AP_HAL_ChibiOS: Support for 3DR Control Zero H7 OEM rev G

Co-authored-by: Alexis Guijarro <totonzx@gmail.com> Co-authored-by: Andy Piper <github@andypiper.com>
2024-04-15 18:26:40 -06:00 · 2024-04-15 18:26:40 -06:00 · 763193d4fc
parent 0f0023e62d
commit 763193d4fc
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--- a/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/README.md
@ -0,0 +1,130 @@
+# 3DR (mRo) Control Zero H7 OEM Flight Controller revision G
+
+The Control Zero H7 OEM revision G is a flight controller produced by [3DR (mRo)](https://store.3dr.com/control-zero-h7-oem-g/).
+
+![3DR Control Zero H7 OEM rev G - Top](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_front.JPG)
+![3DR Control Zero H7 OEM rev G - Bottom](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_back.JPG?t=2024-03-08T20%3A18%3A49.140Z)
+![3DR Control Zero H7 OEM rev G - Top w/ case](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_case_front.JPG?t=2024-03-08T20%3A18%3A57.128Z)
+![3DR Control Zero H7 OEM rev G - Bottomi w/ case](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_case.jpg?t=2024-03-08T20%3A18%3A52.750Z)
+
+## Features
+
+	Processor
+		STM32H743IIK6 32-bit Processor
+	Sensors
+		BMI088 6DOF
+		ICM20602 6DOF
+		ICM20948 9DOF
+		DPS368 Baro
+	Power
+		External Power Supply
+		Logic level at 3.3V
+	Interfaces
+		Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-x and FTM-120-02-x
+		8x PWM / IO - DMA capable
+		1x RC Input 
+		5x UARTs (2x with hardware flow control)
+		2x CAN
+		1x SPI
+		3x I2C
+		SWD via TC2030 header
+		SDCARD Socket
+	Memory
+		FRAM (256KB)
+	Miscellaneous
+		Onboard 3 color LED
+		Buzzer
+		Safety Button
+
+
+###  Uncased Weight and Dimensions
+
+ Weight: 3.66g (13.oz)
+ Width:  20mm (.79in)
+ Length: 34mm (1.34in)
+
+ *Case sold separately*
+
+## Changelog
+
+- M10059C - Initial Release
+- M10059G adds external power supply and TCXO.
+
+## Pinout
+
+![Control Zero H7 OEM revision G pinout](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/pinouts/czoem_pinout_revG_topview.png)
+
+## UART Mapping
+
+- SERIAL0 -> USB1, for GCS connection
+
+- SERIAL1 -> USART2 (TELEM 1) DMA Enabled
+
+- SERIAL2 -> USART3 (TELEM 2) DMA Enabled
+
+- SERIAL3 -> UART4 (GPS) DMA Enabled
+
+- SERIAL4 -> UART8 (GPS 2) DMA Enabled
+
+- SERIAL5 -> UART7 (DEBUG) DMA Enabled
+
+- SERIAL6 -> USART6 (Additional USART) DMA Enabled
+
+- SERIAL7 -> USB2, MAVLink interface
+
+## RC Input
+
+RC input is configured on the RC_IN pin. These are the supported RC input protocols: 
+
+Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding. 
+Futaba S.BUS® & S.BUS2® compatible input. 
+Graupner SUMD. Yuneec ST24.
+
+## Analog Inputs
+
+The Control Zero H7 OEM revision G has 4 ADC inputs:
+
+- ADC1 Pin11 -> RSSI IN
+- ADC1 Pin14 -> Battery Voltage
+- ADC1 Pin15 -> Battery Current
+- ADC1 Pin18 -> 5V Sensor
+
+## PWM Output
+
+The Control Zero H7 OEM revision G supports up to 8 PWM outputs. All DShot and BiDirDShot capable.
+
+The PWM outputs are distributed in 3 groups:
+
+- PWM 1-4 in group 1
+- PWM 5-6 in group 4
+- PWM 7-8 in group 8
+
+Channels within the same group must use only one output rate. If any channel is using DShot or BiDirDShot the rest of the group will use the said output type.
+
+## Power Supply
+
+This board requires a 5V, 1 Amps power supply.
+
+## Battery Monitoring
+
+This board has a built-in voltage and current sensors. The following settings need to be present already on the board to work with a Power Zero Module (M10077):
+
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 14
+- BATT_CURR_PIN 15
+- BATT_VOLT_SCALE 15.3
+- BATT_CURR_SCALE 50.0
+
+*Other Power Module needs to be adjusted accordingly*
+
+## Build
+
+`./waf configure --board=3DRControlZeroG`
+
+`./waf copter` (check ArduPilot's docs for more info about the available targets)
+
+The compiled binary will be located in `build/3DRControlZeroG/bin/arducopter.apj`.
+
+## Uploading Firmware
+
+Any Control Zero H7 OEM revision G has a preloaded Ardupilot bootloader, which allows the user to use a compatible Ground Station software to upload the `.apj` file.  
--- a/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/defaults.parm
@ -0,0 +1,4 @@
+#Default Parameters for the mRo Control Zero OEM H7
+
+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 2
--- a/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/hwdef-bl.dat
@ -0,0 +1,58 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# USB setup
+USB_VENDOR 0x26ac
+USB_PRODUCT 0x1124
+USB_STRING_MANUFACTURER "3DR"
+USB_STRING_PRODUCT "CZOEMrevG"
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+define STM32_HSE_BYPASS
+define SMPS_EXT
+
+# board ID for firmware load
+APJ_BOARD_ID 1124
+
+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
+
+PH5 VDD_1V2_CORE_EN OUTPUT HIGH
+
+# 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 USART2
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# 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
--- a/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/3DRControlZeroG/hwdef.dat
@ -0,0 +1,266 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1124
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+define STM32_HSE_BYPASS
+define SMPS_EXT
+
+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 32768
+
+# USB setup
+USB_VENDOR 0x26ac
+USB_PRODUCT 0x1124
+USB_STRING_MANUFACTURER "3DR"
+USB_STRING_PRODUCT "CZOEMrevG"
+
+PA8 RCC_MCO_1 OUTPUT LOW
+
+PH5 VDD_1V2_CORE_EN OUTPUT HIGH
+
+# RC Input set for Interrupt not DMA
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN 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 has no internal I2C buses so mark them all external
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs and suggested uses
+# USART2 TELEM1
+# USART3 TELEM2
+# UART4 GPS
+# UART8 GPS2 
+# UART7 DEBUG
+
+# USART6 RC input (Only RX pin is connected)
+
+# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)
+
+SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 USART6 OTG2
+
+# 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, with 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 NODMA
+PE7 UART7_RX UART7 NODMA
+
+# USART6
+PG14 USART6_TX USART6
+PG9  USART6_RX USART6
+PG13 USART6_CTS USART6
+PG12 USART6_RTS USART6
+
+# UART8 GPS2
+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)
+
+# Now setup the default battery pins driver analog pins and default
+# scaling for the power brick (Adjusted for Power Zero - M10077).
+define HAL_BATT_VOLT_PIN 14
+define HAL_BATT_CURR_PIN 15
+define HAL_BATT_VOLT_SCALE 15.3
+define HAL_BATT_CURR_SCALE 50.0
+
+#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) BIDIR
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
+PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR
+PI5  TIM8_CH1 TIM8 PWM(7) GPIO(56) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(8) GPIO(57)
+
+# 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  7*MHZ
+SPIDEV icm20948    SPI1 DEVID1  ICM_20948_CS      MODE3  2*MHZ  7*MHZ
+
+# 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
+
+# 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*
+DMA_NOSHARE SPI1* SPI5*
+
+# 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
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# 1 baro
+BARO DPS280      SPI:dps310
+
+# 1 compass
+COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@ -86,6 +86,8 @@
 #define STM32_PWR_CR2                       (PWR_CR2_BREN)
 #ifdef SMPS_PWR
 #define STM32_PWR_CR3                       (PWR_CR3_SMPSEN | PWR_CR3_USB33DEN)
+#elif defined(SMPS_EXT)
+#define STM32_PWR_CR3                       (PWR_CR3_BYPASS | PWR_CR3_USB33DEN)
 #else
 #define STM32_PWR_CR3                       (PWR_CR3_LDOEN | PWR_CR3_USB33DEN)
 #endif