mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: added PixPilot-V6
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xiao
Randy Mackay
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## PixPilot-V6 Flight Controller
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The PixPilot-V6 flight controller is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)
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## Features
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• STM32H743VIT6 and STM32F103C8T6 microcontroller
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• Three IMUs, two ICM42688-P(SPI), one ICM40605(SPI)
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• internal heater for IMUs temperature control
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• internal Soft Rubber Damping Ball isolation for All interna IMUs
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• Two barometers, MS5611(SPI)
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• builtin IST8310 magnetometer(internal I2C)
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• builtin RAMTRON(SPI)
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• microSD card slot
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• 5 UARTs
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• USB(Type-C)
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• PPM & S.Bus input
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• 14 PWM outputs
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• tow I2C ports and two FDCAN ports
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• one S.Bus output
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• External Buzzer
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• builtin RGB LED
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• two voltage & current monitoring
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• servo rail BEC independent power input for servos
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• external safety Switch
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## Pinout
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UART Mapping
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============
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- SERIAL0 -> console (primary mavlink, usually USB)
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- SERIAL1 -> USART2 (telem1)
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- SERIAL2 -> USART3 (Telem2)
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- SERIAL3 -> UART4 (GPS1)
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- SERIAL4 -> UART8 (GPS2)
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- SERIAL5 -> UART7 (USER)
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Connector pin assignments
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=========================
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TELEM1, TELEM2 ports
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--------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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I2C1, I2C2 ports
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>SCL</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SDA</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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CAN1, CAN2 ports
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---------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>CAN_H</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN_L</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Safety and buzzer port
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-----------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>LED</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SAFKEY</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>BUZZER</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>3V+</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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GPS1/I2C1, GPS2/I2C2 ports
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--------------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Serial5 port
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--------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Power1, Power2 ports
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--------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CURRENT</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>VOLTAGE</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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RC Input
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--------
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All compatible RC protocols can be decoded by attaching the Receiver's output to the SBUS input pin next to the Servo/Output VCC input connector. Note that some protocols such as CRSF or FPort including telemetry, require connection to, and setup of, one of the UARTs instead of this pin.
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Battery Monitor Settings
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========================
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These should already be set by default. However, if lost or changed:
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Enable Battery monitor with these parameter settings :
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:ref:`BATT_MONITOR<BATT_MONITOR>` =4
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Then reboot.
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:ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 14
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:ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 15
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:ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 18.0
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:ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 24.0
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:ref:`BATT2_VOLT_PIN<BATT2_VOLT_PIN>` 13
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:ref:`BATT2_CURR_PIN<BATT2_CURR_PIN>` 4
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:ref:`BATT2_VOLT_MULT<BATT2_VOLT_MULT>` 18.0
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:ref:`BATT2_AMP_PERVLT<BATT2_AMP_PERVLT>` 24.0
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DroneCAN capability
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===================
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There are 2 CAN ports which allow connecting two independant CAN bus outputs. Each of these can have multiple CAN peripheral devices connected.
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Where to Buy
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============
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`makeflyeasy <http://www.makeflyeasy.com>`_
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[copywiki destination="plane,copter,rover,blimp"]
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@ -0,0 +1,60 @@
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# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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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 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1083
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FLASH_SIZE_KB 2048
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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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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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env OPTIMIZE -Os
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PB3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
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PE12 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
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define HAL_LED_ON 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 USART3 UART7
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# telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# Add CS pins to ensure they are high in bootloader
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PC2 42688_EXT_CS CS
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PD7 BARO_EXT_CS CS
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PC13 40605_EXT_CS CS
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PE4 42688_CS CS
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PC14 BARO_CS CS
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PD10 FRAM_CS CS
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PD2 SDCARD_CS CS
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 32768
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@ -0,0 +1,247 @@
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# hw definition file for processing by chibios_hwdef.py
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# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
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||||
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||||
# crystal frequency
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||||
OSCILLATOR_HZ 24000000
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||||
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||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1083
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FLASH_SIZE_KB 2048
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|
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# with 2M flash we can afford to optimize for speed
|
||||
env OPTIMIZE -O2
|
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||||
FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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# order of I2C buses
|
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I2C_ORDER I2C3 I2C2 I2C1
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# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
|
||||
|
||||
#DEFAULTGPIO OUTPUT LOW PULLDOWN
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||||
|
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# USB.
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
PA9 VBUS INPUT OPENDRAIN
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||||
PC0 VBUS_nVALID INPUT PULLUP
|
||||
|
||||
|
||||
# telem1
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
PD3 USART2_CTS USART2
|
||||
PD4 USART2_RTS USART2
|
||||
|
||||
PD3 EXTERN_GPIO4 OUTPUT GPIO(4) ALT(1)
|
||||
PD4 EXTERN_GPIO5 OUTPUT GPIO(5) ALT(1)
|
||||
|
||||
# telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
PD11 USART3_CTS USART3
|
||||
PD12 USART3_RTS USART3
|
||||
|
||||
# GPS
|
||||
PA0 UART4_TX UART4
|
||||
PA1 UART4_RX UART4 NODMA
|
||||
|
||||
# GPS2
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8 NODMA
|
||||
|
||||
# UART7
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7
|
||||
|
||||
# UART for IOMCU
|
||||
IOMCU_UART USART6
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
|
||||
|
||||
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)
|
||||
|
||||
# This defines an output pin which will default to output HIGH. It is
|
||||
# a pin that enables peripheral power on this board. It starts in the
|
||||
# off state, then is pulled low to enable peripherals in
|
||||
# peripheral_power_enable()
|
||||
#PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
|
||||
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
|
||||
# SWD debug
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# PWM output for buzzer
|
||||
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
||||
|
||||
|
||||
# CAN1
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
# CAN2
|
||||
PB6 CAN2_TX CAN2
|
||||
PB12 CAN2_RX CAN2
|
||||
|
||||
# I2C1
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
# I2C2
|
||||
PB10 I2C2_SCL I2C2
|
||||
PB11 I2C2_SDA I2C2
|
||||
|
||||
# I2C3 for onboard mag
|
||||
PA8 I2C3_SCL I2C3
|
||||
PC9 I2C3_SDA I2C3
|
||||
|
||||
# SPI1.
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
|
||||
|
||||
# SPI4.
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
|
||||
# SPI2
|
||||
PB13 SPI2_SCK SPI2
|
||||
PB14 SPI2_MISO SPI2
|
||||
PB15 SPI2_MOSI SPI2
|
||||
|
||||
|
||||
# This defines more ADC inputs.
|
||||
PC3 AUX_POWER ADC1 SCALE(1)
|
||||
PC4 AUX_ADC2 ADC1 SCALE(1)
|
||||
|
||||
# And the analog input for airspeed (rarely used these days).
|
||||
PC5 PRESSURE_SENS ADC1 SCALE(2)
|
||||
|
||||
# More CS pins for more sensors. The labels for all CS pins need to
|
||||
# match the SPI device table later in this file.
|
||||
PC2 42688_EXT_CS CS
|
||||
PD7 BARO_EXT_CS CS
|
||||
PC13 40605_EXT_CS CS
|
||||
PE4 42688_CS CS
|
||||
PC14 BARO_CS CS
|
||||
PD10 FRAM_CS CS
|
||||
PD2 SDCARD_CS CS
|
||||
|
||||
PC1 42688_EXT_DRDY INPUT
|
||||
PC15 40605_EXT_DRDY INPUT
|
||||
PD15 42688_DRDY INPUT
|
||||
|
||||
# Now we start defining some PWM pins. We also map these pins to GPIO
|
||||
# values, so users can set SERVOx_FUNCTION=-1 to determine which
|
||||
# PWM outputs on the primary MCU are set up 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)
|
||||
|
||||
|
||||
PB4 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH
|
||||
PB3 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH
|
||||
PB5 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH
|
||||
define HAL_GPIO_LED_ON 0
|
||||
define HAL_GPIO_LED_OFF 1
|
||||
|
||||
define HAL_GPIO_A_LED_PIN 11
|
||||
define HAL_GPIO_B_LED_PIN 13
|
||||
define HAL_GPIO_C_LED_PIN 12
|
||||
|
||||
define HAL_HAVE_PIXRACER_LED
|
||||
|
||||
# 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.
|
||||
PB2 VDD_BRICK_nVALID INPUT PULLUP
|
||||
PB7 VDD_BRICK2_nVALID INPUT PULLUP
|
||||
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
|
||||
SPIDEV ms5611 SPI1 DEVID5 BARO_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
|
||||
|
||||
SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
|
||||
#SPIDEV iim42652 SPI1 DEVID6 42688_CS MODE3 2*MHZ 8*MHZ
|
||||
|
||||
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
||||
|
||||
|
||||
# IMUs
|
||||
IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
|
||||
IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
|
||||
IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
|
||||
|
||||
#IMU Invensensev3 SPI:iim42652 ROTATION_NONE
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
# two baros
|
||||
BARO MS56XX SPI:ms5611
|
||||
BARO MS56XX SPI:ms5611_ext
|
||||
|
||||
# probe external I2C compasses plus some internal IST8310
|
||||
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
define HAL_I2C_INTERNAL_MASK 1
|
||||
|
||||
undef AP_FEATURE_SBUS_OUT
|
||||
|
||||
|
||||
# Enable FAT filesystem support.
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
# allow to have have a dedicated safety switch pin
|
||||
define HAL_HAVE_SAFETY_SWITCH 1
|
||||
|
||||
# Enable RAMTROM parameter storage.
|
||||
define HAL_WITH_RAMTRON 1
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
# 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
|
||||
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
|
||||
|
||||
# Enable all IMUs to be used and therefore three active EKF Lanes
|
||||
define HAL_EKF_IMU_MASK_DEFAULT 7
|
||||
|
||||
# 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 18.0
|
||||
define HAL_BATT_CURR_SCALE 24.0
|
||||
define HAL_GPIO_PWM_VOLT_PIN 3
|
||||
define HAL_GPIO_PWM_VOLT_3v3 1
|
||||
|
||||
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
||||
|
||||
DMA_NOSHARE SPI1* SPI4* USART6*
|
||||
Loading…
Reference in New Issue