From 701ab83f01aa5c925525288cecbd5e492d873ebb Mon Sep 17 00:00:00 2001 From: Phillip Kocmoud Date: Wed, 4 Nov 2020 19:52:07 -0600 Subject: [PATCH] HAL_ChibiOS: Added support for mRo ControlZero OEM H7 flight controller --- Tools/scripts/build_binaries.py | 1 + Tools/scripts/generate_manifest.py | 2 + .../hwdef/mRoControlZeroOEMH7/hwdef-bl.dat | 62 ++++ .../hwdef/mRoControlZeroOEMH7/hwdef.dat | 281 ++++++++++++++++++ 4 files changed, 346 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef.dat diff --git a/Tools/scripts/build_binaries.py b/Tools/scripts/build_binaries.py index 33f6b6cb14..cbc30f679f 100755 --- a/Tools/scripts/build_binaries.py +++ b/Tools/scripts/build_binaries.py @@ -603,6 +603,7 @@ is bob we will attempt to checkout bob-AVR''' "mRoControlZeroF7", "mRoNexus", "mRoPixracerPro", + "mRoControlZeroOEMH7", "F35Lightning", "speedybeef4", "SuccexF4", diff --git a/Tools/scripts/generate_manifest.py b/Tools/scripts/generate_manifest.py index ca918606ac..0460c73009 100755 --- a/Tools/scripts/generate_manifest.py +++ b/Tools/scripts/generate_manifest.py @@ -46,6 +46,8 @@ brand_map = { 'Pixracer' : ('PixRacer', 'mRobotics'), 'mRoX21' : ('mRo X2.1', 'mRobotics'), 'mRoX21-777' : ('mRo X2.1-777', 'mRobotics'), + 'mRoPixracerPro' : ('mRo PixracerPro', 'mRobotics'), + 'mRoControlZeroOEMH7' : ('mRo ControlZero OEM H7', 'mRobotics'), 'mRoNexus' : ('mRo Nexus', 'mRobotics'), 'TBS-Colibri-F7' : ('Colibri F7', 'TBS'), 'sparky2' : ('Sparky2', 'TauLabs'), diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef-bl.dat new file mode 100644 index 0000000000..afc55b18a9 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef-bl.dat @@ -0,0 +1,62 @@ +########################################################################################################################################################### +# mRo Control Zero OEM H7 Flight Controller +# STM32H753IIK6 +# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic +# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip +# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF) +# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG +# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C +# Onboard 3 color LED and buzzer +# 20mm x 34mm / 3.66g +# M10059C - Initial Release +########################################################################################################################################################### + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# USB setup +USB_STRING_MANUFACTURER "mRo" + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID 1024 + +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 128 + +PB11 LED_BOOTLOADER OUTPUT + +# define all 3 to make LED output White. +PB1 LED_ACTIVITY OUTPUT +PB3 LED_ACTIVITY2 OUTPUT +# PB11 LED_ACTIVITY3 OUTPUT + +define HAL_LED_ON 0 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC2 ICM_20602_CS CS +PD7 BARO_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW NODMA +PE15 ICM_20948_CS CS +PF6 BMI088_ACCEL_CS CS +PF10 BMI088_GYRO_CS CS +PG9 EXTERNAL CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef.dat new file mode 100644 index 0000000000..2a173c97b4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroOEMH7/hwdef.dat @@ -0,0 +1,281 @@ +########################################################################################################################################################### +# mRo Control Zero OEM H7 Flight Controller +# STM32H753IIK6 +# 8x PWM / IO - DMA capable, buffered and level shiftable - 3.3v (default) / 5v Logic +# Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-F-DV 1.00 mm Surface Mount Micro Low Profile Terminal Strip +# 3x IMUs (BMI088 6DOF, ICM20602 6DOF, ICM20948 9DOF) +# DPS310 Baro, FRAM (256Bb), SDCARD Socket, TC2030 JTAG +# 5x UARTs (2x with hardware flow control), 2x CAN, 1x SPI, 3x I2C +# Onboard 3 color LED and buzzer +# 20mm x 34mm / 3.66g +# M10059C - Initial Release +########################################################################################################################################################### + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1024 + +# crystal frequency +OSCILLATOR_HZ 24000000 + +FLASH_SIZE_KB 2048 + +# with 2M flash we can afford to optimize for speed +env OPTIMIZE -O2 + +# start on 2th sector (1st sector for bootloader) +FLASH_RESERVE_START_KB 128 + +define HAL_STORAGE_SIZE 16384 + +# USB setup +USB_STRING_MANUFACTURER "mRo" + +# RC Input set for Interrupt not DMA +PC7 TIM3_CH2 TIM3 RCININT FLOAT LOW + +# GPIO(70) # also USART6_RX for serial RC + +# Control of Spektrum power pin +PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70) +define HAL_GPIO_SPEKTRUM_PWR 70 + +# Spektrum Power is Active High +define HAL_SPEKTRUM_PWR_ENABLED 0 + +# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers +PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71) +define HAL_GPIO_SPEKTRUM_RC 71 + +# Order of I2C buses +I2C_ORDER I2C1 I2C3 I2C4 + +# this board only has a single I2C bus so make it external +define HAL_I2C_INTERNAL_MASK 0 + +# order of UARTs and suggested uses +# USART2 TELEM1 +# USART3 TELEM2 +# UART4 GPS +# UART8 FRSKY Telem +# UART7 DEBUG + +# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports) + +SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2 + +# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers +define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 + +# Another USART, this one for telem1. This one has RTS and CTS lines. +# USART2 telem1 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +# The telem2 USART, this one for telem2. This one has RTS and CTS lines. +# USART3 telem2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# UART4 GPS +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 + +# UART7 +PE8 UART7_TX UART7 +PE7 UART7_RX UART7 + +# UART8 FrSky Telemetry (Single wire serial connects to the TX pin only) +PE1 UART8_TX UART8 +PE0 UART8_RX UART8 + +# RSSI Analog Input +PC1 RSSI_IN ADC1 + +# Safety Switch Input +PC4 SAFETY_IN INPUT PULLDOWN +define HAL_HAVE_SAFETY_SWITCH 1 + +# Battery Analog Sense Pins +# PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +# PA3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# Now the VDD sense pin. This is used to sense primary board voltage. +# PA4 VDD_5V_SENS ADC1 SCALE(2) + + +# Battery Analog Sense Pins +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# Now the VDD sense pin. This is used to sense primary board voltage. +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# Now setup the default battery pins driver analog pins and default +# scaling for the power brick. +define HAL_BATT_VOLT_PIN 14 +define HAL_BATT_CURR_PIN 15 +define HAL_BATT_VOLT_SCALE 10.1 +define HAL_BATT_CURR_SCALE 17.0 + +#SPI1 ICM_20602 / ICM_20948 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +#SPI2 FRAM / DPS310 +PB10 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +#SPI5 BMI088 +PF7 SPI5_SCK SPI5 +PF8 SPI5_MISO SPI5 +PF9 SPI5_MOSI SPI5 + +#SPI6 External +PG13 SPI6_SCK SPI6 +PG12 SPI6_MISO SPI6 +PG14 SPI6_MOSI SPI6 + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PA9 VBUS INPUT OPENDRAIN + +# This input pin is used to detect that power is valid on USB. +PC0 VBUS_VALID INPUT PULLDOWN + +# Now we define the pins that USB is connected on. +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# These are the pins for SWD debugging with a STlinkv2 or black-magic probe. +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# PWM output for buzzer +PA15 TIM2_CH1 TIM2 GPIO(77) ALARM + +# First I2C bus. +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# Second I2C bus. +PH7 I2C3_SCL I2C3 +PH8 I2C3_SDA I2C3 + +# Third I2C bus. +PB6 I2C4_SCL I2C4 +PB7 I2C4_SDA I2C4 + +# microSD card +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# CS pins for SPI sensors. The labels for all CS pins need to +# match the SPI device table later in this file. +PC2 ICM_20602_CS CS +PD7 BARO_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW NODMA +PE15 ICM_20948_CS CS +PF6 BMI088_ACCEL_CS CS +PF10 BMI088_GYRO_CS CS +PG9 EXTERNAL CS + +# CAN Busses +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +PB13 CAN2_TX CAN2 +PB12 CAN2_RX CAN2 + +# CAN Silent Pins LOW Enable +PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) + +# Now we start defining some PWM pins. We also map these pins to GPIO +# values, so users can set BRD_PWM_COUNT to choose how many of the PWM +# outputs on the primary MCU are setup as PWM and how many as +# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs +# starting at 50. +PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) +PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) +PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) +PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56) +PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57) + +define BOARD_PWM_COUNT_DEFAULT 8 + +# This is the invensense 20602 data-ready pin. +PD15 MPU_DRDY INPUT + +# Power Supply Enable +PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH + +# Power Supply Enable 3.3v Periph/Spektrum +PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH + +# Power flag pins: these tell the MCU the status of the various power +# supplies that are available. The pin names need to exactly match the +# names used in AnalogIn.cpp. +PB5 VDD_BRICK_VALID INPUT PULLDOWN + +SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ +SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ +SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 8*MHZ +SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 4*MHZ + +# Now some defines for logging and terrain data files. +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + + +# Enable RAMTROM parameter storage. +define HAL_WITH_RAMTRON 1 + +# Enable FAT filesystem support (needs a microSD defined via SDMMC). +define HAL_OS_FATFS_IO 1 + + +# Control Zero has a TriColor LED, Red, Green, Blue +define HAL_HAVE_PIXRACER_LED + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + +# LED setup for PixracerLED driver +PB11 LED_R OUTPUT HIGH GPIO(0) +PB1 LED_G OUTPUT HIGH GPIO(1) +PB3 LED_B OUTPUT HIGH GPIO(2) + +define HAL_GPIO_A_LED_PIN 0 +define HAL_GPIO_B_LED_PIN 1 +define HAL_GPIO_C_LED_PIN 2 + +# DMA_PRIORITY SDMMC* + +# 3 IMUs +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE +IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90 +IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90 + +# 1 baro +BARO DPS280 SPI:dps310 + +# 1 compass +COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180 +define HAL_PROBE_EXTERNAL_I2C_COMPASSES