mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add board X-MAV-AP-H743v2
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
This commit is contained in:
tompsontan
Andrew Tridgell
parent
8e5ee61b02
commit
84fbaa3abc
Binary file not shown.
|
After Width: | Height: | Size: 520 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 147 KiB |
|
|
@ -0,0 +1,97 @@
|
|||
# AP-H743v2 Flight Controller
|
||||
|
||||
The AP-H743v2 is a flight controller designed and produced by X-MAV
|
||||
|
||||
## Features
|
||||
|
||||
- STM32H743 microcontroller
|
||||
- BMI088/ICM42688P dual IMUs
|
||||
- DPS310 barometer
|
||||
- IST8310 magnetometer
|
||||
- AT7456E OSD
|
||||
- 9V 3A BEC; 5V 3A BEC
|
||||
- MicroSD Card Slot
|
||||
- 8 UARTs
|
||||
- 8 PWM outputs
|
||||
- 1 CAN
|
||||
- 1 I2C
|
||||
- 1 SWD
|
||||
|
||||
## Physical
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## UART Mapping
|
||||
|
||||
- SERIAL0 -> USB
|
||||
- SERIAL1 -> UART2 (MAVLink2)
|
||||
- SERIAL2 -> UART4 (User)
|
||||
- SERIAL3 -> UART1 (GPS)
|
||||
- SERIAL4 -> UART6 (User)
|
||||
- SERIAL5 -> UART8 (User)
|
||||
- SERIAL6 -> UART3 (DisplayPort)
|
||||
- SERIAL7 -> UART5 (RCIN)
|
||||
- SERIAL8 -> UART7 (RX only, ESC Telemetry)
|
||||
|
||||
|
||||
## RC Input
|
||||
|
||||
The default RC input is configured on the UART5 and supports all RC protocols except PPM. The SBUS pin is inverted and connected to RX5. When using RX5 or SBUS, the other input should be unconnected. RC can be attached to any UART port as long as the serial port protocol is set to `SERIALn_PROTOCOL=23` and SERIAL7_Protocol is changed to something other than '23'.
|
||||
|
||||
|
||||
## OSD Support
|
||||
|
||||
The AP-H743v2 supports onboard analog SD OSD using a MAX7456 chip. Simultaneously, DisplayPort HD OSD is available on the DJI connector for HD VTX. Both on board OSD and DisplayPort OSD can be operated simultaneously.
|
||||
|
||||
|
||||
|
||||
## VTX Support
|
||||
|
||||
The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v.
|
||||
|
||||
## PWM Output
|
||||
|
||||
The AP-H743v2 supports up to 8 PWM outputs.
|
||||
|
||||
All the channels support DShot and BiDir DShot.
|
||||
|
||||
Outputs are grouped and every output within a group must use the same output protocol:
|
||||
|
||||
|
||||
1, 2, 3, 4 are Group 1;
|
||||
|
||||
5, 6 are Group 2;
|
||||
|
||||
7, 8 are Group 3;
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
|
||||
The voltage sensor can handle up to 6S LiPo batteries.
|
||||
|
||||
The default battery parameters are:
|
||||
|
||||
- BATT_MONITOR 4
|
||||
- BATT_VOLT_PIN 4
|
||||
- BATT_CURR_PIN 8
|
||||
- BATT_VOLT_MULT 10.2
|
||||
- BATT_CURR_SCALE 20.4
|
||||
|
||||
## Compass
|
||||
|
||||
The AP-H743v2 has a built-in compass sensor (IST8310), and you can also attach an external compass using I2C on the SDA and SCL connector.
|
||||
|
||||
## Mechanical
|
||||
|
||||
- Mounting: 30.5 x 30.5mm, Φ4mm
|
||||
- Dimensions: 36 x 36 x 8 mm
|
||||
- Weight: 9g
|
||||
|
||||
## Loading Firmware
|
||||
|
||||
Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favorite DFU loading tool.
|
||||
|
||||
Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the "\*.apj" firmware files.
|
||||
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for the X-MAV-AP-H743V2 hardware
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID AP_HW_X-MAV-AP-H743V2
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
# flash size
|
||||
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
|
||||
|
||||
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# pins for SWD debugging
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# CS pins
|
||||
PA3 BMI088_1_G_CS CS
|
||||
PA2 BMI088_1_A_CS CS
|
||||
PC13 ICM42688P_CS CS
|
||||
|
||||
# LEDs
|
||||
PD11 LED_ACTIVITY OUTPUT HIGH GPIO(91) #green
|
||||
PB15 LED_BOOTLOADER OUTPUT HIGH GPIO(92) #blue
|
||||
define HAL_LED_ON 1
|
||||
|
||||
# microSD support
|
||||
PC12 SDMMC1_CK SDMMC1
|
||||
PD2 SDMMC1_CMD SDMMC1
|
||||
PC8 SDMMC1_D0 SDMMC1
|
||||
PC9 SDMMC1_D1 SDMMC1
|
||||
PC10 SDMMC1_D2 SDMMC1
|
||||
PC11 SDMMC1_D3 SDMMC1
|
||||
define FATFS_HAL_DEVICE SDCD1
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
|
||||
|
|
@ -0,0 +1,180 @@
|
|||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for the X-MAV-AP-H743V2 hardware
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H743xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID AP_HW_X-MAV-AP-H743V2
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 8000000
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 12
|
||||
define CH_CFG_ST_RESOLUTION 16
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
FLASH_RESERVE_START_KB 128
|
||||
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
STORAGE_FLASH_PAGE 14
|
||||
|
||||
# default to all pins low to avoid ESD issues
|
||||
DEFAULTGPIO OUTPUT LOW PULLDOWN
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 UART4 USART1 USART6 UART8 USART3 UART5 UART7
|
||||
|
||||
# USB
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
PD0 VBUS INPUT OPENDRAIN
|
||||
|
||||
# Serial1
|
||||
PD6 USART2_RX USART2
|
||||
PD5 USART2_TX USART2
|
||||
|
||||
# Serial2
|
||||
PB9 UART4_TX UART4
|
||||
PB8 UART4_RX UART4
|
||||
|
||||
# GPS1/Serial3
|
||||
PA9 USART1_TX USART1
|
||||
PA10 USART1_RX USART1
|
||||
|
||||
# Serial4
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
|
||||
# Serial5
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8
|
||||
|
||||
# DJI O3/Serial6
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# RC_INPUT/Serial7
|
||||
PB13 UART5_TX UART5
|
||||
PB12 UART5_RX UART5
|
||||
PD14 SBUS_INV OUTPUT LOW
|
||||
|
||||
# ESC/Serial8
|
||||
PE7 UART7_RX UART7
|
||||
|
||||
# SWD
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# two I2C bus
|
||||
I2C_ORDER I2C1 I2C4
|
||||
|
||||
# I2C1 - baro
|
||||
PB6 I2C1_SCL I2C1
|
||||
PB7 I2C1_SDA I2C1
|
||||
|
||||
# I2C4 - CONNECTOR
|
||||
PD12 I2C4_SCL I2C4
|
||||
PD13 I2C4_SDA I2C4
|
||||
|
||||
# PWM output pins
|
||||
PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
|
||||
PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
|
||||
PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
|
||||
PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
|
||||
PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR
|
||||
PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
|
||||
PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR
|
||||
PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
|
||||
|
||||
# GPIOs
|
||||
PA4 PINIO1 OUTPUT GPIO(81) LOW
|
||||
PC1 PINIO2 OUTPUT GPIO(82) LOW
|
||||
PC0 PINIO3 OUTPUT GPIO(83) LOW
|
||||
|
||||
# LEDs
|
||||
PD15 LED_RED OUTPUT HIGH GPIO(90)
|
||||
PD11 LED_GREEN OUTPUT HIGH GPIO(91)
|
||||
PB15 LED_BLUE OUTPUT HIGH GPIO(92)
|
||||
|
||||
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 HAL_GPIO_LED_ON 1
|
||||
define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
||||
|
||||
# ADC for Power
|
||||
PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
||||
PC5 BATT_CURRENT_SENS ADC2 SCALE(1)
|
||||
|
||||
#BATTERY MONITOR ON
|
||||
define BATT_MONITOR 4
|
||||
define HAL_BATT_VOLT_PIN 4
|
||||
define HAL_BATT_CURR_PIN 8
|
||||
define HAL_BATT_VOLT_SCALE 10.2
|
||||
define HAL_BATT_CURR_SCALE 20.4
|
||||
|
||||
# microSD support
|
||||
PC12 SDMMC1_CK SDMMC1
|
||||
PD2 SDMMC1_CMD SDMMC1
|
||||
PC8 SDMMC1_D0 SDMMC1
|
||||
PC9 SDMMC1_D1 SDMMC1
|
||||
PC10 SDMMC1_D2 SDMMC1
|
||||
PC11 SDMMC1_D3 SDMMC1
|
||||
define FATFS_HAL_DEVICE SDCD1
|
||||
|
||||
# SPI1 - IMU0
|
||||
PA5 SPI1_SCK SPI1
|
||||
PA6 SPI1_MISO SPI1
|
||||
PA7 SPI1_MOSI SPI1
|
||||
PA3 BMI088_1_G_CS CS
|
||||
PA2 BMI088_1_A_CS CS
|
||||
|
||||
# SPI3 - CONNECTOR
|
||||
PB3 SPI3_SCK SPI3
|
||||
PB4 SPI3_MISO SPI3
|
||||
PB2 SPI3_MOSI SPI3
|
||||
PA15 AT7456E_CS CS
|
||||
|
||||
# SPI4 - IMU1
|
||||
PE6 SPI4_MOSI SPI4
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PC13 ICM42688P_CS CS
|
||||
|
||||
# barometers
|
||||
BARO DPS310 I2C:0:0x76
|
||||
|
||||
# SPI devices
|
||||
SPIDEV imu0_a SPI1 DEVID1 BMI088_1_A_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV imu0_g SPI1 DEVID2 BMI088_1_G_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV imu1 SPI4 DEVID3 ICM42688P_CS MODE3 10*MHZ 10*MHZ
|
||||
SPIDEV osd SPI3 DEVID5 AT7456E_CS MODE0 10*MHZ 10*MHZ
|
||||
|
||||
# 2 IMUs
|
||||
IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
|
||||
IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180
|
||||
|
||||
# compasses
|
||||
define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_NONE
|
||||
COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_90
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDMMC)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
#Serial Port defaults
|
||||
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
|
||||
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
|
||||
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
|
||||
define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
|
||||
|
||||
|
||||
# setup for OSD
|
||||
define OSD_ENABLED 1
|
||||
define HAL_OSD_TYPE_DEFAULT 5
|
||||
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
|
||||
Loading…
Reference in New Issue