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AP_HAL_ChibiOS: added PixSurveyA1-IND
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xiao
Andrew Tridgell
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436
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/README.md
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436
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/README.md
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## PixSurveyA1-IND Flight Controller
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The PixSurveyA1-IND flight controller is an upgrade to PixSurveyA1, with better sensors and a better power solution; added a custom serial port. It is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)
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## Features
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• STM32F427VIT6 and STM32F103C8T6 microcontroller
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• Three IMUs, two ICM42688-P(SPI), one ICM40605(SPI)
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• internal heater for IMUs temperature control
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• internal Soft Rubber Damping Column isolation for All internal IMUs
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• Two barometers, MS5611(SPI) x2
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• builtin IST8310 magnetometer(internal I2C)
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• builtin RAMTRON(SPI)
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• microSD card slot(SPI)
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• 5 UARTs
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• USB(Type-C)
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• PPM & S.Bus input
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• 14 PWM outputs
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• tow I2C ports and two FDCAN ports
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• one S.Bus output
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• External Buzzer
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• two voltage & current monitoring
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• servo rail BEC independent power input for servos
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• external safety Switch
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• 12V Power Output
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## Pinout
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UART Mapping
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============
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- SERIAL0 -> console (primary mavlink, usually USB)
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- SERIAL1 -> USART2 (telem1, DMA-enabled)
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- SERIAL2 -> USART3 (Telem2, DMA-enabled)
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- SERIAL3 -> UART4 (GPS1)
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- SERIAL4 -> UART8 (GPS2, DMA-enabled)
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- SERIAL5 -> UART7 (USER)
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Connector pin assignments
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=========================
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TELEM1, TELEM2 ports
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--------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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I2C1, I2C2 ports
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----------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>SCL</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SDA</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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CAN1, CAN2 ports
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----------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>CAN_H</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN_L</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Safety port
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-----------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>LED</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SAFKEY</td>
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<td>+3.3V</td>
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</tr>
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</tbody>
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</table>
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GPS1/I2C1, GPS2/I2C2 ports
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--------------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Serial5 port
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------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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Power1, Power2 ports
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--------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>PIN</th>
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<th>SIGNAL</th>
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<th>VOLT</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CURRENT</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>VOLTAGE</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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12V Power Output port
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---------------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>2</td>
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<td>VCC</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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S.BUS Output port
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------------
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>SBUS.out</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>NC</td>
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<td>NC</td>
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</tr>
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<tr>
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<td>3</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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RC Input
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--------
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All compatible RC protocols can be decoded by attaching the Receiver's output to the SBUS input pin next to the Servo/Output VCC input connector. Note that some protocols such as CRSF or FPort including telemetry, require connection to, and setup of, one of the UARTs instead of this pin.
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Compass
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-------
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The PixSurveyA1-IND has a built-in compass. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
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PWM Output
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----------
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The PixSurveyA1-IND supports up to 14 PWM outputs. First first 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. These 8
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outputs support all PWM output formats, but not DShot.
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The remaining 6 outputs (labelled 9 to 14) are the "auxiliary"
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outputs. These are directly attached to the STM32F427 and support all
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PWM protocols as well as DShot.
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The 8 main PWM outputs are in 3 groups:
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- PWM 1 and 2 in group1
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- PWM 3 and 4 in group2
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- PWM 5, 6, 7 and 8 in group3
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The 6 auxiliary PWM outputs are in 2 groups:
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- PWM 1, 2, 3 and 4 in group1
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- PWM 5 and 6 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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Battery Monitor Settings
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========================
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These should already be set by default. However, if lost or changed:
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Enable Battery monitor with these parameter settings :
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:ref:`BATT_MONITOR<BATT_MONITOR>` =4
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Then reboot.
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:ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 2
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:ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 3
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:ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 18.0
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:ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 24.0
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:ref:`BATT2_VOLT_PIN<BATT2_VOLT_PIN>` 14
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:ref:`BATT2_CURR_PIN<BATT2_CURR_PIN>` 13
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:ref:`BATT2_VOLT_MULT<BATT2_VOLT_MULT>` 18.0
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:ref:`BATT2_AMP_PERVLT<BATT2_AMP_PERVLT>` 24.0
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DroneCAN capability
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===================
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There are 2 CAN ports that allow connecting two independent CAN bus outputs. Each of these can have multiple CAN peripheral devices connected.
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Where to Buy
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============
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||||
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||||
`makeflyeasy <http://www.makeflyeasy.com>`_
|
||||
|
||||
|
||||
[copywiki destination="plane,copter,rover,blimp"]
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74
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef-bl.dat
Normal file
74
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef-bl.dat
Normal file
@ -0,0 +1,74 @@
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# MCU class and specific type
|
||||
MCU STM32F4xx STM32F427xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1107
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 5
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# location of application code
|
||||
FLASH_BOOTLOADER_LOAD_KB 16
|
||||
|
||||
# bootloader loads at start of flash
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
|
||||
|
||||
# baudrate to run bootloader at on uarts
|
||||
define BOOTLOADER_BAUDRATE 115200
|
||||
|
||||
# uarts and USB to run bootloader protocol on
|
||||
SERIAL_ORDER OTG1 USART2 USART3 UART7
|
||||
|
||||
# this is the pin that senses USB being connected. It is an input pin
|
||||
# setup as OPENDRAIN
|
||||
PA9 VBUS INPUT OPENDRAIN
|
||||
|
||||
# now we define the pins that USB is connected on
|
||||
PA11 OTG_FS_DM OTG1
|
||||
PA12 OTG_FS_DP OTG1
|
||||
|
||||
# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# Another USART, this one for telem1
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
PD3 USART2_CTS USART2
|
||||
PD4 USART2_RTS USART2
|
||||
|
||||
# the telem2 USART
|
||||
# USART3 serial3 telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
|
||||
# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7
|
||||
|
||||
# define a LED
|
||||
PE12 LED_BOOTLOADER OUTPUT
|
||||
define HAL_LED_ON 1
|
||||
|
||||
# we need to tell HAL_ChibiOS/Storage.cpp how much storage is
|
||||
# available (in bytes)
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
|
||||
# Add CS pins to ensure they are high in bootloader
|
||||
PE4 42688_EXT_CS CS
|
||||
PC14 BARO_EXT_CS CS
|
||||
PC13 40605_EXT_CS CS
|
||||
PC2 42688_CS CS
|
||||
PD7 BARO_CS CS
|
||||
PC1 MAG_CS CS
|
||||
PB1 SDCARD_CS CS
|
||||
213
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat
Normal file
213
libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat
Normal file
@ -0,0 +1,213 @@
|
||||
# MCU class and specific type
|
||||
MCU STM32F4xx STM32F427xx
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1107
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 5
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
env OPTIMIZE -O2
|
||||
|
||||
|
||||
# serial port for stdout, disabled so console is on USB
|
||||
#STDOUT_SERIAL SD7
|
||||
#STDOUT_BAUDRATE 57600
|
||||
|
||||
# order of I2C buses
|
||||
I2C_ORDER I2C3 I2C2 I2C1
|
||||
|
||||
# now the UART order. These map to the hal.uartA to hal.uartF
|
||||
# objects. If you use a shorter list then HAL_Empty::UARTDriver
|
||||
# objects are substituted for later UARTs, or you can leave a gap by
|
||||
# listing one or more of the uarts as EMPTY
|
||||
# 1) SERIAL0: console (primary mavlink, usually USB)
|
||||
# 2) SERIAL3: primary GPS
|
||||
# 3) SERIAL1: telem1
|
||||
# 4) SERIAL2: telem2
|
||||
# 5) SERIAL4: GPS2
|
||||
# 6) SERIAL5: extra UART (usually RTOS debug console)
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7
|
||||
|
||||
# UART for IOMCU
|
||||
IOMCU_UART USART6
|
||||
|
||||
# UART4 is GPS
|
||||
PA0 UART4_TX UART4 NODMA
|
||||
PA1 UART4_RX UART4 NODMA
|
||||
PA2 BATT_VOLTAGE_SENS ADC1
|
||||
PA3 BATT_CURRENT_SENS ADC1
|
||||
PA4 VDD_5V_SENS ADC1 SCALE(2)
|
||||
|
||||
# SPI1 is sensors 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
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# PWM output for buzzer
|
||||
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
||||
|
||||
PB2 BOOT1 INPUT
|
||||
|
||||
PB8 I2C1_SCL I2C1
|
||||
PB9 I2C1_SDA I2C1
|
||||
|
||||
PB10 I2C2_SCL I2C2
|
||||
PB11 I2C2_SDA I2C2
|
||||
|
||||
PA8 I2C3_SCL I2C3
|
||||
PC9 I2C3_SDA I2C3
|
||||
|
||||
# SPI2 is FRAM
|
||||
PB13 SPI2_SCK SPI2
|
||||
PB14 SPI2_MISO SPI2
|
||||
PB15 SPI2_MOSI SPI2
|
||||
|
||||
PB12 CAN2_RX CAN2
|
||||
PB6 CAN2_TX CAN2
|
||||
|
||||
|
||||
PC0 VBUS_nVALID INPUT PULLUP
|
||||
PC3 AUX_POWER ADC1 SCALE(1)
|
||||
PC4 AUX_ADC2 ADC1 SCALE(1)
|
||||
|
||||
# USART6 to IO
|
||||
PC6 USART6_TX USART6
|
||||
PC7 USART6_RX USART6
|
||||
|
||||
|
||||
PD0 CAN1_RX CAN1
|
||||
PD1 CAN1_TX CAN1
|
||||
|
||||
# USART2 serial2 telem1
|
||||
PD5 USART2_TX USART2
|
||||
PD6 USART2_RX USART2
|
||||
|
||||
# USART3 serial3 telem2
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
PD10 FRAM_CS CS
|
||||
|
||||
|
||||
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
|
||||
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
|
||||
|
||||
# UART8 serial4 FrSky
|
||||
PE0 UART8_RX UART8
|
||||
PE1 UART8_TX UART8
|
||||
# allow this uart to be inverted for transmit under user control
|
||||
# the polarity is the value to use on the GPIO to change the polarity
|
||||
# to the opposite of the default
|
||||
PA10 UART8_TXINV OUTPUT HIGH GPIO(78) POL(0)
|
||||
|
||||
PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
|
||||
|
||||
# Now setup SPI bus4.
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
|
||||
# start peripheral power off, then enable after init
|
||||
# this prevents a problem with radios that use RTS for
|
||||
# bootloader hold
|
||||
|
||||
PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP
|
||||
PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
|
||||
|
||||
# UART7 is debug
|
||||
PE7 UART7_RX UART7 NODMA
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
# SPI1 CS pins
|
||||
PE4 42688_EXT_CS CS
|
||||
PC14 BARO_EXT_CS CS
|
||||
PC13 40605_EXT_CS CS
|
||||
PC2 42688_CS CS
|
||||
PD7 BARO_CS CS
|
||||
PC1 MAG_CS CS
|
||||
PB1 SDCARD_CS CS
|
||||
|
||||
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
|
||||
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
|
||||
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
|
||||
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
|
||||
|
||||
# Power flag pins: these tell the MCU the status of the various power
|
||||
# supplies that are available. The pin names need to exactly match the
|
||||
# names used in AnalogIn.cpp.
|
||||
PB5 VDD_BRICK_nVALID INPUT PULLUP
|
||||
PG5 VDD_BRICK2_nVALID INPUT PULLUP
|
||||
|
||||
|
||||
# SPI device table
|
||||
SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ
|
||||
SPIDEV ICM40605_ext SPI4 DEVID4 40605_EXT_CS MODE3 2*MHZ 4*MHZ
|
||||
SPIDEV ICM42688_ext SPI4 DEVID5 42688_EXT_CS MODE3 2*MHZ 4*MHZ
|
||||
SPIDEV ICM42688 SPI1 DEVID6 42688_CS MODE3 2*MHZ 4*MHZ
|
||||
SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
|
||||
SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 7
|
||||
|
||||
IMU Invensensev3 SPI:ICM42688 ROTATION_NONE
|
||||
IMU Invensensev3 SPI:ICM42688_ext ROTATION_NONE
|
||||
IMU Invensensev3 SPI:ICM40605_ext ROTATION_NONE
|
||||
|
||||
|
||||
BARO MS56XX SPI:ms5611
|
||||
BARO MS56XX SPI:ms5611_ext
|
||||
|
||||
|
||||
COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
define HAL_I2C_INTERNAL_MASK 1
|
||||
|
||||
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
define HAL_STORAGE_SIZE 16384
|
||||
define HAL_WITH_RAMTRON 1
|
||||
|
||||
# enable FAT filesystem support (needs a microSD defined via SDIO)
|
||||
define HAL_OS_FATFS_IO 1
|
||||
|
||||
# battery setup
|
||||
define HAL_BATT_VOLT_PIN 2
|
||||
define HAL_BATT_CURR_PIN 3
|
||||
define HAL_BATT_VOLT_SCALE 18
|
||||
define HAL_BATT_CURR_SCALE 24
|
||||
define HAL_BATT2_VOLT_PIN 14
|
||||
define HAL_BATT2_CURR_PIN 13
|
||||
define HAL_BATT2_VOLT_SCALE 18
|
||||
define HAL_BATT2_CURR_SCALE 24
|
||||
|
||||
define HAL_HAVE_IMU_HEATER 1
|
||||
define HAL_IMU_TEMP_DEFAULT 45
|
||||
define HAL_IMUHEAT_P_DEFAULT 50
|
||||
define HAL_IMUHEAT_I_DEFAULT 0.07
|
||||
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
|
||||
|
||||
# We can't share the IO UART (USART6).
|
||||
DMA_NOSHARE USART6_TX USART6_RX ADC1
|
||||
DMA_PRIORITY USART6*
|
||||
|
||||
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
|
||||
Loading…
Reference in New Issue
Block a user