mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add ZeroOneX6
This commit is contained in:
“Jane_ZeroOne”
Andrew Tridgell
parent
1a9d786f62
commit
27c7bcf8cf
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## ZeroOneX6 Flight Controller
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The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
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## Features:
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- Separate flight control core design.
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- MCU
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STM32H753IIK6 32-bit processor running at 480MHz
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2MB Flash
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1MB RAM
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- IO MCU
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STM32F103
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- Sensors
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- IMU:
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Internal Vibration Isolation for IMUs
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IMU constant temperature heating(1 W heating power).
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With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
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IMU1-ICM45686(With vibration isolation)
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IMU2-BMI088(With vibration isolation)
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IMU3- ICM45686(No vibration isolation)
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- Baro:
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Two barometers:2 x ICP20100
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Magnetometer: Builtin RM3100 magnetometer
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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| Name | Function | MCU PINS | DMA |
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| :-----: | :------: | :------: | :------:|
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| SERIAL0 | OTG1 | USB |
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| SERIAL1 | Telem1 | UART7 |DMA Enabled |
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| SERIAL2 | Telem2 | UART5 |DMA Enabled |
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| SERIAL3 | GPS1 | USART1 |DMA Enabled |
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| SERIAL4 | GPS2 | UART8 |DMA Enabled |
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| SERIAL5 | Telem3 | USART2 |DMA Enabled |
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| SERIAL6 | UART4 | UART4 |DMA Enabled |
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| SERIAL7 |FMU DEBUG | USART3 |DMA Enabled |
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| SERIAL8 | OTG-SLCAN| USB |
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## RC Input
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The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols.
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## PWM Output
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The X6 flight controller supports up to 16 PWM outputs.
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First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
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The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .
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All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
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The 8 IO PWM outputs are in 4 groups:
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- Outputs 1 and 2 in group1
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- Outputs 3 and 4 in group2
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- Outputs 5, 6, 7 and 8 in group3
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The 8 FMU PWM outputs are in 4 groups:
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- Outputs 1, 2, 3 and 4 in group1
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- Outputs 5 and 6 in group2
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- Outputs 7 and 8 in group3
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Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
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## GPIO
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All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
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<table>
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<tr>
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<th colspan="3">IO Pins</th>
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<th colspan="1"> </th>
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<th colspan="3">FMU Pins</th>
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</tr>
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<tr><td> Name </td><td> Value </td><td> Option </td><td> </td><td> Name </td><td> Value </td><td> Option </td></tr>
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<tr><td> M1 </td><td> 101 </td> <td> MainOut1 </td><td> </td><td> M9 </td><td> 50 </td><td> AuxOut1 </td></tr>
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<tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td> </td><td> M10 </td><td> 51 </td><td> AuxOut2 </td></tr>
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<tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td> </td><td> M11 </td><td> 52 </td><td> AuxOut3 </td></tr>
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<tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td> </td><td> M12 </td><td> 53 </td><td> AuxOut4 </td></tr>
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<tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td> </td><td> M13 </td><td> 54 </td><td> AuxOut5 </td></tr>
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<tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td> </td><td> M14 </td><td> 55 </td><td> AuxOut6 </td></tr>
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<tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td> </td><td> M15 </td><td> 56 </td><td> </td></tr>
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<tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td> </td><td> M16 </td><td> 57 </td><td> BB Blue GPo pin 3 </td></tr>
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<tr><td> </td><td> </td> <td> </td><td> </td><td> FCU CAP </td><td> 58 </td><td> </td></tr>
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</table>
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## Battery Monitoring
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The X6 flight controller has two six-pin power connectors, supporting CAN interface power supply.
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These are set by default in the firmware and shouldn't need to be adjusted.
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## Compass
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The X6 flight controller built-in industrial-grade electronic compass chip RM3100.
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## Analog inputs
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The X6 flight controller has 2 analog inputs.
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- ADC Pin12 -> ADC 6.6V Sense
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- ADC Pin13 -> ADC 3.3V Sense
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- RSSI input pin = 103
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## 5V PWM Voltage
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The X6 flight controller supports switching between 5V and 3.3V PWM levels. Switch PWM output pulse level by configuring parameter BRD_PWM_VOL_SEL. 0 for 3.3V and 1 for 5V output.
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## Where to Buy
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https://www.01aero.cn
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Binary file not shown.
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After Width: | Height: | Size: 461 KiB |
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@ -0,0 +1,5 @@
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CAN_P1_DRIVER 1
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CAN_P2_DRIVER 1
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BATT_MONITOR 8
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GPS1_TYPE 9
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@ -0,0 +1,106 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the ZeroOneX6 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 5600
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 128
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART3
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# Pin for PWM Voltage Selection
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PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS pins
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PI9 IMU1_CS CS
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PH5 ICM42688_CS CS
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PI4 BMI088_A_CS CS
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PI8 BMI088_G_CS CS
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PH15 BMM150_CS CS
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PG7 FRAM_CS CS
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PI10 EXT1_CS CS
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# telem1
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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# telem2
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# armed indication
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PE6 nARMED OUTPUT HIGH
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# start peripheral power off
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PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# LEDs
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PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
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PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
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define HAL_LED_ON 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# enable DFU by default
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ENABLE_DFU_BOOT 1
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# support flashing from SD card:
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# FATFS support:
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define CH_CFG_USE_MEMCORE 1
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define CH_CFG_USE_HEAP 1
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define CH_CFG_USE_SEMAPHORES 0
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define CH_CFG_USE_MUTEXES 1
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define CH_CFG_USE_DYNAMIC 1
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define CH_CFG_USE_WAITEXIT 1
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define CH_CFG_USE_REGISTRY 1
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
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@ -0,0 +1,343 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the ZeroOne X6 hardware
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# board ID for firmware load
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APJ_BOARD_ID 5600
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FLASH_RESERVE_START_KB 128
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# to be compatible with the px4 bootloader we need
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# to use a different RAM_MAP
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env USE_ALT_RAM_MAP 1
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# flash size
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FLASH_SIZE_KB 2048
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# supports upto 8MBits/s
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CANFD_SUPPORTED 8
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# telem1
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# telem2
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# telem3
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
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# GPS1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# uart4
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# USART6 is for IOMCU
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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IOMCU_UART USART6
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# Ethernet
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PG13 ETH_RMII_TXD0 ETH1
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PG12 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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#PG15 ETH_POWER_EN ETH1
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PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
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define BOARD_PHY_ID MII_LAN8742A_ID
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define BOARD_PHY_RMII
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# ADC
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PA0 SCALED1_V3V3 ADC1 SCALE(2)
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PA4 SCALED2_V3V3 ADC1 SCALE(2)
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PB0 SCALED3_V3V3 ADC1 SCALE(2)
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PF12 SCALED4_V3V3 ADC1 SCALE(2)
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PB1 VDD_5V_SENS ADC1 SCALE(2)
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# pin7 on AD&IO, analog 12
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PC2 ADC1_6V6 ADC1 SCALE(2)
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# pin6 on AD&IO, analog 13
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PC3 ADC1_3V3 ADC1 SCALE(1)
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# SPI1 - IMU3 ICM45686
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PA5 SPI1_SCK SPI1
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PB5 SPI1_MOSI SPI1
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PG9 SPI1_MISO SPI1
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PI9 SP1_CS1 CS
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# SPI2 -IMU1 ICM45686
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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PH5 SP2_CS1 CS
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PA10 SP2_DRDY2 INPUT
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# SPI3 -IMU2 BMI088
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PB2 SPI3_MOSI SPI3
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PI4 SP3_CS1 CS
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PI8 SP3_CS2 CS
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PI6 SP3_DRDY1 INPUT
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PI7 SP3_DRDY2 INPUT GPIO(93)
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define SP3_DRDY2 93
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# SPI4 - unused
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#PE12 SPI4_SCK SPI4
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#PE13 SPI4_MISO SPI4
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#PE14 SPI4_MOSI SPI4
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#PF3 SP4_DRDY1 INPUT
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PH15 SP4_CS1 CS
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# SPI5 - FRAM
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PF7 SPI5_SCK SPI5
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PH7 SPI5_MISO SPI5
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PF11 SPI5_MOSI SPI5
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PG7 FRAM_CS CS
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# SPI6 - external1 (disabled to save DMA channels)
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# PB3 SPI6_SCK SPI6
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# PA6 SPI6_MISO SPI6
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# PG14 SPI6_MOSI SPI6
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# PI10 EXT1_CS CS
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# PWM output pins
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PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50)
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PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
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PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
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PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v
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PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
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define HAL_GPIO_PWM_VOLT_PIN 3
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define HAL_GPIO_PWM_VOLT_3v3 0
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# we need to disable DMA on the last 2 FMU channels
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# as timer 12 doesn't have a TIMn_UP DMA option
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
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# GPIOs
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PE11 FMU_CAP1 INPUT GPIO(58)
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PC0 NFC_GPIO INPUT GPIO(60)
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# I2C buses
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# I2C1, GPS+MAG
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2, GPS2+MAG
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PG5 DRDY1_BMP388 INPUT
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# I2C3, MS5611, external
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 internal
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C4 I2C1 I2C2 I2C3
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define HAL_I2C_INTERNAL_MASK 1
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# heater
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PB10 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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# Setup the IMU heater
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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# armed indication
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PE6 nARMED OUTPUT HIGH
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
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PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
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PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
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# start peripheral power on
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||||
PG10 nVDD_5V_HIPOWER_EN OUTPUT LOW
|
||||
PG4 nVDD_5V_PERIPH_EN OUTPUT LOW
|
||||
|
||||
# Control of Spektrum power pin
|
||||
PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
|
||||
define HAL_GPIO_SPEKTRUM_PWR 73
|
||||
|
||||
# Spektrum Power is Active High
|
||||
define HAL_SPEKTRUM_PWR_ENABLED 1
|
||||
|
||||
# power sensing
|
||||
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
|
||||
PG1 VDD_BRICK_nVALID INPUT PULLUP
|
||||
PG2 VDD_BRICK2_nVALID INPUT PULLUP
|
||||
PG3 VDD_BRICK3_nVALID INPUT PULLUP
|
||||
|
||||
# microSD support
|
||||
PD6 SDMMC2_CK SDMMC2
|
||||
PD7 SDMMC2_CMD SDMMC2
|
||||
PB14 SDMMC2_D0 SDMMC2
|
||||
PB15 SDMMC2_D1 SDMMC2
|
||||
PG11 SDMMC2_D2 SDMMC2
|
||||
PB4 SDMMC2_D3 SDMMC2
|
||||
define FATFS_HAL_DEVICE SDCD2
|
||||
|
||||
# safety
|
||||
PD10 LED_SAFETY OUTPUT
|
||||
PF5 SAFETY_IN INPUT PULLDOWN
|
||||
|
||||
# GPIO LEDs
|
||||
PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
|
||||
PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
|
||||
PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
|
||||
|
||||
define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
|
||||
define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
|
||||
define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
|
||||
|
||||
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
||||
|
||||
# ID pins
|
||||
PG0 HW_VER_REV_DRIVE OUTPUT LOW
|
||||
# PH3 HW_VER_SENS ADC3 SCALE(1)
|
||||
# PH4 HW_REV_SENS ADC3 SCALE(1)
|
||||
|
||||
# PWM output for buzzer
|
||||
PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
|
||||
|
||||
# RC input
|
||||
PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
|
||||
|
||||
# barometers (ZeroOne X6)
|
||||
BARO ICP201XX I2C:0:0x64
|
||||
BARO ICP201XX I2C:2:0x63
|
||||
|
||||
# compass
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
|
||||
# builtin compass on ZeroOne X6
|
||||
COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
|
||||
|
||||
# compensate for magnetic field generated by the heater on ZeroOne X6 RM3100
|
||||
define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(0,0,0)
|
||||
|
||||
#define HAL_HEATER_MAG_OFFSET HAL_HEATER_MAG_OFFSET_RM3100
|
||||
|
||||
# IMU devices for ZeroOne X6
|
||||
SPIDEV icm45686_1 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 16*MHZ
|
||||
SPIDEV bmi088_g SPI3 DEVID1 SP3_CS2 MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV bmi088_a SPI3 DEVID2 SP3_CS1 MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV icm45686_2 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 16*MHZ
|
||||
|
||||
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
|
||||
# ZeroOne X6 3 IMUs
|
||||
IMU Invensensev3 SPI:icm45686_1 ROTATION_ROLL_180_YAW_270
|
||||
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180
|
||||
IMU Invensensev3 SPI:icm45686_2 ROTATION_NONE
|
||||
|
||||
define HAL_INS_HIGHRES_SAMPLE 7
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
# enable RAMTROM parameter storage
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
define HAL_WITH_RAMTRON 1
|
||||
|
||||
# allow to have have a dedicated safety switch pin
|
||||
define HAL_HAVE_SAFETY_SWITCH 1
|
||||
|
||||
DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART*
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
|
||||
|
||||
# enable DFU reboot for installing bootloader
|
||||
# note that if firmware is build with --secure-bl then DFU is
|
||||
# disabled
|
||||
ENABLE_DFU_BOOT 1
|
||||
|
||||
# build ABIN for flash-from-bootloader support:
|
||||
env BUILD_ABIN True
|
||||
|
||||
# enable support for dshot on iomcu
|
||||
#github suggestion
|
||||
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
|
||||
define HAL_WITH_IO_MCU_DSHOT 1
|
||||
#V6X
|
||||
#ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
|
||||
#define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
|
||||
Loading…
Reference in New Issue