mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: hwdef: Add new hardware pixflamingo f7
This commit is contained in:
subashchandar
Peter Hall
parent
bd928fb044
commit
7db7f95a3b
Binary file not shown.
Binary file not shown.
|
After Width: | Height: | Size: 53 KiB |
|
|
@ -0,0 +1,180 @@
|
|||
# PixFlamingo-F767 Flight Controller
|
||||
|
||||
The PixFlamingo-F767 is a flight controller produced by Dheeran Labs.
|
||||
Contact dheeranlabs@gmail.com for sales
|
||||
|
||||
## Features
|
||||
Processor
|
||||
STM32F767 32-bit processor
|
||||
Onboard Flash: 2048Mbits
|
||||
Sensors
|
||||
Two IMU : ICM42670, MPU6500/ICM20602 Acc/Gyro
|
||||
One Baro : Internal MS5611/BMP280/DPS310 SPI barometer
|
||||
Internal LIS3MDL Compass
|
||||
Power
|
||||
5v input voltage with voltage monitoring
|
||||
Interfaces
|
||||
10x PWM outputs
|
||||
1x RC input
|
||||
5x UARTs/serial for GPS and other peripherals
|
||||
2x I2C ports for external compass, airspeed, etc.
|
||||
microSD card slot port
|
||||
Internal RGB LED
|
||||
Safety switch port
|
||||
Buzzer port
|
||||
USB-C port
|
||||
|
||||
## 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**
|
||||
|
||||
| Pin | Signal | Volt |
|
||||
| :--: | :-----: | :---: |
|
||||
| 1 | VCC | +5V |
|
||||
| 2 | UART_TX3 | +3.3V |
|
||||
| 3 | UART_RX3 | +3.3V |
|
||||
| 4 | CTS | +3.3V |
|
||||
| 5 | RTS | +3.3V |
|
||||
| 6 | GND | GND |
|
||||
|
||||
**TELEM2**
|
||||
|
||||
| Pin | Signal | Volt |
|
||||
| :--: | :-----: | :---: |
|
||||
| 1 | VCC | +5V |
|
||||
| 2 | UART_TX6 | +3.3V |
|
||||
| 3 | UART_RX6 | +3.3V |
|
||||
| 4 | CTS | +3.3V |
|
||||
| 5 | RTS | +3.3V |
|
||||
| 6 | GND | GND |
|
||||
|
||||
**GPS1**
|
||||
|
||||
| Pin | Signal | Volt |
|
||||
| :--: | :-----: | :---: |
|
||||
| 1 | VCC | +5V |
|
||||
| 2 | UART_TX1 | +3.3V |
|
||||
| 3 | UART_RX1 | +3.3V |
|
||||
| 4 | I2C2_SCL | +3.3V |
|
||||
| 5 | I2C2_SDA | +3.3V |
|
||||
| 6 | GND | GND |
|
||||
|
||||
**GPS2**
|
||||
|
||||
| Pin | Signal | Volt |
|
||||
| :--: | :-----: | :---: |
|
||||
| 1 | VCC | +5V |
|
||||
| 2 | UART_TX7 | +3.3V |
|
||||
| 3 | UART_RX7 | +3.3V |
|
||||
| 4 | X | X |
|
||||
| 5 | X | X |
|
||||
| 6 | GND | GND |
|
||||
|
||||
|
||||
**SAFETY**
|
||||
|
||||
| Pin | Signal | Volt |
|
||||
| :--: | :-----------: | :---: |
|
||||
| 1 | SAFETY_SW | +3.3V |
|
||||
| 2 | SAFETY_SW_LED | +3.3V |
|
||||
| 3 | 3V3_OUT | +3.3V |
|
||||
| 4 | BUZZER+ | +3.3V |
|
||||
| 5 | BUZZER- | GND |
|
||||
|
||||
|
||||
## 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.
|
||||
|
||||
- SERIAL0 -> USB (OTG1)
|
||||
- SERIAL1 -> UART3 (TELEM1) with CTS/RTS DMA Enabled
|
||||
- SERIAL2 -> UART6 (TELEM2) with DMA Enabled
|
||||
- SERIAL3 -> UART1 (GPS1) Tx(NODMA), Rx(DMA Enabled)
|
||||
- SERIAL4 -> EMPTY
|
||||
- SERIAL5 -> UART7 (GPS2) NODMA
|
||||
- SERIAL6 -> USART2 (User) NODMA
|
||||
|
||||
## RC Input
|
||||
|
||||
Supports I-Bus/S-bus
|
||||
|
||||
Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
|
||||
|
||||
## PWM Output
|
||||
|
||||
The PixFlaminog-F767 supports up to 10 PWM outputs.
|
||||
|
||||
The PWM is in 5 groups:
|
||||
|
||||
- PWM 1-4 in group1
|
||||
- PWM 5-8 in group2
|
||||
- PWM 9 in group3
|
||||
- PWM 10 in group4
|
||||
|
||||
## GPIOs
|
||||
|
||||
All 10 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 | | |
|
||||
| PWM5 | 54 | | |
|
||||
| PWM6 | 55 | | |
|
||||
| PWM7 | 56 | | |
|
||||
|
||||
## Analog inputs
|
||||
|
||||
The PixFlamingo-F767 flight controller has 4 analog inputs
|
||||
|
||||
- ADC Pin10 -> Battery Current
|
||||
- ADC Pin11 -> Battery Voltage
|
||||
- ADC Pin14 -> ADC 3V3 Sense
|
||||
- ADC Pin15 -> ADC 6V6 Sense
|
||||
|
||||
## Battery Monitor Configuration
|
||||
|
||||
The board has voltage and current sensor inputs on the POWER_ADC connector.
|
||||
|
||||
The correct battery setting parameters are:
|
||||
|
||||
Enable Battery monitor.
|
||||
|
||||
BATT_MONITOR =4
|
||||
|
||||
Then reboot.
|
||||
|
||||
BATT_VOLT_PIN 11
|
||||
|
||||
BATT_CURR_PIN 10
|
||||
|
||||
BATT_VOLT_MULT 10.1 (may need adjustment if supplied monitor is not used)
|
||||
|
||||
BATT_AMP_PERVLT 17.0 (may need adjustment if supplied monitor is not used)
|
||||
|
||||
## Build the FC
|
||||
|
||||
./waf configure --board=PixFlamingo-F767
|
||||
./waf copter
|
||||
|
||||
The compiled firmware is located in folder **"build/PixFlamingo-F767/bin/arducopter.apj"**.
|
||||
|
||||
## Loading Firmware
|
||||
|
||||
The PixFlamingo-F767 flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
|
||||
|
|
@ -0,0 +1 @@
|
|||
BRD_HEAT_TARG -1
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
# hw definition file for processing by chibios_hwdef.py for the
|
||||
# mRo Pixracer board. This is a fmuv4 board
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32F7xx STM32F767xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1131
|
||||
|
||||
USB_STRING_MANUFACTURER "Dheeran labs"
|
||||
USB_STRING_PRODUCT "PixFlamingo"
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
#define HAL_CHIBIOS_ARCH_FMUV3 1
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2
|
||||
|
||||
define HAL_USE_SERIAL TRUE
|
||||
define STM32_SERIAL_USE_USART2 TRUE
|
||||
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
PA0 USART2_CTS USART2
|
||||
PA1 USART2_RTS USART2
|
||||
|
||||
PB9 EXTERN_GPIO1 OUTPUT GPIO(4)
|
||||
|
||||
HAL_BOOTLOADER_TIMEOUT 1000
|
||||
|
||||
PE8 LED_BOOTLOADER OUTPUT LOW
|
||||
PE7 LED_ACTIVITY OUTPUT
|
||||
define HAL_LED_ON 1
|
||||
|
||||
PA9 VBUS INPUT
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# location of application code
|
||||
FLASH_BOOTLOADER_LOAD_KB 96
|
||||
|
||||
# bootloader loads at start of flash
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# Add CS pins to ensure they are high in bootloader
|
||||
PD0 IMU1_CS CS
|
||||
PE0 MPU6500_CS CS
|
||||
PB5 BARO_CS CS
|
||||
PD7 MAG_CS CS
|
||||
|
|
@ -0,0 +1,210 @@
|
|||
|
||||
# MCU class and specific type
|
||||
MCU STM32F7xx STM32F767xx
|
||||
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1131
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
USB_STRING_MANUFACTURER "Dheeran labs"
|
||||
USB_STRING_PRODUCT "PixFlamingo"
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 2
|
||||
#define CH_CFG_ST_RESOLUTION 16
|
||||
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
FLASH_RESERVE_START_KB 96
|
||||
env OPTIMIZE -O2
|
||||
|
||||
# serial port for stdout disabled, use USB console
|
||||
# STDOUT_SERIAL SD7
|
||||
# STDOUT_BAUDRATE 57600
|
||||
|
||||
# only one I2C bus
|
||||
I2C_ORDER I2C2
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART3 USART6 USART1 EMPTY UART7 USART2
|
||||
|
||||
|
||||
#define HAL_SERIAL4_PROTOCOL SerialProtocol_RCIN
|
||||
#define HAL_SERIAL4_BAUD 115
|
||||
|
||||
# debug on LUART1
|
||||
#STDOUT_SERIAL SD4
|
||||
#STDOUT_BAUDRATE 57600
|
||||
|
||||
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PC0 BATT_CURRENT_SENS ADC1 SCALE(1)
|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
|
||||
# SPI1 is fram bus
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
|
||||
PA9 VBUS INPUT
|
||||
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# USART3 serial1 telem1
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
PB13 USART3_CTS USART3
|
||||
PB14 USART3_RTS USART3
|
||||
|
||||
# USART2 serial2 telem2
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
|
||||
PD5 USART2_TX USART2 NODMA
|
||||
PD6 USART2_RX USART2 NODMA
|
||||
|
||||
# USART1 is GPS
|
||||
PB6 USART1_TX USART1 NODMA
|
||||
PB7 USART1_RX USART1
|
||||
define HAL_USE_SERIAL TRUE
|
||||
|
||||
PB4 UART7_TX UART7 NODMA
|
||||
PB3 UART7_RX UART7 NODMA
|
||||
|
||||
#define STM32_SERIAL_USE_USART2 TRUE
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# PWM output for buzzer
|
||||
PB0 TIM3_CH3 TIM3 RCININT PULLDOWN LOW
|
||||
|
||||
PE2 BOOT1 INPUT
|
||||
PB12 VDD_BRICK_VALID INPUT PULLDOWN
|
||||
|
||||
PB10 I2C2_SCL I2C2
|
||||
PB11 I2C2_SDA I2C2
|
||||
|
||||
PA8 CAN3_RX CAN3
|
||||
PA15 CAN3_TX CAN3
|
||||
|
||||
# SPI2 is for sensors
|
||||
PD3 SPI2_SCK SPI2
|
||||
PC2 SPI2_MISO SPI2
|
||||
PC3 SPI2_MOSI SPI2
|
||||
|
||||
PD0 IMU1_CS CS
|
||||
PE0 MPU6500_CS CS
|
||||
PB5 BARO_CS CS
|
||||
PD7 MAG_CS CS
|
||||
|
||||
# This defines more ADC inputs.
|
||||
PC4 AUX_POWER ADC1 SCALE(1)
|
||||
PC5 AUX_ADC2 ADC1 SCALE(1)
|
||||
|
||||
PD10 VBUS_VALID INPUT PULLDOWN
|
||||
PE12 LED_SAFETY OUTPUT
|
||||
PE15 SAFETY_IN INPUT PULLDOWN
|
||||
PC14 VDD_PERIPH_EN OUTPUT HIGH
|
||||
|
||||
PC8 SDMMC_D0 SDMMC1
|
||||
PC9 SDMMC_D1 SDMMC1
|
||||
PC10 SDMMC_D2 SDMMC1
|
||||
PC11 SDMMC_D3 SDMMC1
|
||||
PC12 SDMMC_CK SDMMC1
|
||||
PD2 SDMMC_CMD SDMMC1
|
||||
|
||||
PE5 IMU1_DRDY INPUT
|
||||
PE6 MPU6500_DRDY INPUT
|
||||
PE4 MAG_DRDY INPUT
|
||||
|
||||
PC13 VDD_SENSORS_EN OUTPUT HIGH
|
||||
|
||||
# GPIOs
|
||||
PE3 HEATER_EN OUTPUT LOW GPIO(80)
|
||||
define HAL_HEATER_GPIO_PIN 80
|
||||
define HAL_HAVE_IMU_HEATER 1
|
||||
|
||||
PD12 TIM4_CH1 TIM4 GPIO(32) ALARM
|
||||
PB9 EXTERN_GPIO1 OUTPUT GPIO(4)
|
||||
|
||||
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)
|
||||
PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54)
|
||||
PA1 TIM5_CH2 TIM5 PWM(6) GPIO(55)
|
||||
PA2 TIM5_CH3 TIM5 PWM(7) GPIO(56)
|
||||
PA3 TIM5_CH4 TIM5 PWM(8) GPIO(57)
|
||||
PB8 TIM10_CH1 TIM10 PWM(9) GPIO(58) NODMA
|
||||
PB15 TIM8_CH3N TIM8 PWM(10) GPIO(59) NODMA
|
||||
|
||||
|
||||
# SPI device table.
|
||||
|
||||
SPIDEV icm42670 SPI2 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
|
||||
SPIDEV mpu6500 SPI2 DEVID2 MPU6500_CS MODE3 1*MHZ 4*MHZ
|
||||
SPIDEV ms5611_int SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV lis3mdl SPI2 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ
|
||||
SPIDEV bmp280 SPI1 DEVID3 BARO_CS MODE3 1*MHZ 8*MHZ
|
||||
SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
|
||||
|
||||
# enable FAT filesystem
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
|
||||
# pixracer has 3 LEDs, Red, Green, Blue
|
||||
define HAL_HAVE_PIXRACER_LED
|
||||
|
||||
define HAL_GPIO_LED_ON 0
|
||||
define HAL_GPIO_LED_OFF 1
|
||||
|
||||
PE10 LED_RED OUTPUT GPIO(0)
|
||||
PE8 LED_GREEN OUTPUT GPIO(1)
|
||||
PE7 LED_BLUE OUTPUT GPIO(2)
|
||||
|
||||
define HAL_GPIO_A_LED_PIN 0
|
||||
define HAL_GPIO_B_LED_PIN 1
|
||||
define HAL_GPIO_C_LED_PIN 2
|
||||
|
||||
# battery setup
|
||||
define HAL_BATT_MONITOR_DEFAULT 4
|
||||
define HAL_BATT_VOLT_PIN 11
|
||||
define HAL_BATT_CURR_PIN 10
|
||||
define HAL_BATT_VOLT_SCALE 10.1
|
||||
define HAL_BATT_CURR_SCALE 17.0
|
||||
|
||||
DMA_PRIORITY S*
|
||||
|
||||
define STORAGE_FLASH_PAGE 1
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
|
||||
# two IMUs
|
||||
IMU Invensensev3 SPI:icm42670 ROTATION_YAW_270 #ROTATION_YAW_180 #ROTATION_ROLL_180_YAW_270 #ROTATION_YAW_90 #ROTATION_YAW_270 #ROTATION_ROLL_180
|
||||
IMU Invensense SPI:mpu6500 ROTATION_ROLL_180
|
||||
|
||||
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
|
||||
|
||||
# also probe all types of external I2C compasses
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
define HAL_I2C_INTERNAL_MASK 0
|
||||
|
||||
|
||||
#NODMA I2C*
|
||||
define STM32_I2C_USE_DMA FALSE
|
||||
# one barometer
|
||||
BARO MS56XX SPI:ms5611_int
|
||||
BARO BMP280 SPI:bmp280
|
||||
BARO DPS310 SPI:dps310
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
|
||||
|
||||
Loading…
Reference in New Issue