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HAL_ChibiOS: added YJUAV_A6SE support

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yunjiuav 2023-08-08 23:58:10 +08:00 committed by Andrew Tridgell
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# A6SE Flight Controller
The A6SE flight controller is manufactured and sold by [YJUAV](http://www.yjuav.net).
## Features
- STM32H750 microcontroller
- Onboard Flash: 128Mbits/16Mbytes
- Two IMUs: ICM42688, ICM42688
- Internal ITS8310 I2C magnetometer
- Internal DPS310 SPI barometer
- Internal RGB LED
- microSD card slot port
- 1 analog power ports
- 5 UARTs and 1 USB ports
- 3 I2C and 2 CAN ports
- 11 PWM output ports
- Safety switch port
- External SPI port
- Buzzer port
- RC IN port
## Pinout
![YJUAV_A6SE Board](YJUAV_A6SE-pinout.jpg "YJUAV_A6SE")
## Connectors
**POWER ADC**
| Pin | Signal | Volt |
| :--: | :-------------: | :---: |
| 1 | VCC_IN | +5V |
| 2 | VCC_IN | +5V |
| 3 | BAT_CRRENT_ADC | +3.3V |
| 4 | BAT_VOLTAGE_ADC | +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
**TELEM1&TELEM2**
| Pin | Signal | Volt |
| :--: | :-----: | :---: |
| 1 | VCC | +5V |
| 2 | UART_TX | +3.3V |
| 3 | UART_RX | +3.3V |
| 4 | CTS | +3.3V |
| 5 | RTS | +3.3V |
| 6 | GND | GND |
**ADC**
| Pin | Signal | Volt |
| :--: | :-----: | :---: |
| 1 | VCC | +5V |
| 2 | ADC_3V3 | +3.3V |
| 3 | ADC_6V6 | +6.6V |
| 4 | GND | GND |
**SPI**
| Pin | Signal | Volt |
| :--: | :------: | :---: |
| 1 | VCC | +5V |
| 2 | SPI_SCK | +3.3V |
| 3 | SPI_MISO | +3.3V |
| 4 | SPI_MOSI | +3.3V |
| 5 | SPI_CS | +3.3V |
| 6 | GND | GND |
**I2C**
| Pin | Signal | Volt |
| :--: | :-----: | :---: |
| 1 | VCC | +5V |
| 2 | I2C_SCL | +3.3V |
| 3 | I2C_SDA | +3.3V |
| 4 | GND | GND |
**CAN1&CAN2**
| Pin | Signal | Volt |
| :--: | :----: | :---: |
| 1 | VCC | +5V |
| 2 | CAN_P | +3.3V |
| 3 | CAN_N | +3.3V |
| 4 | GND | GND |
**GPS1**
| Pin | Signal | Volt |
| :--: | :-----: | :---: |
| 1 | VCC | +5V |
| 2 | UART_TX | +3.3V |
| 3 | UART_RX | +3.3V |
| 4 | I2C_SCL | +3.3V |
| 5 | I2C_SDA | +3.3V |
| 6 | GND | GND |
**GPS2&SAFETY**
| Pin | Signal | Volt |
| :--: | :-----------: | :---: |
| 1 | VCC | +5V |
| 2 | UART_TX | +3.3V |
| 3 | UART_RX | +3.3V |
| 4 | I2C_SCL | +3.3V |
| 5 | I2C_SDA | +3.3V |
| 6 | SAFETY_SW | +3.3V |
| 7 | SAFETY_SW_LED | +3.3V |
| 8 | 3V3_OUT | +3.3V |
| 9 | BUZZER | +3.3V |
| 10 | GND | GND |
**DEBUG**
| Pin | Signal | Volt |
| :--: | :----: | :---: |
| 1 | VCC | +5V |
| 2 | TX | +3.3V |
| 3 | RX | +3.3V |
| 4 | SWDIO | +3.3V |
| 5 | SWCLK | +3.3V |
| 6 | GND | GND |
**SAFETY**
| Pin | Signal | Volt |
| :--: | :-----------: | :---: |
| 1 | 3V3_OUT | +3.3V |
| 2 | SAFETY_SW | +3.3V |
| 3 | SAFETY_SW_LED | +3.3V |
| 4 | SBUS_OUT | +3.3V |
| 5 | RSSI | +3.3V |
| 6 | GND | GND |
**USB EX**
| Pin | Signal | Volt |
| :--: | :----: | :---: |
| 1 | VCC_IN | +5V |
| 2 | DM | +3.3V |
| 3 | DP | +3.3V |
| 4 | GND | GND |
## UART Mapping
- SERIAL0 -> USB (OTG1)
- SERIAL1 -> USART1 (Telem1)
- SERIAL2 -> USART6 (Telem2)
- SERIAL3 -> USART3 (GPS1), NODMA
- SERIAL4 -> USART2 (GPS2), NODMA
- SERIAL5 -> UART8 (SBUS)
- SERIAL6 -> UART7 (Debug), NODMA
- SERIAL7 -> USB2 (OTG2)
## RC Input
The remote control signal should be connected to the “RC IN” pin, at one side of the servo channels.
This signal pin supports two types of remote control signal inputs, SBUS and PPM signals.
## PWM Output
The A6SE supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row.
The 11 PWM outputs are in 4 groups:
- PWM 1, 2, 3 and 4 in group1
- PWM 5, 6, 7 and 8 in group2
- PWM 9, 10, 11 in group3
Channels 1-8 support bi-directional 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 that group need to use DShot.
## GPIOs
All 11 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
The pin numbers for these PWM channels in ArduPilot are shown below:
| PWM Channels | Pin | PWM Channels | Pin |
| ------------ | ---- | ------------ | ---- |
| PWM1 | 50 | PWM8 | 57 |
| PWM2 | 51 | PWM9 | 58 |
| PWM3 | 52 | PWM10 | 59 |
| PWM4 | 53 | PWM11 | 60 |
| PWM5 | 54 | | |
| PWM6 | 55 | | |
| PWM7 | 56 | | |
## Analog inputs
The A6SE flight controller has 5 analog inputs
- ADC Pin4 -> Battery Current
- ADC Pin12 -> Battery Voltage
- ADC Pin8 -> ADC 3V3 Sense
- ADC Pin10 -> ADC 6V6 Sense
- ADC Pin11 -> RSSI voltage monitoring
## Build the FC
./waf configure --board=YJUAV_A6SE
./waf copter
The compiled firmware is located in folder **"build/YJUAV_A6SE/bin/arducopter.apj"**.
## Loading Firmware
The A6SE flight controller 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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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/YJUAV_A6SE-pinout.jpg Normal file
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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/defaults.parm Normal file
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# setup the heater temperature to 45 degree
BRD_HEAT_TARG 45
# turn on the CAN power monitoring(default)
CAN_P1_DRIVER 1
BATT_MONITOR 4
# setup the parameter for the ADC power module
BATT_VOLT_PIN 12
BATT_CURR_PIN 4
BATT_VOLT_MULT 18.000
BATT_AMP_PERVLT 24.000
# setup the parameter for the ADC rssi
RSSI_ANA_PIN 11

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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef-bl.dat Normal file
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# hw definition file for processing by chibios_hwdef.py
# for A6SE_YJUAV board
# MCU class and specific type
MCU STM32H7xx STM32H750xx
# crystal frequency
OSCILLATOR_HZ 16000000
# board ID for firmware load
APJ_BOARD_ID 1125
FLASH_SIZE_KB 128
FLASH_RESERVE_START_KB 0
FLASH_RESERVE_END_KB 0
FLASH_BOOTLOADER_LOAD_KB 128
# 16MB external flash
EXT_FLASH_SIZE_MB 16
EXT_FLASH_RESERVE_START_KB 1024
EXT_FLASH_RESERVE_END_KB 448
# QuadSPI Flash
PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
PB6 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH
# IFace Device Name Bus QSPI Mode Clk Freq Size (Pow2) NCS Delay
QSPIDEV w25q-dtr QUADSPI1 MODE3 100*MHZ 24 1
# order of UARTs (and USB). Allow bootloading on USB and Debug
SERIAL_ORDER OTG1 UART7
# UART7 DEBUG
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
define BOOTLOADER_DEBUG SD7
# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PE15 LED_RED OUTPUT OPENDRAIN HIGH # red
PD10 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
PD4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
define HAL_LED_ON 0
# Add CS pins to ensure they are high in bootloader
PE4 IMU1_CS CS
PA0 IMU2_CS CS
PE10 FRAM_CS CS
PE9 BAROMETER_CS CS
PE3 COMPASS_CS CS
PC15 RESERVE_CS CS
# Extra SPI CS
PE5 EXT_CS CS

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# hw definition file for processing by chibios_hwdef.py for A6SE_YJUAV
# MCU class and specific type
MCU STM32H7xx STM32H750xx
# crystal frequency
OSCILLATOR_HZ 16000000
# board ID for firmware load
APJ_BOARD_ID 1125
env OPTIMIZE -O2
# ChibiOS system timer
STM32_ST_USE_TIMER 5
# internal flash is off limits
FLASH_SIZE_KB 128
FLASH_RESERVE_START_KB 0
define HAL_FLASH_PROTECTION 1
EXT_FLASH_SIZE_MB 16
EXT_FLASH_RESERVE_START_KB 1024
EXT_FLASH_RESERVE_END_KB 448
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 USART6 USART3 USART1 UART8 UART7 OTG2
# now we define the pins that USB is connected on
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# USART2 TELEM1
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
# USART6 TELEM2
PC7 USART6_RX USART6
PC6 USART6_TX USART6
PG13 USART6_CTS USART6
PG8 USART6_RTS USART6
# USART3 GPS1
PD9 USART3_RX USART3 NODMA
PD8 USART3_TX USART3 NODMA
# USART1 GPS2
PB7 USART1_RX USART1 NODMA
PA9 USART1_TX USART1 NODMA
# SBUS, DSM port
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# UART7 DEBUG
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 -IMU1
PB3 SPI1_SCK SPI1
PB4 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1
# SPI6 -IMU2 -IMU3
PA5 SPI6_SCK SPI6
PA6 SPI6_MISO SPI6
PA7 SPI6_MOSI SPI6
# SPI5
PF7 SPI5_SCK SPI5
PF8 SPI5_MISO SPI5
PF9 SPI5_MOSI SPI5
# SPI4 -Extra SPI
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# sensors cs
PE4 IMU1_CS CS
PA0 IMU2_CS CS
PE10 FRAM_CS CS
PE9 BAROMETER1_CS CS
PE3 BAROMETER2_CS CS
PC15 RESERVE_CS CS
# Extra SPI CS
PE5 EXT_CS CS
# I2C buses
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
# order of I2C buses
I2C_ORDER I2C1 I2C2 I2C3 I2C4
NODMA I2C*
define STM32_I2C_USE_DMA FALSE
define HAL_I2C_INTERNAL_MASK 1
# PWM channels
PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52) BIDIR
PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54) BIDIR
PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
PA10 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR
PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
PB5 TIM3_CH2 TIM3 PWM(9) GPIO(58)
PB0 TIM3_CH3 TIM3 PWM(10) GPIO(59)
PB1 TIM3_CH4 TIM3 PWM(11) GPIO(60)
# PWM output for buzzer
PD14 TIM4_CH3 TIM4 GPIO(77) ALARM
# RC input
PB14 TIM12_CH1 TIM12 RCININT PULLUP LOW
# Analog in
PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
# ADC3.3/ADC6.6
PC5 SPARE1_ADC1 ADC1 SCALE(1)
PC0 SPARE2_ADC1 ADC1 SCALE(2)
PC1 RSSI_IN ADC1 SCALE(1)
PC3 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
# CAN bus
PD0 CAN1_RX CAN1
PD1 CAN1_TX CAN1
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
# GPIOs
PC13 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1
# enable pins
PC14 VDD_3V3_SENSORS_EN OUTPUT LOW
# red LED marked as B/E
PE15 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
PD10 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
PG0 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
define HAL_GPIO_LED_ON 0
define HAL_GPIO_LED_OFF 1
# use pixracer style 3-LED indicators
define HAL_HAVE_PIXRACER_LED
# allow to have have a dedicated safety switch pin
define HAL_HAVE_SAFETY_SWITCH 1
PB15 LED_SAFETY OUTPUT
PA4 SAFETY_IN INPUT PULLDOWN
# SPI devices
SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
SPIDEV imu2 SPI6 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV dps310 SPI5 DEVID3 BAROMETER1_CS MODE3 5*MHZ 5*MHZ
SPIDEV ms5611 SPI5 DEVID3 BAROMETER2_CS MODE3 5*MHZ 5*MHZ
# IMU1
IMU Invensense SPI:imu1 ROTATION_PITCH_180_YAW_90
IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
# IMU2
IMU Invensense SPI:imu2 ROTATION_PITCH_180_YAW_90
IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 5
# baro or bmp388
BARO DPS310 SPI:dps310
BARO MS56XX SPI:ms5611
BARO ICP201XX I2C:0:0x64
# compass
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_90
# QuadSPI Flash
PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
PB6 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH
# microSD support
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
#define HAL_USE_EMPTY_STORAGE 1
DMA_PRIORITY SPI1* TIM*UP*
DMA_NOSHARE SPI1* TIM*UP*
# Enable Sagetech MXS ADSB transponder
define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED