mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: added Durandal pinout details
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Andrew Tridgell
parent
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@ -0,0 +1,582 @@
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# Durandal Flight Controller
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The Holybro Durandal flight controller is sold by a range of
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resellers, linked from https://www.holybro.com
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The full schematics of the board are available here:
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https://github.com/ArduPilot/Schematics/tree/master/Holybro/Durandal
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## Features
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- STM32H743 microcontroller
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- ICM20689 and BMI088 IMUs
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- internal heater for IMU temperature control
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- internal vibration isolation for IMUs
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- MS5611 SPI barometer
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- builtin IST8310 compass
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- microSD card slot
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- 6 UARTs plus dual USB
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- 16 PWM outputs
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- I2C and dual CAN ports
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- DSM and RCIN ports
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- external safety Switch
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- voltage monitoring for servo rail and Vcc
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- dual power input ports for external power bricks
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- external USB connectors (micro USB and JST GH)
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1)
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- SERIAL2 -> UART3 (Telem2)
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- SERIAL3 -> UART1 (GPS)
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- SERIAL4 -> UART4 (GPS2, Telem4/I2C)
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- SERIAL5 -> UART6 (Telem3)
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- SERIAL6 -> UART7 (debug port)
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- SERIAL7 -> USB2
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The Telem1, Telem2 and Telem3 ports have RTS/CTS pins, the other UARTs do not
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have RTS/CTS.
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## Connectors
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Unless noted otherwise all connectors are JST GH
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### TELEM1, TELEM2, TELEM3 ports
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>CTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>RTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS1 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>SCL I2C1</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>SDA I2C1</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>Button</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>7 (blk)</td>
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<td>button LED</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>8 (blk)</td>
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<td>3.3V</td>
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<td>3.3</td>
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</tr>
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<tr>
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<td>9 (blk)</td>
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<td>buzzer</td>
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<td>GND</td>
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</tr>
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<tr>
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<td> (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS2, Telem4/I2C port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>SCL I2C2</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>SDA I2C2</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SBUS Out port
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The SBUS out port is a port attached to the IO processor which can be
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used to output all servo channels via SBUS. It is enabled by setting
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the BRD_SBUS_OUT parameter.
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When SBUS output is disabled (by setting BRD_SBUS_OUT to 0) you can
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use the port for analog RSSI input from receivers. To enable for RSSI
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input you need to set:
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- BRD_SBUS_OUT 0
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- RSSI_TYPE 1
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- RSSI_PIN 103
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You cannot have both SBUS output and analog RSSI input at the same time.
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>2</td>
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<td>5v(Vservo)</td>
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<td>+5.0V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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</tbody>
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</table>
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### DSM/SPKT port
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The SPKT port provides a connector for Spektrum satellite
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receivers. It is needed to allow for software controlled binding of
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satellite receivers.
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>3</td>
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<td>3.3v</td>
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<td>+3.3V</td>
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</tr>
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</tbody>
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</table>
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### ADC / CAPTURE
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>FMU_CAP6, AUX6, GPIO 55</td>
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<td></td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>FMU_CAP5, AUX7, GPIO 56</td>
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<td></td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>FMU_CAP4, AUX8, GPIO 57</td>
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<td></td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>FMU_CAP3, GPIO 60</td>
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<td></td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>FMU_CAP2, GPIO 59</td>
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<td></td>
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</tr>
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<tr>
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<td>7 (blk)</td>
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<td>FMU_CAP1, GPIO 58</td>
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<td></td>
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</tr>
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<tr>
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<td>8 (blk)</td>
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<td>ADC1_3V3 (ADC pin 4)</td>
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<td></td>
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</tr>
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<tr>
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<td>9 (blk)</td>
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<td>ADC1_6V6 (ADC pin 18)</td>
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<td></td>
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</tr>
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<tr>
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<td>10 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### I2C
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>SCL</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SDA</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### CAN1&2
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>CAN_H</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CAN_L</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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||||
<td>GND</td>
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||||
<td>GND</td>
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</tr>
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</tbody>
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</table>
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### POWER1&2
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
|
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<th>Signal</th>
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||||
<th>Volt</th>
|
||||
</tr>
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||||
<tr>
|
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<td>1 (red)</td>
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||||
<td>VCC</td>
|
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<td>+5V</td>
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</tr>
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<tr>
|
||||
<td>2 (red)</td>
|
||||
<td>VCC</td>
|
||||
<td>+5V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>3 (blk)</td>
|
||||
<td>CURRENT</td>
|
||||
<td>up to +3.3V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>4 (blk)</td>
|
||||
<td>VOLTAGE</td>
|
||||
<td>up to +3.3V</td>
|
||||
</tr>
|
||||
<td>5 (blk)</td>
|
||||
<td>GND</td>
|
||||
<td>GND</td>
|
||||
</tr>
|
||||
<td>6 (blk)</td>
|
||||
<td>GND</td>
|
||||
<td>GND</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
|
||||
### USB
|
||||
|
||||
<table border="1" class="docutils">
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>Pin </th>
|
||||
<th>Signal </th>
|
||||
<th>Volt </th>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>1 (red)</td>
|
||||
<td>VCC</td>
|
||||
<td>+5V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>2 (blk)</td>
|
||||
<td>D_minus</td>
|
||||
<td>+3.3V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>3 (blk)</td>
|
||||
<td>D_plus</td>
|
||||
<td>+3.3V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>4 (blk)</td>
|
||||
<td>GND</td>
|
||||
<td>GND</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
## RC Input
|
||||
|
||||
RC input is configured on the RCIN pin, at one end of the servo rail,
|
||||
marked RCIN in the above diagram. This pin supports all RC
|
||||
protocols. In addition there is a dedicated Spektrum satellite port
|
||||
which supports software power control, allowing for binding of
|
||||
Spektrum satellite receivers.
|
||||
|
||||
## PWM Output
|
||||
|
||||
The Durandal supports up to 16 PWM outputs. First first 8 outputs (labelled
|
||||
"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
|
||||
outputs support all PWM output formats, but not DShot.
|
||||
|
||||
The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
|
||||
outputs. These are directly attached to the STM32F427 and support all
|
||||
PWM protocols as well as DShot.
|
||||
|
||||
All 14 PWM outputs have GND on the top row, 5V on the middle row and
|
||||
signal on the bottom row.
|
||||
|
||||
The 8 main PWM outputs are in 3 groups:
|
||||
|
||||
- PWM 1 and 2 in group1
|
||||
- PWM 3 and 4 in group2
|
||||
- PWM 5, 6, 7 and 8 in group3
|
||||
|
||||
The 8 auxillary PWM outputs are in 2 groups:
|
||||
|
||||
- PWM 1, 2, 3 and 4 in group4
|
||||
- PWM 5 and 6 in group5
|
||||
- PWM 7 and 8 in group6 (no DMA, no DShot)
|
||||
|
||||
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.
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has two dedicated power monitor ports on 6 pin
|
||||
connectors. The correct battery setting parameters are dependent on
|
||||
the type of power brick which is connected.
|
||||
|
||||
## Compass
|
||||
|
||||
The Durandal has one builtin IST8310 compass.
|
||||
|
||||
## GPIOs
|
||||
|
||||
The 8 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
|
||||
use them you need to limit the number of these pins that is used for
|
||||
PWM by setting the BRD_PWM_COUNT to a number less than 8. For example
|
||||
if you set BRD_PWM_COUNT to 6 then PWM7 and PWM8 will be available for
|
||||
use as GPIOs.
|
||||
|
||||
The numbering of the GPIOs for PIN variables in ArduPilot is:
|
||||
|
||||
- PWM1 50
|
||||
- PWM2 51
|
||||
- PWM3 52
|
||||
- PWM4 53
|
||||
- PWM5 54
|
||||
- PWM6 55
|
||||
- PWM7 56
|
||||
- PWM8 57
|
||||
|
||||
## Analog inputs
|
||||
|
||||
The Durandal has 7 analog inputs
|
||||
|
||||
- ADC Pin16 -> Battery Voltage
|
||||
- ADC Pin17 -> Battery Current Sensor
|
||||
- ADC Pin14 -> Battery2 Voltage
|
||||
- ADC Pin15 -> Battery2 Current Sensor
|
||||
- ADC Pin4 -> ADC port pin 8 (3.3V limit)
|
||||
- ADC Pin18 -> ADC port pin 9 (6.6V limit)
|
||||
- ADC Pin9 -> RSSI in
|
||||
- ADC Pin10 -> 5V Sense
|
||||
- ADC Pin11 -> 3.3V Sense
|
||||
|
||||
## IMU Heater
|
||||
|
||||
The IMU heater in the Durandal can be controlled with the
|
||||
BRD_IMU_TARGTEMP parameter, which is in degrees C.
|
||||
|
||||
## Loading Firmware
|
||||
|
||||
The board comes pre-installed with an ArduPilot compatible bootloader,
|
||||
allowing the loading of *.apj firmware files with any ArduPilot
|
||||
compatible ground station.
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
Thanks to [Holybro](http://www.holybro.com) for images
|
||||
Loading…
Reference in New Issue