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HAL_ChibiOS: added Pixracer docs
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Andrew Tridgell
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libraries/AP_HAL_ChibiOS/hwdef/Pixracer/README.md
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libraries/AP_HAL_ChibiOS/hwdef/Pixracer/README.md
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# Pixracer Flight Controller
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The Pixracer flight controller is
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[sold by mRobotics](https://store.mrobotics.io/category-s/112.htm)
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The full schematics of the board are available here:
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https://github.com/ArduPilot/Schematics/tree/master/mRobotics
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## Features
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- STM32F427 microcontroller
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- MPU9250 and ICM20608 IMUs
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- MS5611 SPI barometer
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- builtin HMC5843 and MPU9250 magnetometers
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- microSD card slot
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- 6 UARTs plus USB
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- 6 PWM outputs
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- I2C and CAN ports
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- Spektrum satellite cable
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- External Buzzer
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- builtin RGB LEDs
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- external safety Switch
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- voltage monitoring for servo rail and Vcc
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- dedicated power input port for external power brick
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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 -> UART4 (GPS)
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- SERIAL4 -> UART8 (GPS2, FrSky Telem)
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- SERIAL5 -> UART1 (spare)
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- SERIAL6 -> UART7 (spare, debug port)
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The Telem1 and Telem2 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+OSD 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 (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>5 (blk)</td>
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<td>RTS (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>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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### GPS 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>I2C1 SCL</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>I2C1 SDA</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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### FrSky Telemetry / SERIAL4
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This UART is inverted by default. You can disable the inverter by
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setting SERIAL4_OPTIONS=2 if you want to use it with a non-inverted
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protocol.
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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>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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### RC Input (accepts all RC protocols)
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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>RC 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>3 (blk)</td>
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<td>RSSI 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>VDD 3V3</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>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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### CAN
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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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### Power
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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>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CURRENT</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>VOLTAGE</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>GND</td>
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<td>GND</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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### Switch
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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>SAFETY</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>!IO_LED_SAFETY</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CURRENT</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>BUZZER-</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>BUZZER+</td>
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<td>-</td>
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</tr>
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</tbody>
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</table>
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### Debug port (JST SM06B connector)
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Note that in ArduPilot the debug UART is available as a general
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purpose UART.
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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 TARGET SHIFT</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 (blk)</td>
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<td>CONSOLE 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>CONSOLE 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>SWDIO</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>SWCLK</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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## RC Input
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RC input is via a RC input cable. That cable comes in two forms, one
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for Spektrum satellite receivers and another for all other receiver
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types.
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Both cables support all protocols with ArduPilot, but you need to use
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the Spektrum cable if you want to be able to bind the receiver using
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the ArduPilot binding support as only the Spektrum cable gives
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ArduPilot the ability to control the power on the Spektrum satellite
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receiver.
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## FrSky Telemetry
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FrSky Telemetry is supported using SERIAL4, on the port marked as
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FrSky. You need to set the following parameters to enable support for
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FrSky S.PORT
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- SERIAL4_PROTOCOL 10
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- SERIAL4_OPTIONS 0
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## PWM Output
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The Pixracer supports up to 6 PWM outputs. All 6 outputs can support
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DShot as well as all PWM protocols.
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The 6 PWM outputs are in 2 groups:
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- PWM 1, 2, 3 and 4 in group1
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- PWM 5 and 6 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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## Battery Monitoring
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The board has a dedicated power monitor port on a 6 pin connector. The
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correct battery setting parameters are dependent on the type of power
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brick which is connected.
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## Compass
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The Pixracer has two builtin compasses. One is a HMC5843 and the other
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is a part of the MPU9250 IMU. Due to potential interference the board
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is usually used with an external I2C compass as part of a GPS/Compass
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combination.
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## GPIOs
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The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
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use them you need to limit the number of these pins that is used for
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PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
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if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
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use as GPIOs.
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The numbering of the GPIOs for PIN variables in ArduPilot is:
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- PWM1 50
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- PWM2 51
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- PWM3 52
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- PWM4 53
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- PWM5 54
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- PWM6 55
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## Analog inputs
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The Pixracer has 4 analog inputs
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- ADC Pin2 -> Battery Voltage
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- ADC Pin3 -> Battery Current Sensor
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- ADC Pin4 -> Vdd 5V supply sense
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- ADC Pin11 -> Analog RSSI Input
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader,
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allowing the loading of *.apj firmware files with any ArduPilot
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compatible ground station.
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## Acknowledgements
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Thanks to [mRobotics](http://mrobotics.io/) and the [PX4 project](https://docs.px4.io/en/flight_controller/pixracer.html) for images
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Binary file not shown.
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After Width: | Height: | Size: 174 KiB |
Binary file not shown.
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After Width: | Height: | Size: 186 KiB |
@ -133,9 +133,6 @@ PD10 FRAM_CS CS
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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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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PD15 MPU9250_DRDY INPUT
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# UART8 serial4 FrSky
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@ -153,11 +150,14 @@ PE3 VDD_SENSORS_EN OUTPUT HIGH
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE12 MAG_DRDY INPUT
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 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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PE12 MAG_DRDY INPUT
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PE15 MAG_CS CS
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# SPI device table. The DEVID values are chosen to match the PX4 port
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