madflight FC1 - RP2350B Flight Controller
Specifications
madflight FC1
- MCU: RP2350B with 48 GPIO, 32 GPIO accessible via pinheader
- Gyro/Acc: ICM-42688-P
- Magnetometer: QMC6309
- Barometer: HP203B
- Batery Monitor: INA226
- Black Box: MicroSD (1-bit SPI or 4-bit SDIO)
- PSRAM: Optional (empty SO-8 socket on back of board)
- Dimensions: 57.6 x 42 mm
- Weight: 7.5 gr (without pins, DC-DC)
Optional DC-DC Converter
- Output: 5V 2A continous / 3A peak
- input: 6.5~20V
- Dimensions: 20 x 10 x 5 mm
- Weight: 1.8 gr
Arduino IDE and PlatformIO Setup
See here
Betaflight Setup
See here
Pinout FC1
Set #define MF_BOARD "brd/madflight_FC1.h" to use this configuration, it can be modified with madflight_config configuration settings in your program.
| GPIO | External Pin Function | Internal Function |
|---|---|---|
| 0 | SER0_TX (connect to radio receiver RX) | |
| 1 | SER0_RX (connect to radio receiver TX) | |
| 2 | I2C1_SDA (connect to GPS SDA) | |
| 3 | I2C1_SCL (connect to GPS SCL) | |
| 4 | SER1_TX (connect to GPS RX) | |
| 5 | SER1_RX (connect to GPS TX) | |
| 6 | free | |
| 7 | OUT0 (connect to ESC for motor 1) | |
| 8 | free | |
| 9 | OUT1 (connect to ESC for motor 2) | |
| 10 | free | |
| 11 | OUT2 (connect to ESC for motor 3) | |
| 12 | free | |
| 13 | OUT3 (connect to ESC for motor 4) | |
| 14 | free | |
| 15 | OUT4 | |
| 16 | free | |
| 17 | OUT5 | |
| 18 | free | |
| 19 | OUT6 | |
| 20 | free | |
| 21 | OUT7 | |
| 22 | free | |
| 23 | free | |
| 24 | free | |
| 25 | free | |
| 26 | MAG_INT | |
| 27 | IMU_INT | |
| 28 | SPI1_MISO (imu) | |
| 29 | IMU_CS | |
| 30 | SPI1_SCLK (imu) | |
| 31 | SPI1_MOSI (imu) | |
| 32 | I2C0_SDA (bar,bat,mag) | |
| 33 | I2C0_SCL (bar,bat,mag) | |
| 34 | SDIO_CLK/SPI0_SLCK (bbx) | |
| 35 | SDIO_CMD/SPI0_MOSI (bbx) | |
| 36 | SDIO_D0/SPI0_MISO (bbx) | |
| 37 | SDIO_D1 (bbx) | |
| 38 | SDIO_D2 (bbx) | |
| 39 | SDIO_D3/SPI0_CS (bbx) | |
| 40 | free (ADC) | |
| 41 | free (ADC) | |
| 42 | free (ADC) | |
| 43 | free (ADC) | |
| 44 | free (ADC) | |
| 45 | free (ADC) | |
| 46 | BAR_INT | |
| 47 | QMI_CS1 (for optional PSRAM) |
RP2350B Hardware
RP2350B is the 80 pin / 48 gpio variant of the Raspberry Pi RP2350 processor.
RP2350 has dual core processor, plus dual single precision FPUs.
madflight uses float and is much happier with RP2350 than with RP2040 !
madflight uses a custom Serial library, because the default Arduino Serial transmitter blocks after sending a couple bytes. Something we don't want.
madflight uses FreeRTOS and executes the 1000Hz IMU loop on the second core. The first core is used for the other sensors.
madflight Limitiations
- OUT: Consecutive even/odd PWM pins (e.g. pins 2,3 or 10,11) share the same timer and have the same frequency.