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hwdef: added SIYI NY flight controller

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Andrew Tridgell 2023-07-17 14:04:55 +10:00
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# SIYI N7 Flight Controller
The SIYI N7 flight controller is sold by a range of
resellers, linked from https://siyi.biz
## Features
- STM32H743 microcontroller
- ICM20689 and BMI088 IMUs
- internal heater for IMU temperature control
- internal vibration isolation for IMUs
- MS5611 SPI barometer
- builtin IST8310 compass
- microSD card slot
- 4 UARTs plus USB
- 13 PWM outputs
- I2C and CAN ports
- RCIN port
- external safety Switch
- voltage monitoring for servo rail and Vcc
- power input port for external power bricks
## Pinout
## UART Mapping
- SERIAL0 -> USB
- SERIAL1 -> UART2 (Telem1)
- SERIAL2 -> unused
- SERIAL3 -> UART1 (GPS)
- SERIAL4 -> UART4 (GPS2, Telem4/I2C)
- SERIAL5 -> unused
- SERIAL6 -> UART7 (debug port)
- SERIAL7 -> USB2 (virtual port on same connector)
The Telem1 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
## Connectors
Unless noted otherwise all connectors are JST GH
### TELEM1 port
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin </th>
<th>Signal </th>
<th>Volt </th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>CTS</td>
<td>+3.3V</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>RTS</td>
<td>+3.3V</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### GPS1 port
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>SCL I2C1</td>
<td>+3.3V</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>SDA I2C1</td>
<td>+3.3V</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>Button</td>
<td>GND</td>
</tr>
<tr>
<td>7 (blk)</td>
<td>button LED</td>
<td>GND</td>
</tr>
<tr>
<td>8 (blk)</td>
<td>3.3V</td>
<td>3.3</td>
</tr>
<tr>
<td>9 (blk)</td>
<td>buzzer</td>
<td>GND</td>
</tr>
<tr>
<td> (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### GPS2, Telem4/I2C port
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>SCL I2C2</td>
<td>+3.3V</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>SDA I2C2</td>
<td>+3.3V</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### I2C
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>SCL</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>SDA</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### CAN1
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>CAN_H</td>
<td>+12V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>CAN_L</td>
<td>+12V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### POWER1
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>CURRENT</td>
<td>up to +3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>VOLTAGE</td>
<td>up to +3.3V</td>
</tr>
<td>5 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### USB
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin </th>
<th>Signal </th>
<th>Volt </th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>D_minus</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>D_plus</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
## RC Input
RC input is configured on the RCIN pin, at one end of the servo rail,
marked RCIN in the above diagram. This pin supports all RC
protocols.
## PWM Output
The SIYI N7 supports up to 13 PWM outputs. First first 8 outputs
(labelled "MAIN") are controlled by a dedicated STM32F103 IO
controller. These 8 outputs support all PWM output formats, but not
DShot.
The remaining 5 outputs (labelled AUX1 to AUX5) are the "auxiliary"
outputs. These are directly attached to the STM32H743 and support all
PWM protocols as well as DShot.
All 13 PWM outputs have GND on the top row, 5V on the middle row and
signal on the bottom row.
The 8 main PWM outputs are in 3 groups:
- PWM 1 and 2 in group1
- PWM 3 and 4 in group2
- PWM 5, 6, 7 and 8 in group3
The 4 auxiliary PWM outputs are in 2 groups:
- PWM 1, 2, 3 and 4 in group4
- PWM 5 in group5
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.
## Battery Monitoring
The board has a dedicated power monitor ports on a 6 pin
connector. The correct battery setting parameters are dependent on
the type of power brick which is connected.
## Compass
The SIYI N7 has one builtin IST8310 compass.
## GPIOs
The 5 AUX PWM ports can be used as GPIOs (relays, buttons, RPM etc).
The numbering of the GPIOs for PIN variables in ArduPilot is:
- PWM1 50
- PWM2 51
- PWM3 52
- PWM4 53
- PWM5 54
## Analog inputs
The SIYI N7 has 7 analog inputs
- ADC Pin16 -> Battery Voltage
- ADC Pin17 -> Battery Current Sensor
## IMU Heater
The IMU heater in the SIYI N7 can be controlled with the
BRD_HEAT_TARG parameter, which is in degrees C.
## Loading Firmware
The board comes pre-installed with an ArduPilot compatible bootloader,
allowing the loading of *.apj firmware files with any ArduPilot
compatible ground station.

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# hw definition file for processing by chibios_hwdef.py
# for H743 bootloader
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1123
# crystal frequency
OSCILLATOR_HZ 16000000
FLASH_SIZE_KB 2048
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 128
PB1 LED_RED OUTPUT LOW # red
PC6 LED_ACTIVITY OUTPUT LOW # green
PC7 LED_BOOTLOADER OUTPUT LOW # blue
define HAL_LED_ON 0
# order of UARTs (and USB)
SERIAL_ORDER OTG1 UART7
# UART7 is debug
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# pullup buzzer for no sound in bootloader
PE5 BUZZER OUTPUT LOW PULLDOWN
# Add CS pins to ensure they are high in bootloader
PF10 MS5611_CS CS
PF2 ICM20689_CS CS
PF4 BMI055_G_CS CS
PG10 BMI055_A_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW

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# hw definition file for processing by chibios_hwdef.py
DEFAULTGPIO OUTPUT LOW PULLDOWN
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# crystal frequency
OSCILLATOR_HZ 16000000
# board ID for firmware load
APJ_BOARD_ID 1123
FLASH_SIZE_KB 2048
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2
# bootloader takes first sector
FLASH_RESERVE_START_KB 128
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2
# default the 2nd interface to MAVLink2
define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
define HAL_STORAGE_SIZE 32768
# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# debug pins
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# SPI1 - internal sensors
PG11 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PD7 SPI1_MOSI SPI1
# SPI2 - FRAM
PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2
# SPI4 - sensors2
PE2 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4
# sensor CS
PF10 MS5611_CS CS
PF2 ICM20689_CS CS
PF4 BMI088_G_CS CS
PG10 BMI088_A_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW
# I2C buses
# I2C1 is on GPS port
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1
# I2C on uart4 connector
PF1 I2C2_SCL I2C2
PF0 I2C2_SDA I2C2
# I2C for onboard mag
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
# I2C4 is on external2
PF14 I2C4_SCL I2C4
PF15 I2C4_SDA I2C4
# order of I2C buses
I2C_ORDER I2C3 I2C1 I2C2 I2C4
define HAL_I2C_INTERNAL_MASK 1
# enable pins
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
# drdy pins
PB4 DRDY_ICM20689 INPUT
PB14 DRDY_BMI088_GYRO INPUT
PB15 DRDY_BMI088_ACC INPUT
PD15 DRDY7_EXTERNAL INPUT
# UARTs
# USART2 is telem1
PD6 USART2_RX USART2
PD5 USART2_TX USART2
PD3 USART2_CTS USART2
PD4 USART2_RTS USART2
# USART1 is GPS1
PB7 USART1_RX USART1 NODMA
PB6 USART1_TX USART1 NODMA
# UART4 GPS2
PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA
# UART7 is debug
PF6 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
# UART8 is for IOMCU
PE0 UART8_RX UART8
PE1 UART8_TX UART8
# UART for IOMCU
IOMCU_UART UART8
# PWM AUX channels
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PA10 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)
# PWM output for buzzer
PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
PC0 VDD_5V_SENS ADC1 SCALE(2)
PC1 SCALED_V3V3 ADC1 SCALE(2)
# voltage divider 1/(16.9/(33+16.9))
define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))
# CAN bus
PI9 CAN1_RX CAN1
PH13 CAN1_TX CAN1
PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
# GPIOs
PA7 HEATER_EN OUTPUT LOW GPIO(80)
define HAL_HEATER_GPIO_PIN 80
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 45
PH5 AUX_CS CS
PG1 VDD_BRICK_nVALID INPUT PULLUP
PG2 VDD_BRICK2_nVALID INPUT PULLUP
PA9 VBUS INPUT
PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH
# SPI devices
SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
SPIDEV bmi088_g SPI1 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI1 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
# Two IMUs
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 3
# microSD support
PC8 SDMMC1_D0 SDMMC1
PC9 SDMMC1_D1 SDMMC1
PC10 SDMMC1_D2 SDMMC1
PC11 SDMMC1_D3 SDMMC1
PC12 SDMMC1_CK SDMMC1
PD2 SDMMC1_CMD SDMMC1
# red LED
PB1 LED_RED OUTPUT GPIO(90)
# green LED
PC6 LED_GREEN OUTPUT GPIO(91) LOW
# blue LED
PC7 LED_BLUE OUTPUT GPIO(92) HIGH
# setup for 2 LEDs
define HAL_GPIO_A_LED_PIN 90
define HAL_GPIO_B_LED_PIN 92
define HAL_GPIO_LED_ON 0
# enable RAMTROM parameter storage
define HAL_STORAGE_SIZE 32768
define HAL_WITH_RAMTRON 1
# safety switch pin
PE10 LED_SAFETY OUTPUT
PE12 SAFETY_IN INPUT PULLDOWN
define HAL_HAVE_SAFETY_SWITCH 1
# one baro
BARO MS56XX SPI:ms5611
# one builtin compass, plus one on the default GPS that is external with
# a non-default orientation
COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270
define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270
# compensate for magnetic field generated by the heater on the internal IST8310
define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)}
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# enable FAT filesystem support (needs a microSD defined via SDMMC)
define HAL_OS_FATFS_IO 1
# don't share IOMCU DMA
DMA_NOSHARE UART8* SPI1* TIM*UP*
DMA_PRIORITY UART8* ADC* SPI1*
# battery setup
define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 16
define HAL_BATT_CURR_PIN 17
define HAL_BATT_VOLT_SCALE 18.182
define HAL_BATT_CURR_SCALE 36.364
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin