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
2025-01-24 09:38:29 -04:00 · 2025-01-02 12:01:29 +08:00 · 2025-01-02 12:01:29 +08:00 · 9e035518c7
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--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Physical_Size.jpg
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Physical_Size.jpg
--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Ports_Connection.jpg
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Ports_Connection.jpg
--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md
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+# MicoAir743v2 Flight Controller
+
+The MicoAir743v2 is a flight controller designed and produced by [MicoAir Tech](http://micoair.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088/BMI270 dual IMUs
+ - Integrated BlueTooth module for telemetry
+ - SPL06 barometer
+ - QMC5883L magnetometer
+ - AT7456E OSD
+ - 9V 3A BEC; 5V 3A BEC
+ - MicroSD Card Slot
+ - 8 UARTs
+ - 11 PWM outputs
+ - 1 I2C
+ - 1 SWD
+
+## Physical
+
+![MicoAir H743 v2.0 Physical Size](MicoAir743v2_Physical_Size.jpg)
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
+ - SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
+ - SERIAL5 -> UART5 (User, DMA-enabled)
+ - SERIAL6 -> UART6 (RCIN, DMA-enabled)
+ - SERIAL7 -> UART7 (RX only, ESC Telemetry, DMA-enabled)
+ - SERIAL8 -> UART8 (MAVLink2, connected to on board BlueTooth module)
+
+
+## RC Input
+
+The UART6  is compatible with all ArduPilot supported receiver protocols, 
+
+* PPM is not supported.
+
+  *  SBUS/DSM/SRXL connects to the RX6 pin.
+
+  * FPort requires connection to TX6 . See FPort Receivers.
+
+  *  CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry.
+
+  *  SRXL2 requires a connection to TX6 and automatically provides telemetry. Set SERIAL6_OPTIONS to “4”.
+
+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.
+
+## OSD Support
+
+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".
+
+
+## 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 MicoAir743v2 supports up to 11 PWM outputs.
+
+All the channels support DShot.
+
+Channels 1-8 support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2, 3, 4 are Group 1;
+
+5, 6 are Group 2;
+
+7, 8, 11 are Group 3;
+
+9, 10 are Group 4;
+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.
+
+## 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 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.12
+ - BATT_CURR_SCALE 40.2
+
+## Compass
+
+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.
+
+## BlueTooth
+
+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.
+
+## Mechanical
+
+ - Mounting: 30.5 x 30.5mm, Φ4mm
+ - Dimensions: 36 x 36 x 8 mm
+ - Weight: 10g
+
+## Ports Connector
+
+![MicoAir H743 v2.0 Ports Connection](MicoAir743v2_Ports_Connection.jpg)
+
+## Loading Firmware
+
+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.
+
+
+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.
+
--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat
@ -0,0 +1,46 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743v2
+
+# 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 USART1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PD5  BMI088_G_CS     CS
+PD4  BMI088_A_CS     CS
+PA15 BMI270_CS       CS
+PB12 AT7456E_CS      CS
+
+# LEDs
+PE2 LED_ACTIVITY   OUTPUT LOW #green
+PE4 LED_BOOTLOADER OUTPUT LOW #blue
+define HAL_LED_ON 0
--- a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat
@ -0,0 +1,176 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743v2 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743v2
+
+# 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 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UARTs
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+PA2  USART2_TX USART2
+PA3  USART2_RX USART2
+PD8  USART3_TX USART3
+PD9  USART3_RX USART3
+PA0  UART4_TX  UART4
+PA1  UART4_RX  UART4
+PB6  UART5_TX  UART5
+PB5  UART5_RX  UART5
+PC6  USART6_TX USART6
+PC7  USART6_RX USART6
+PE8  UART7_TX  UART7
+PE7  UART7_RX  UART7
+PE1  UART8_TX  UART8
+PE0  UART8_RX  UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# order of I2C
+I2C_ORDER I2C2 I2C1
+
+# I2C
+PB8  I2C1_SCL I2C1
+PB9  I2C1_SDA I2C1
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# PWM
+PE14 TIM1_CH4  TIM1  PWM(1)  GPIO(50) BIDIR
+PE13 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
+PE11 TIM1_CH2  TIM1  PWM(3)  GPIO(52) BIDIR
+PE9  TIM1_CH1  TIM1  PWM(4)  GPIO(53)
+PB1  TIM3_CH4  TIM3  PWM(5)  GPIO(54) BIDIR
+PB0  TIM3_CH3  TIM3  PWM(6)  GPIO(55)
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
+PE5  TIM15_CH1 TIM15 PWM(9)  GPIO(58)
+PE6  TIM15_CH2 TIM15 PWM(10) GPIO(59)
+
+# LED-pad
+PD14 TIM4_CH3  TIM4  PWM(11) GPIO(60) #M11
+
+# BUZZER
+PD15 BUZZER OUTPUT GPIO(61) LOW
+define HAL_BUZZER_PIN 61
+
+# 11 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 11
+
+# LEDs
+PE3 LED_RED   OUTPUT LOW GPIO(0)
+PE2 LED_GREEN OUTPUT LOW GPIO(1)
+PE4 LED_BLUE  OUTPUT LOW GPIO(2)
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
+
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# ADC for Power
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# setup for battery
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 21.12
+define HAL_BATT_CURR_SCALE 40.2
+
+# compass
+define HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS QMC5883L I2C:ALL_EXTERNAL:0x0D true  ROTATION_NONE
+COMPASS QMC5883L I2C:ALL_INTERNAL:0x0D false ROTATION_NONE
+
+# 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 - OSD
+PA5  SPI1_SCK        SPI1
+PA6  SPI1_MISO       SPI1
+PA7  SPI1_MOSI       SPI1
+PB12 AT7456E_CS      CS
+
+# SPI2 - BMI088
+PD3  SPI2_SCK        SPI2
+PC2  SPI2_MISO       SPI2
+PC3  SPI2_MOSI       SPI2
+PD5  BMI088_G_CS     CS
+PD4  BMI088_A_CS     CS
+PC15 DRDY1_BMI088_G  INPUT
+PC14 DRDY2_BMI088_A  INPUT
+
+# SPI3 - BMI270
+PB3  SPI3_SCK      SPI3
+PB4  SPI3_MISO     SPI3
+PD6  SPI3_MOSI     SPI3
+PA15 BMI270_CS     CS
+PB7  DRDY3_BMI270  INPUT
+
+# SPI devices
+SPIDEV  bmi088_a  SPI2  DEVID1  BMI088_A_CS  MODE3  10*MHZ 10*MHZ
+SPIDEV  bmi088_g  SPI2  DEVID2  BMI088_G_CS  MODE3  10*MHZ 10*MHZ
+SPIDEV  bmi270    SPI3  DEVID3  BMI270_CS    MODE3   1*MHZ 10*MHZ
+SPIDEV  osd       SPI1  DEVID4  AT7456E_CS   MODE0  10*MHZ 10*MHZ
+
+# 2 IMUs
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+
+# barometers
+BARO SPL06 I2C:0:0x77
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# setup for serial ports
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
+define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL8_BAUD 115
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# setup for BF migration
+define HAL_FRAME_TYPE 12