mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add CBUnmanned CBU-H7-LC-Stamp
This commit is contained in:
Andy Piper
parent
fb2e406ab3
commit
4e3d0a2e9d
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp Low Cost 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 AP_HW_CBU_StampH743_LC
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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 UART1 UART2
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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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PE9 IMU1_CS CS
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PE4 SP4_CS1 CS
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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PB6 USART1_TX USART1
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PA10 USART1_RX USART1
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PE3 LED_ACTIVITY OUTPUT HIGH
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define HAL_LED_ON 1
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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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# 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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PC1 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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PB3 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* 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 +1,191 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp Low Cost 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 12
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define CH_CFG_ST_RESOLUTION 16
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MCU_CLOCKRATE_MHZ 480
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_CBU_StampH743_LC
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FLASH_RESERVE_START_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 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 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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PB6 USART1_TX USART1 NODMA
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PA10 USART1_RX USART1 NODMA
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# GPS 1
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PC10 USART3_TX USART3
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PD9 USART3_RX USART3
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# GPS 2
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PD1 UART4_TX UART4
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PC11 UART4_RX UART4
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# RCIN
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL6_BAUD 115
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PA15 UART7_TX UART7
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PE7 UART7_RX UART7
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PE1 UART8_TX UART8 NODMA
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PE0 UART8_RX UART8 NODMA
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# ADC
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PC4 BATT_CURRENT_SENS ADC1 SCALE(1) # Current INP4
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PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1) # Voltage
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# PB1 SPARE_SENS ADC1 SCALE(1) # Spare
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 18
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define HAL_BATT_CURR_PIN 4
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 64
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# IMU1 ICM-42760-P
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PE9 IMU1_CS CS
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PB0 IMU1_DRDY INPUT
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# SPI4 - External
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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PD4 SP4_DRDY INPUT
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PE4 SP4_CS1 CS
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# SPI6 - IMUs
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PA5 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PB5 SPI6_MOSI SPI6
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# PWM output pins
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR
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PB7 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) BIDIR
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PC8 TIM3_CH3 TIM3 PWM(9) GPIO(58)
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PB1 TIM3_CH4 TIM3 PWM(10) GPIO(59)
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PA7 TIM14_CH1 TIM14 GPIO(61) ALARM
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# CAN bus
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PD0 CAN1_RX CAN1
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PB9 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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# I2C2 - BMP280
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# I2C3 - GPS1 external compass
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PA8 I2C3_SCL I2C3
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PC9 I2C3_SDA I2C3
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# I2C4 - GPS2 external compass
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PB8 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C2 I2C3 I2C4
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define HAL_I2C_INTERNAL_MASK 1
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# microSD support
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PC1 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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PB3 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# safety
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PD3 SAFETY_IN INPUT PULLDOWN
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# LED
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PE3 LED_RED OUTPUT HIGH GPIO(90)
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define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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define AP_NOTIFY_GPIO_LED_1_PIN 90
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define HAL_GPIO_LED_ON 1
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# barometers
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BARO BMP280 I2C:0:0x76
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# IMUs
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SPIDEV icm42670 SPI6 DEVID3 IMU1_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42670 ROTATION_PITCH_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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DMA_PRIORITY SDMMC* TIM* SPI6*
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DMA_NOSHARE TIM2* TIM4* TIM5*
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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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# enable DFU reboot for installing bootloader
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# note that if firmware is build with --secure-bl then DFU is
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# disabled
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ENABLE_DFU_BOOT 1
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# build ABIN for flash-from-bootloader support:
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env BUILD_ABIN True
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# ethernet consumes a big chunk of flash
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define AP_BATTERY_SCRIPTING_ENABLED 1
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@ -0,0 +1,187 @@
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# H743 Stamp Flight Controller (& Low Cost)
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CBUnmanned H743 Stamp
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The [CBUnmanned H743 Stamp](https://cbunmanned.com/store) is a flight controller loosely based on the FMUv6 standards & is designed for low volume OEMs as a drop in way to add ArduPilot to their custom hardware builds. It is a part of CBUnmanned's wider ["Stamp" Eco-System](https://cbunmanned.com/), which brings together all the typical avionics hardware into a neat custom carrier PCB. Mounting footprints and symbols are available along with examples of basic usage on the [Wiki](https://wiki.cbunmanned.com/).
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A "Low Cost" version is available with a limited feature set.
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| Full Featured Stamp | Low Cost Stamp |
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|--|--|
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###
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Features
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- Class leading H7 SOC.
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- Direct solder mounting or optional 1.27mm header.
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- All complicated/supporting circuitry is on-board, just power with 5v.
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- From Just 22mm x 24.25mm
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| Item | Full Featured Stamp | Low Cost Stamp |
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|--|--|--|
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| Dimensions | 22mm x 24mm | 23mm x 25mm |
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| Weight | 3g | 3g |
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| **Processor** | STM32H743IIK6 | STM32H743VIH6 |
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| | 480MHz | 480MHz |
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| | 2Mb Flash | 2Mb Flash |
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| | 1Mb RAM | 1Mb RAM |
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| **Sensors** | | |
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| IMU 1 | Ivensense ICM-42688 | Ivensense ICM-42670 |
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| IMU 2 | Ivensense ICM-42688 | Not Fitted |
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| IMU 3 | Ivensense ICM-42670 | Not Fitted |
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| Barometer | BMP280 | BMP280 |
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| Compass | BMM150 | Not Fitted |
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| Micro SD Card | Yes | Yes |
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| **IO** | | |
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| PWM |10 | 10 |
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| CAN | 2 | 2 |
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| UART | 8 (3 with flow control) | 8 (None with flow control) |
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| I2C | 2 | 2 |
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| External SPI | 1 (With custom FW build) | 1 (With custom FW build) |
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| Ethernet | Yes | No |
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| Safety Button | Yes | Yes |
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| Analog | 2 | 2 |
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| Buzzer (PWM 11) |Yes |Yes |
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| USB |Yes |Yes |
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| **Power** | | |
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| Input Voltage | 5v | 5v |
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| Typical Current Consumption | 0.4 A | 0.4 A |
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| Independent Power Domains | 6 Separate Power Domains | No |
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####
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**UART Mapping**
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Ardupilot -> STM32
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- SERIAL0 -> USB
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- SERIAL1 -> USART1
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- SERIAL2 -> USART2 (With RTS/CTS)*
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- SERIAL3 -> USART3
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- SERIAL4 -> UART4
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- SERIAL5 -> UART5 (With RTS/CTS)*
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- SERIAL6 -> USART6 (Sbus In / IO coprocessor if fitted)
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- SERIAL7 -> UART7 (With RTS/CTS)*
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- SERIAL8 -> UART8
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*Serial 2, 5 & 7 have RTS/CTS pins (not available on the low cost version), the other UARTs do not have RTS/CTS.
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GPS 1 & 2 are on Serial 3 & 4 respectively.
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####
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**RC Input**
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RC input is configured on the USART 6 Rx Pin. This pin allows all RC protocols compatible with direct connection to a H7 IC (SBus, CRSF etc), PPM is NOT supported.
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USART 6 Tx is available for use with bi directional protocols.
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An optional IOMCU can be connected to this serial port, a compatible custom build of the firmware required.
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####
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**CAN Ports**
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2 CAN buses are available, each with a built in 120 ohm termination resistor.
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####
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**I2C**
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I2C 1 - Internal for BMM150 Compass (not available on the low cost version)
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I2C 2 - Internal for BMP280 Barometer
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I2C 3 - External With internal 2.2k Pull Up
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I2C 4 - External With internal 2.2k Pull Up
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####
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**SPI**
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SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin, compatible custom build of the firmware required.
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####
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**PWM Output**
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The Stamp supports up to 10 PWM outputs with D-Shot.
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The PWM outputs are in 3 groups:
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- PWM 1 - 4 in group 1
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- PWM 5 - 8 in group 2
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- PWM 9 & 10 in group 3
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Channels within the same group need to use the same output rate. If any channel in a group uses D-Shot then all channels in the group need to use D-Shot.
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BiDirectional DShot available on the first 8 outputs.
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A buzzer alarm signal is available on PWM 11.
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####
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**Analog Inputs**
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The board has two ADC input channels for Voltage (0-3.3v) and Current (0-3.3v) measurement. Settings are dependent on the external hardware used.
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####
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**Ethernet**
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Ethernet is available on 4 output pads and has internal magnetics supporting direct connection to external equipment, without the need for a large RJ45 connector. (Not available on the low cost version).
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####
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**Compass**
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The H743 Stamp has a built in compass, the BMM150. Due to potential interference the board is usually used with an external I2C or CAN compass as part of a GPS/Compass combination. (Not available on the low cost version).
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####
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**USB**
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USB Signals D+ & D- are available to route to a suitable connector for your project.
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####
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**Safety Button**
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Optional, if it is not fitted remove the check from arming mask. To activate short this pad to 3.3v with a momentary push button (Press & Hold)
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####
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**Power**
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A regulated 3.3v output is available from the stamp for use with the safety button. WARNING! This is shared with the main IC - Do NOT use for accessories. Keep current draw under 0.1A!
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The Stamp requires a stable 5v supply input of at least 1.5A. This directly powers the 5v components and supplies the 3.3v LDOs with power. Typical idle usage is 0.35A @ 5v.
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###
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**Loading Firmware**
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The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
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A built in button can be used to activate DFU Mode by pressing during power up. The DFU Activate pin is broken out to allow remote mounting of this button if required.
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For the full featured please use firmware "CBU-H7-Stamp"
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For the low cost please use "CBU-H7-Stamp-LC"
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