diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md new file mode 100644 index 0000000000..bb5d59c990 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md @@ -0,0 +1,105 @@ +## ZeroOneX6 Air Flight Controller +The ZeroOneX6_Air is a series of flight controllers manufactured by ZeroOne, which is based on the open-source FMU v6C architecture and Pixhawk Autopilot Bus open source specifications. + +![Uploading ZeroOneX6_Air.jpg…](https://github.com/ZeroOne-Aero/ardupilot/blob/ZeroOneX6_Air/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png?raw=true) + + +## Features: +- Separate flight control Inertial Measurement Unit design. +- MCU + STM32H743IIK6 32-bit processor running at 400MHz + 2MB Flash + 1MB RAM +- IO MCU + STM32F103 +- **Sensors of Air** + - IMU: + With Synced IMU, BalancedGyro technology, low noise and more shock-resistant: + IMU- ICM45686 (No vibration isolation) + - Baro: + one barometer ：ICP20100 + - Magnetometer: + Builtin IST8310 magnetometer +- **Sensors of Air+** + - IMU: + Internal Vibration Isolation for IMU + IMU constant temperature heating (1W heating power). + With Double Synced IMUs, BalancedGyro technology, low noise and more shock-resistant: + IMU1- ICM45686 (With vibration isolation) + IMU2- ICM45686 (No vibration isolation) + - Baro: + Two barometers ：2 x ICP20100 + - Magnetometer: + Builtin IST8310 magnetometer + +## Pinout +![ZeroOneX6_Air Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/ZeroOneX6_Air/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_AirSeriesPinout.jpg "ZeroOneX6_Air") + +## UART Mapping +The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn. +| Name | Function | MCU PINS | DMA | +| :-----: | :------: | :------: | :------:| +| SERIAL0 | OTG1 | USB | +| SERIAL1 | Telem1 | UART7 |DMA Enabled | +| SERIAL2 | Telem2 | UART5 |DMA Enabled | +| SERIAL3 | GPS1 | USART1 |DMA Enabled | +| SERIAL4 | GPS2 | UART8 |DMA Enabled | +| SERIAL5 | Telem3 | USART2 |DMA Enabled | +| SERIAL6 | UART4 | UART4 |DMA Enabled | +| SERIAL7 | OTG-SLCAN| USB | + +## RC Input +The remote control signal should be connected to the SBUS RC IN port.It will support ALL unidirectional RC protocols. + +## PWM Output +The X6_Air flight controller supports up to 15 PWM outputs. +First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. +The remaining 7 outputs (labelled 9 to 15) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller . +All 15 outputs support normal PWM output formats. All 15 outputs support DShot, except 15. + +The 8 IO PWM outputs are in 4 groups: +- Outputs 1 and 2 in group1 +- Outputs 3 and 4 in group2 +- Outputs 5, 6, 7 and 8 in group3 + +The 8 FMU PWM outputs are in 4 groups: +- Outputs 1, 2, 3 and 4 in group1 +- Outputs 5 and 6 in group2 +- Outputs 7 in group3 + +Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. + +## GPIO +All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is: + + + + + + + + + + + + + + + + +
IO Pins FMU Pins
Name Value Option Name Value Option
M1 101 MainOut1 A9 50 AuxOut1
M2 102 MainOut2 A10 51 AuxOut2
M3 103 MainOut3 A11 52 AuxOut3
M4 104 MainOut4 A12 53 AuxOut4
M5 105 MainOut5 A13 54 AuxOut5
M6 106 MainOut6 A14 55 AuxOut6
M7 107 MainOut7 A15 56
M8 108 MainOut8
+ +## Battery Monitoring +The X6_Air flight controller has one six-pin power connectors, supporting CAN interface power supply. +This is set by default in the firmware and shouldn't need to be adjusted. + +## Compass +The X6_Air flight controller built-in industrial-grade electronic compass chip IST8310. + +## Analog inputs +The X6_Air flight controller has 2 analog inputs. +- ADC Pin12 -> ADC 6.6V Sense +- ADC Pin13 -> ADC 3.3V Sense + +## Where to Buy +https://www.01aero.cn diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.jpg b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.jpg new file mode 100755 index 0000000000..f372c0396e Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png new file mode 100755 index 0000000000..a59ac0906c Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_AirSeriesPinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_AirSeriesPinout.jpg new file mode 100755 index 0000000000..375abaa491 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_AirSeriesPinout.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/defaults.parm new file mode 100644 index 0000000000..cf088d6e2d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/defaults.parm @@ -0,0 +1,5 @@ +CAN_P1_DRIVER 1 +CAN_P2_DRIVER 1 + +BATT_MONITOR 8 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef-bl.dat new file mode 100644 index 0000000000..932a7dfc6c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef-bl.dat @@ -0,0 +1,103 @@ +# hw definition file for processing by chibios_hwdef.py +# for the ZeroOneX6_Air Series hardware + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# board ID for firmware load +APJ_BOARD_ID 5600 + +# 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 + +# flash size +FLASH_SIZE_KB 2048 + +env OPTIMIZE -Os + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 UART5 USART3 + +# Pin for PWM Voltage Selection +PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3) + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PA9 VBUS INPUT OPENDRAIN + +# pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# CS pins +PI9 IMU1_CS CS +PH5 ICM45686_CS CS +PG7 FRAM_CS CS +PI10 EXT1_CS CS + +# telem1 +PE8 UART7_TX UART7 +PF6 UART7_RX UART7 + +# telem2 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 + +# debug uart +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 + +# armed indication +PE6 nARMED OUTPUT HIGH + +# start peripheral power off +PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH +PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH + +# LEDs +PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red +PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue +define HAL_LED_ON 0 + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# enable DFU by default +ENABLE_DFU_BOOT 1 + +# support flashing from SD card: +# power enable pins +PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH + +# FATFS support: +define CH_CFG_USE_MEMCORE 1 +define CH_CFG_USE_HEAP 1 +define CH_CFG_USE_SEMAPHORES 0 +define CH_CFG_USE_MUTEXES 1 +define CH_CFG_USE_DYNAMIC 1 +define CH_CFG_USE_WAITEXIT 1 +define CH_CFG_USE_REGISTRY 1 + +# microSD support +PD6 SDMMC2_CK SDMMC2 +PD7 SDMMC2_CMD SDMMC2 +PB14 SDMMC2_D0 SDMMC2 +PB15 SDMMC2_D1 SDMMC2 +PG11 SDMMC2_D2 SDMMC2 +PB4 SDMMC2_D3 SDMMC2 +define FATFS_HAL_DEVICE SDCD2 + +DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM* + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1 + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef.dat new file mode 100644 index 0000000000..3cdcf11832 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef.dat @@ -0,0 +1,335 @@ +# hw definition file for processing by chibios_hwdef.py +# for the ZeroOneX6_Air Series hardware + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 2 + +# board ID for firmware load +APJ_BOARD_ID 5600 + +FLASH_RESERVE_START_KB 128 + +# to be compatible with the px4 bootloader we need +# to use a different RAM_MAP +env USE_ALT_RAM_MAP 1 + +# flash size +FLASH_SIZE_KB 2048 + +# supports upto 8MBits/s +CANFD_SUPPORTED 8 + +env OPTIMIZE -O2 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PA9 VBUS INPUT OPENDRAIN + +# pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# telem1 +PE8 UART7_TX UART7 +PF6 UART7_RX UART7 +PF8 UART7_RTS UART7 +PE10 UART7_CTS UART7 + +# telem2 +PC8 UART5_RTS UART5 +PC9 UART5_CTS UART5 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 + +# telem3 +PA3 USART2_RX USART2 +PD5 USART2_TX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 +# define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink2 + +# GPS1 +PB6 USART1_TX USART1 +PB7 USART1_RX USART1 + +# GPS2 +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# uart4 +PH13 UART4_TX UART4 +PH14 UART4_RX UART4 + +# debug uart +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 + +# USART6 is for IOMCU +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +IOMCU_UART USART6 + +# Ethernet +PC1 ETH_MDC ETH1 +PA2 ETH_MDIO ETH1 +PC4 ETH_RMII_RXD0 ETH1 +PC5 ETH_RMII_RXD1 ETH1 +PG13 ETH_RMII_TXD0 ETH1 +PG12 ETH_RMII_TXD1 ETH1 +PB11 ETH_RMII_TX_EN ETH1 +PA7 ETH_RMII_CRS_DV ETH1 +PA1 ETH_RMII_REF_CLK ETH1 +#PG15 ETH_POWER_EN ETH1 + +PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet + +define BOARD_PHY_ID MII_LAN8742A_ID +define BOARD_PHY_RMII + +# ADC +PA0 SCALED1_V3V3 ADC1 SCALE(2) +PA4 SCALED2_V3V3 ADC1 SCALE(2) +PB0 SCALED3_V3V3 ADC1 SCALE(2) +PF12 SCALED4_V3V3 ADC1 SCALE(2) + +PB1 VDD_5V_SENS ADC1 SCALE(2) + +# pin7 on AD&IO, analog 12 +PC2 ADC1_6V6 ADC1 SCALE(2) + +# pin6 on AD&IO, analog 13 +PC3 ADC1_3V3 ADC1 SCALE(1) + +# SPI1 - IMU3 ICM45686 +PA5 SPI1_SCK SPI1 +PB5 SPI1_MOSI SPI1 +PG9 SPI1_MISO SPI1 +PI9 SP1_CS1 CS + +# SPI2 -IMU1 ICM45686 +PI1 SPI2_SCK SPI2 +PI2 SPI2_MISO SPI2 +PI3 SPI2_MOSI SPI2 +PH5 SP2_CS1 CS +PA10 SP2_DRDY2 INPUT + +# SPI3 - unused +PB2 SPI3_MOSI SPI3 +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PI4 SP3_CS1 CS +PI8 SP3_CS2 CS +PI6 SP3_DRDY1 INPUT +PI7 SP3_DRDY2 INPUT GPIO(93) +define SP3_DRDY2 93 + +# SPI4 - unused +#PE12 SPI4_SCK SPI4 +#PE13 SPI4_MISO SPI4 +#PE14 SPI4_MOSI SPI4 +#PF3 SP4_DRDY1 INPUT +PH15 SP4_CS1 CS + +# SPI5 - FRAM +PF7 SPI5_SCK SPI5 +PH7 SPI5_MISO SPI5 +PF11 SPI5_MOSI SPI5 +PG7 FRAM_CS CS + +# SPI6 - external1 (disabled to save DMA channels) +# PB3 SPI6_SCK SPI6 +# PA6 SPI6_MISO SPI6 +# PG14 SPI6_MOSI SPI6 +# PI10 EXT1_CS CS + +# PWM output pins +PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) +PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) +PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) +PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) +PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) +PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) + +# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v +PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3) +define HAL_GPIO_PWM_VOLT_PIN 3 +define HAL_GPIO_PWM_VOLT_3v3 0 + +# we need to disable DMA on the last 2 FMU channels +# as timer 12 doesn't have a TIMn_UP DMA option +PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA +PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA + +# GPIOs +PE11 FMU_CAP1 INPUT GPIO(58) +PC0 NFC_GPIO INPUT GPIO(60) + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +PB12 CAN2_RX CAN2 +PB13 CAN2_TX CAN2 + +# I2C buses + +# I2C1, GPS+MAG +PB9 I2C1_SDA I2C1 +PB8 I2C1_SCL I2C1 + +# I2C2, GPS2+MAG +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 +PG5 DRDY1_BMP388 INPUT + +# I2C3, MS5611, external +PA8 I2C3_SCL I2C3 +PH8 I2C3_SDA I2C3 + +# I2C4 internal +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +# order of I2C buses +I2C_ORDER I2C4 I2C1 I2C2 I2C3 +define HAL_I2C_INTERNAL_MASK 1 + +# heater +PB10 HEATER_EN OUTPUT LOW GPIO(80) +define HAL_HEATER_GPIO_PIN 80 + +# Setup the IMU heater +define HAL_HAVE_IMU_HEATER 1 +define HAL_IMU_TEMP_DEFAULT 45 +define HAL_IMUHEAT_P_DEFAULT 50 +define HAL_IMUHEAT_I_DEFAULT 0.07 + +# armed indication +PE6 nARMED OUTPUT HIGH + +# power enable pins +PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH +PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH +PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH +PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH +PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH + +# start peripheral power on +PG10 nVDD_5V_HIPOWER_EN OUTPUT LOW +PG4 nVDD_5V_PERIPH_EN OUTPUT LOW + +# Control of Spektrum power pin +PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) +define HAL_GPIO_SPEKTRUM_PWR 73 + +# Spektrum Power is Active High +define HAL_SPEKTRUM_PWR_ENABLED 1 + +# power sensing +PE15 VDD_5V_PERIPH_nOC INPUT PULLUP +PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP + +PG1 VDD_BRICK_nVALID INPUT PULLUP +PG2 VDD_BRICK2_nVALID INPUT PULLUP +PG3 VDD_BRICK3_nVALID INPUT PULLUP + +# microSD support +PD6 SDMMC2_CK SDMMC2 +PD7 SDMMC2_CMD SDMMC2 +PB14 SDMMC2_D0 SDMMC2 +PB15 SDMMC2_D1 SDMMC2 +PG11 SDMMC2_D2 SDMMC2 +PB4 SDMMC2_D3 SDMMC2 +define FATFS_HAL_DEVICE SDCD2 + +# safety +PD10 LED_SAFETY OUTPUT +PF5 SAFETY_IN INPUT PULLDOWN + +# GPIO LEDs +PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH +PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH +PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH + +define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90 +define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91 +define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92 + +define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 + +# ID pins +PG0 HW_VER_REV_DRIVE OUTPUT LOW +# PH3 HW_VER_SENS ADC3 SCALE(1) +# PH4 HW_REV_SENS ADC3 SCALE(1) + +# PWM output for buzzer +PF9 TIM14_CH1 TIM14 GPIO(77) ALARM + +# RC input +PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW + +# barometers ZeroOneX6_Air Series +BARO ICP201XX I2C:0:0x64 +BARO ICP201XX I2C:2:0x63 + +# compass +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +# builtin compass on ZeroOneX6_Air Series +COMPASS IST8310 I2C:0:0x0E false ROTATION_NONE + +# IMU devices for ZeroOneX6_Air Series +SPIDEV icm45686_1 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 16*MHZ +SPIDEV icm45686_2 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 16*MHZ + +SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# ZeroOneX6_Air Series 2 IMUs +IMU Invensensev3 SPI:icm45686_1 ROTATION_ROLL_180_YAW_270 +IMU Invensensev3 SPI:icm45686_2 ROTATION_NONE + +define HAL_INS_HIGHRES_SAMPLE 7 +define HAL_DEFAULT_INS_FAST_SAMPLE 7 + +# enable RAMTROM parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART* + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin + +# enable DFU reboot for installing bootloader +# note that if firmware is build with --secure-bl then DFU is +# disabled +ENABLE_DFU_BOOT 1 + +# build ABIN for flash-from-bootloader support: +env BUILD_ABIN True + +# enable support for dshot on iomcu +#github suggestion +ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin +define HAL_WITH_IO_MCU_DSHOT 1 +#V6C +#ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin +#define HAL_WITH_IO_MCU_BIDIR_DSHOT 1