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AP_HAL_ChibiOS: add hwdef MicoAir743v2
Update README.md: add bluetooth introduction to features Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about SERIAL8 Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about RC Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: add description about "LED" pin Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about Loading Firmware Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> Update README.md: fix description about update firmware Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> remove defaults.parm and defined default params in hwdef file Update README.md: fix description about osd Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com> remove parameter define about serial4 Update README.md: add a section about BlueTooth
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libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md
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# MicoAir743v2 Flight Controller
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The MicoAir743v2 is a flight controller designed and produced by [MicoAir Tech](http://micoair.com/).
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## Features
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- STM32H743 microcontroller
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- BMI088/BMI270 dual IMUs
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- Integrated BlueTooth module for telemetry
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- SPL06 barometer
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- QMC5883L magnetometer
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- AT7456E OSD
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- 9V 3A BEC; 5V 3A BEC
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- MicroSD Card Slot
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- 8 UARTs
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- 11 PWM outputs
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- 1 I2C
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- 1 SWD
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## Physical
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
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- SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
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- SERIAL3 -> UART3 (GPS, DMA-enabled)
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- SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
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- SERIAL5 -> UART5 (User, DMA-enabled)
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- SERIAL6 -> UART6 (RCIN, DMA-enabled)
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- SERIAL7 -> UART7 (RX only, ESC Telemetry, DMA-enabled)
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- SERIAL8 -> UART8 (MAVLink2, connected to on board BlueTooth module)
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## RC Input
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The UART6 is compatible with all ArduPilot supported receiver protocols,
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* PPM is not supported.
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* SBUS/DSM/SRXL connects to the RX6 pin.
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* FPort requires connection to TX6 . See FPort Receivers.
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* CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry.
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* SRXL2 requires a connection to TX6 and automatically provides telemetry. Set SERIAL6_OPTIONS to “4”.
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Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See Radio Control Systems for details.
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## OSD Support
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The MicoAir743v2 supports onboard OSD using OSD_TYPE 1 (MAX7456 driver). Simultaneously, DisplayPort OSD is available on the HD VTX connector, set OSD_TYPE2 = "5".
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## VTX Support
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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.
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## PWM Output
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The MicoAir743v2 supports up to 11 PWM outputs.
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All the channels support DShot.
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Channels 1-8 support bi-directional DShot.
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PWM outputs are grouped and every group must use the same output protocol:
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1, 2, 3, 4 are Group 1;
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5, 6 are Group 2;
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7, 8, 11 are Group 3;
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9, 10 are Group 4;
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Note: PWM11 is the "LED" pin. If this is configured for serial LED use then PWM 7 and 8 can only be used as serial LED also.
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## Battery Monitoring
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The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
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The voltage sensor can handle up to 6S LiPo batteries.
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The default battery parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 21.12
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- BATT_CURR_SCALE 40.2
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## Compass
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The MicoAir743v2 has a built-in compass sensor (QMC5883L), and you can also attach an external compass using I2C on the SDA and SCL connector.
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## BlueTooth
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The MicoAir743v2 has an on board BlueTooth module connected to UART8(SERIAL8). The BlueTooth id is MicoAir743v2-xxxxxx and you can connect to it without pairing id.
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## Mechanical
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- Mounting: 30.5 x 30.5mm, Φ4mm
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- Dimensions: 36 x 36 x 8 mm
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- Weight: 10g
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## Ports Connector
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## Loading Firmware
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Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "XXXX_with_bl.hex" firmware, using your favorite DFU loading tool.
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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.
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46
libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat
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libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat
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# hw definition file for processing by chibios_hwdef.py
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# for the MicoAir743 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_MicoAir743v2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# flash size
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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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FLASH_BOOTLOADER_LOAD_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS pins
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PD5 BMI088_G_CS CS
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PD4 BMI088_A_CS CS
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PA15 BMI270_CS CS
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PB12 AT7456E_CS CS
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# LEDs
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PE2 LED_ACTIVITY OUTPUT LOW #green
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PE4 LED_BOOTLOADER OUTPUT LOW #blue
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define HAL_LED_ON 0
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176
libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat
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libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat
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# hw definition file for processing by chibios_hwdef.py
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# for the MicoAir743v2 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_MicoAir743v2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# flash size
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# UARTs
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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PB6 UART5_TX UART5
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PB5 UART5_RX UART5
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# SWD
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# order of I2C
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I2C_ORDER I2C2 I2C1
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# I2C
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# PWM
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR
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PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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PE5 TIM15_CH1 TIM15 PWM(9) GPIO(58)
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PE6 TIM15_CH2 TIM15 PWM(10) GPIO(59)
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# LED-pad
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) #M11
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# BUZZER
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PD15 BUZZER OUTPUT GPIO(61) LOW
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define HAL_BUZZER_PIN 61
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# 11 PWM available by default
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define BOARD_PWM_COUNT_DEFAULT 11
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# LEDs
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PE3 LED_RED OUTPUT LOW GPIO(0)
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PE2 LED_GREEN OUTPUT LOW GPIO(1)
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PE4 LED_BLUE OUTPUT LOW GPIO(2)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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# ADC for Power
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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# setup for battery
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 21.12
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define HAL_BATT_CURR_SCALE 40.2
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# compass
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define HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS QMC5883L I2C:ALL_EXTERNAL:0x0D true ROTATION_NONE
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COMPASS QMC5883L I2C:ALL_INTERNAL:0x0D false ROTATION_NONE
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# microSD support
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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define FATFS_HAL_DEVICE SDCD1
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# SPI1 - OSD
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PB12 AT7456E_CS CS
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# SPI2 - BMI088
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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PD5 BMI088_G_CS CS
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PD4 BMI088_A_CS CS
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PC15 DRDY1_BMI088_G INPUT
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PC14 DRDY2_BMI088_A INPUT
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# SPI3 - BMI270
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PD6 SPI3_MOSI SPI3
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PA15 BMI270_CS CS
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PB7 DRDY3_BMI270 INPUT
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# SPI devices
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SPIDEV bmi088_a SPI2 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI2 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi270 SPI3 DEVID3 BMI270_CS MODE3 1*MHZ 10*MHZ
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SPIDEV osd SPI1 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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# 2 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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# barometers
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BARO SPL06 I2C:0:0x77
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# setup for serial ports
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MAVLink2
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define DEFAULT_SERIAL8_BAUD 115
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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# setup for BF migration
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define HAL_FRAME_TYPE 12
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