diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/RadiolinkPIX6.png b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/RadiolinkPIX6.png new file mode 100644 index 0000000000..0c70a1390b Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/RadiolinkPIX6.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/Readme.md b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/Readme.md new file mode 100644 index 0000000000..173b0317e7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/Readme.md @@ -0,0 +1,296 @@ +# RadiolinkPIX6 Flight Controller + +![RadiolinkPIX6](http://www.radiolink.com.cn/firmware/wiki/RadiolinkPIX6/RadiolinkPIX6.png) + +Featuring STM32F7 cpu, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot. + +## Specifications + +- Processor + - 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6 + - 216 MHz/512 KB RAM/2 MB Flash + - 32-bit IOMCU co-processor - STM32F100 + - 32KB FRAM - FM25V02A + - AT7456E OSD +- Sensors + - Bosh BMI088 IMU (accel, gyro) + - InvenSense ICM-42688 IMU (accel, gyro) + - SPL06 barometer + - IST8310 magnetometer +- Power + - SMBUS/I2C Power Module Inputs(I2C) + - voltage and current monitor inputs(Analog) +- Interfaces + - 16 PWM Outputs with independent power rail for external power source + - 5x UART serial ports, 2 with HW flow control + - Camera Input and Video Output + - PPM/SBUS input, DSM/SBUS input + - RSSI (PWM or voltage) input + - I2C, SPI, 2x CAN, USB + - 3.3V and 6.6V ADC inputs + - Buzzer and Safety Switch + - microSD card +- Dimensions + - Weight 80g + - Size 94mm x 51.5mm x 14.5mm + +## Connector assignments + +### Top View + + Top_View + +### Left View + + Right_View + + ### Right View + + Left_View + +### Rear View + + Rear + +## Pinouts + +### TELEM1, TELEM2 ports + +| Pin | Signal | Volt | +| ---- | ------- | ----- | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +### OSD + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | GND | GND | +| 2 | VOUT | +3.3V | +| 3 | VCC | +5V | +| 4 | GND | GND | +| 5 | VCC | +5V | +| 6 | VIN | +3.3V | + +### I2C port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | SCL | +3.3V (pullups) | +| 3 | SDA | +3.3V (pullups) | +| 4 | GND | GND | + +### CAN1, CAN2 ports + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | CAN_H | +12V | +| 3 | CAN_L | +12V | +| 4 | GND | GND | + +### GPS1 port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | SCL | +3.3V | +| 5 | SDA | +3.3V | +| 6 | GND | GND | + +### GPS2 Port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | SCL | +3.3V | +| 5 | SDA | +3.3V | +| 6 | GND | GND | + +### SPI + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | SPI_SCK | +3.3V | +| 3 | SPI_MISO | +3.3V | +| 4 | SPI_MOSI | +3.3V | +| 5 | !SPI_NSS1 | +3.3V | +| 6 | !SPI_NSS2 | +3.3V | +| 7 | DRDY | +3.3V | +| 8 | GND | GND | + +### POWER1 + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | CURRENT | up to +3.3V | +| 4 | VOLTAGE | up to +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +### POWER2 + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | SCL | +3.3V | +| 4 | SDA | +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +### ADC 3.3V + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | ADC IN1 | up to +3.3V | +| 3 | GND | GND | +| 4 | ADC IN2 | up to +3.3v | +| 5 | GND | GND | + +### ADC 6.6V + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | ADC IN | up to 6.6V | +| 3 | GND | GND | + +### USB remote port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | USB VDD | +5V | +| 2 | DM | +3.3V | +| 3 | DP | +3.3V | +| 4 | GND | GND | + +### SWITCH + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +3.3V | +| 2 | !IO_LED_SAFETY | GND | +| 3 | SAFETY | GND | + +### Buzzer port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | BUZZER- | +5V | + +### Spektrum/DSM Port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +3.3V | +| 2 | GND | GND | +| 3 | Signal | +3.3V | + +### Debug port + +| Pin | Signal | Volt | +| ---------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 1 | VCC | +5V | +| 2 | FMU_SWCLK | +3.3V | +| 3 | FMU_SWDIO | +3.3V | +| 4 | TX(UART7) | +3.3V | +| 5 | RX(UART7) | +3.3V | +| 6 | IO_SWCLK | +3.3V | +| 7 | IO_SWDIO | +3.3V | +| 8 | GND | GND | + +## UART Mapping + +- SERIAL0 -> USB +- SERIAL1 -> USART2 (Telem1) RTS/CTS pins, RX DMA capable +- SERIAL2 -> USART3 (Telem2) RTS/CTS pins, TX/RX DMA capable +- SERIAL3 -> USART1 (GPS1), TX/RX DMA capable +- SERIAL4 -> UART4 (GPS2), No DMA +- SERIAL5 -> UART7 (User), No DMA + +## RC Input + +The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry. + +To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL1 (USART2) would need to be used for receiver connections. Below are setups using Serial6. + +- [SERIAL1_PROTOCOL](https://ardupilot.org/copter/docs/parameters.html#serial1-protocol) should be set to “23”. +- FPort would require [SERIAL1_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial1-options) be set to “15”. +- CRSF would require [SERIAL1_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial1-options) be set to “0”. +- SRXL2 would require [SERIAL1_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial1-options) be set to “4” and connects only the TX pin. + +Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See [Radio Control Systems](https://ardupilot.org/copter/docs/common-rc-systems.html#common-rc-systems) for details. + +## OSD Support + +The RadiolinkPIX6 support using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using UART3 or any other free UART. See [MSP OSD](https://ardupilot.org/copter/docs/common-msp-osd-overview-4.2.html#common-msp-osd-overview-4-2) for more info. + +## PWM Output + +The RadiolinkPIX6 supports up to 16 PWM outputs. All 16 outputs support all normal PWM output formats. All FMU outputs also support DShot. + +The 8 FMU PWM outputs are in 4 groups: + +- Outputs 1, 2, 3 and 4 in group1 +- Outputs 5 and 8 in group2 +- Outputs 6 and 7 in group3 + +FMU outputs within the same group need to use the same output rate and protocol. If any output in a group uses DShot then all channels in that group need to use DShot. + +## Battery Monitoring + +The board has 2 dedicated power monitor ports with a 6 pin connector. One is the Analog power monitor(Power1), and the others is the I2C power monitor(Power2). + +### Power1 port(Analog) + +The parameters should be set: + +[BATT_MONITOR](https://ardupilot.org/copter/docs/parameters.html#batt-monitor) =4 + +[BATT_VOLT_PIN](https://ardupilot.org/copter/docs/parameters.html#batt-volt-pin) 2 + +[BATT_CURR_PIN](https://ardupilot.org/copter/docs/parameters.html#batt-curr-pin) 5 + +[BATT_VOLT_MULT](https://ardupilot.org/copter/docs/parameters.html#batt-volt-mult) 18 + +[BATT_AMP_PERVLT](https://ardupilot.org/copter/docs/parameters.html#batt-amp-pervlt) 24 + +### Power2 port(I2C) + +The parameters should be set.: + +- [BATT_MONITOR](https://ardupilot.org/copter/docs/parameters.html#batt-monitor) = 21 +- [BATT_I2C_BUS](https://ardupilot.org/copter/docs/parameters.html#batt-i2c-bus-ap-battmonitor-ina2xx) = 1 +- [BATT_I2C_ADDR](https://ardupilot.org/copter/docs/parameters.html#batt-i2c-addr-ap-battmonitor-ina2xx) = 65 + +## Compass + +The RadiolinkPIX6 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. + +## Analog inputs + +The RadiolinkPIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant + + - ADC Pin12 -> ADC 6.6V Sense + - ADC Pin4 -> ADC IN1 3.3V Sense + - ADC Pin13 -> ADC IN2 3.3V Sense + - Analog 3.3V RSSI input pin = 103 + +## Connectors + +Unless noted otherwise all connectors are JST GH \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef-bl.dat new file mode 100644 index 0000000000..dd803b77df --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef-bl.dat @@ -0,0 +1,42 @@ +# hw definition file for processing by chibios_hwdef.py +# for F765 bootloader + +# MCU class and specific type +MCU STM32F7xx STM32F767xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID 1410 + +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 32 + +PC13 LED_BOOTLOADER OUTPUT HIGH +PC7 LED_ACTIVITY OUTPUT HIGH +define HAL_LED_ON 0 + + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 UART7 + +# USART2 is telem1 +PD6 USART2_RX USART2 +PD5 USART2_TX USART2 +PD3 USART2_CTS USART2 +PD4 USART2_RTS USART2 + +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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat new file mode 100644 index 0000000000..abd4155c17 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RadiolinkPIX6/hwdef.dat @@ -0,0 +1,240 @@ +# hw definition file for processing by chibios_hwdef.py +# for the RadiolinkPIX6 hardware + +# MCU class and specific type. +MCU STM32F7xx STM32F767xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID 1410 + +FLASH_RESERVE_START_KB 32 + +# flash size +FLASH_SIZE_KB 2048 + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART7 OTG2 + +# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers +define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 + +# 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 + +# SPI1 - internal sensors +PB3 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 + +# SPI2 - FRAM +PA9 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI4 - sensors2 +PE2 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# sensor CS +PB12 BMI088_A_CS CS +PB4 ICM42688_CS CS SPEED_VERYLOW +PD10 FRAM_CS CS SPEED_VERYLOW +PA8 AT7456_CS CS +PE12 BMI088_G_CS CS +PC14 EXTERNAL1_CS1 CS +PC15 EXTERNAL1_CS2 CS + +# I2C buses + +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# order of I2C buses +I2C_ORDER I2C1 I2C2 + +# enable pins +PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH + +# start peripheral power off, then enable after init +# this prevents a problem with radios that use RTS for +# bootloader hold +PD13 nVDD_5V_HIPOWER_EN OUTPUT HIGH +PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH + +# drdy pins +PD15 DRDY7_EXTERNAL1 INPUT + +# Control of Spektrum power pin +PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) +define HAL_GPIO_SPEKTRUM_PWR 73 + +# Spektrum Power is Active High +define HAL_SPEKTRUM_PWR_ENABLED 1 + +# 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 +PB6 USART1_TX USART1 + +# USART3 is telem2 +PD9 USART3_RX USART3 +PD8 USART3_TX USART3 +PD11 USART3_CTS USART3 +PD12 USART3_RTS USART3 + +# UART4 GPS2 +PA1 UART4_RX UART4 NODMA +PA0 UART4_TX UART4 NODMA + +# UART7 is debug +PE7 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) +PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) +PA7 TIM3_CH2 TIM3 PWM(6) GPIO(55) +PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56) +PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) + +# PWM output for buzzer +PE5 TIM9_CH1 TIM9 GPIO(77) ALARM + +# analog in +PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA5 BATT_CURRENT_SENS ADC1 SCALE(1) + +PC3 SPARE1_ADC1 ADC1 SCALE(1) +PA4 SPARE2_ADC1 ADC1 SCALE(1) + +PC0 VDD_5V_SENS ADC1 SCALE(2) +PC2 SCALED_V3V3 ADC1 SCALE(2) + +# setup scaling defaults for PixHackV5 power brick +define HAL_BATT_VOLT_SCALE 18.0 +define HAL_BATT_CURR_SCALE 24.0 +define HAL_BATT_VOLT_PIN 0 +define HAL_BATT_CURR_PIN 1 + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +PB5 CAN2_RX CAN2 +PB13 CAN2_TX CAN2 + +# GPIOs +PC5 VDD_BRICK_nVALID INPUT PULLUP +PB1 VDD_BRICK2_nVALID INPUT PULLUP +PB2 VBUS_nVALID INPUT PULLUP +PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP +PE15 VDD_5V_PERIPH_nOC INPUT PULLUP + + +# SPI devices +SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ +SPIDEV imu2 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ +SPIDEV osd SPI2 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ + +# up to 2 IMUs +IMU Invensensev3 SPI:imu2 ROTATION_YAW_90 + +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE + +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# probe external I2C compasses plus some internal IST8310 +# we also probe some external IST8310 with a non-standard orientation +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +# we need to stop the probe of an IST8310 as an internal compass with PITCH_180 +define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE +COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180 + +# one baro +BARO SPL06 I2C:0:0x76 + +# microSD support +PC8 SDMMC_D0 SDMMC1 +PC9 SDMMC_D1 SDMMC1 +PC10 SDMMC_D2 SDMMC1 +PC11 SDMMC_D3 SDMMC1 +PC12 SDMMC_CK SDMMC1 +PD2 SDMMC_CMD SDMMC1 + +# red LED marked as B/E +PD14 LED_RED OUTPUT GPIO(90) + +# green LED marked as PWR. We leave this solid on, but allow +# for it to be controlled as a relay if needed +PC1 LED_GREEN OUTPUT GPIO(91) + +# blue LED marked as ACT +PC7 LED_BLUE OUTPUT GPIO(92) + +# setup for "pixracer" RGB LEDs +define HAL_GPIO_A_LED_PIN 90 +define HAL_GPIO_B_LED_PIN 91 +define HAL_GPIO_C_LED_PIN 92 +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + +define HAL_HAVE_PIXRACER_LED + +# enable RAMTROM parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + +# allow to have have a dedicated safety switch pin +define HAL_HAVE_SAFETY_SWITCH 1 + +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +DMA_PRIORITY SDMMC* UART8* ADC* USART3_RX TIM1_UP USART2_RX USART1_RX TIM1_CH3 SPI4* SPI1_RX SPI2* TIM1_CH1 SPI1_TX TIM* + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin