servo/Motor Outputs
+===================
+
+All motor/servo outputs are Dshot and PWM capable. However, mixing Dshot, serial LED, and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
+
+ - PWM 1-2 in group1
+ - PWM 5,6 in group2
+ - PWM 7,8 in group3
+ - PWM 8-10 in group4
+
+RC Input
+========
+
+The SBUS pin can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, can provide RC without telemetry. 
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers a UART must be configured and used (USART1 , UART4, or UART6) and their ``SERAILx_PROTOCOL`` set to "23".
+
+With this option:
+
+- PPM is not supported. SBUS requires an inverter.
+
+- FPort requires connection to TX2 and RX2 via a bi-directional inverter. See :ref:`common-FPort-receivers`.
+
+- SRXL2 requires :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` to "4".
+
+
+Battery Monitor Configuration
+=============================
+These settings are set as defaults when the firmware is loaded for a typical external analog power monitor. You will need to adjust :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` and  :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 17 for whichever monitor is used.
+
+Enable Battery monitor.
+
+:ref:`BATT_MONITOR<BATT_MONITOR>` =4
+
+Then reboot.
+
+:ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 11
+
+:ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 12
+
+:ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 10.1
+
+:ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 17
+
+Buzzer
+======
+
+An internal buzzer to play ArduPilot musical notification tones is provided on board. 
+
+.. warning:: sometimes it is possible that integrated tone alarms will inject noise into the on board IMUs. Users may want to set :ref:`NTF_BUZZ_TYPES<NTF_BUZZ_TYPES>` to disable the built in buzzer to assure this does not occur inflight.
+
+Firmware
+========
+This board does not come with ArduPilot firmware pre-installed. Use instructions here to load ArduPilot the first time :ref:`common-loading-firmware-onto-chibios-only-boards`.
+
+Firmware for this board can be found `here <https://firmware.ardupilot.org>`_ in  sub-folders labeled
+"ACNS-CM4Pilot".
+
+[copywiki destination="plane,copter,rover,blimp"]
+

common/source/docs/common-autopilots.rst

@@ -79,6 +79,7 @@ Closed Hardware
 .. toctree::
     :maxdepth: 1
 
+    ACNS-CM4Pilot <common-acns-cm4pilot>
     Aerotenna Ocpoc-Zynq <https://aerotenna.com/shop/ocpoc-zynq-mini/>
     Airvolute DroneCore <common-airvolute-DroneCore-Suite>
     AtomRC F405-NAVI <common-atomrcf405-navi>