From ab612bd0a92e556b16558344dceb96c0462ef8d9 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 4 Jun 2022 14:27:39 +0100 Subject: [PATCH] AP_HAL_ChibiOS: hwdef for MambaH743v4 support BMI270 on MambaH743v4 and increase flash SPI clock add bi-directional dshot to MambaH743 add README and pinout for MambaH743 --- .../hwdef/MambaH743v4/MambaH743v4_Board.jpg | Bin 0 -> 106305 bytes .../hwdef/MambaH743v4/README.md | 100 ++++++++++ .../hwdef/MambaH743v4/defaults.parm | 3 + .../hwdef/MambaH743v4/hwdef-bl.dat | 45 +++++ .../hwdef/MambaH743v4/hwdef.dat | 187 ++++++++++++++++++ 5 files changed, 335 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/MambaH743v4_Board.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat diff 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UART3 + - SERIAL4 -> UART4 (GPS, DMA-enabled) + - SERIAL5 -> UART5 (SPort) + - SERIAL6 -> UART6 (ESC Telemetry) + - SERIAL7 -> UART7 (GPS, DMA-enabled) + +## RC Input + +RC input is configured on the R1 (UART1_RX) pin. It supports all serial RC +protocols. For protocols requiring half-duplex serial to transmit +telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port, +with half-duplex, pin-swap and inversion enabled. + +## FrSky Telemetry + +FrSky Telemetry is supported using the T5 pin (UART5 transmit). You need to set the following parameters to enable support for FrSky S.PORT + + - SERIAL5_PROTOCOL 10 + - SERIAL5_OPTIONS 7 + +## OSD Support + +The MambaH743v4 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The MambaH743v4 supports up to 9 PWM outputs. The pads for motor output +M1 to M8 are provided on both the motor connectors and on separate pads, plus +M9 on a separate pad for LED strip or another PWM output. + +The PWM is in 4 groups: + + - PWM 1-4 in group1 + - PWM 5,6 in group2 + - PWM 7,8 in group3 + - PWM 9 in group4 + +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. Channels 1-8 support bi-directional dshot. + +## Battery Monitoring + +The board has a builting voltage and current sensor. The current +sensor can read up to 130 Amps. The voltage sensor can handle up to 6S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 11 + - BATT_CURR_PIN 13 + - BATT_VOLT_MULT 11.1 + - BATT_AMP_PERVLT 64 + +## Compass + +The MambaH743v4 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads. + +## Loading Firmware + +Initial firmware load can be done with DFU by plugging in USB with the +bootloader button pressed. Then you should load the "with_bl.hex" +firmware, using your favourite 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. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/defaults.parm new file mode 100644 index 0000000000..8ff4570cbf --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/defaults.parm @@ -0,0 +1,3 @@ +# setup for LEDs on chan9 +SERVO9_FUNCTION 120 +NTF_LED_TYPES 257 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef-bl.dat new file mode 100644 index 0000000000..ff488ce4d5 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef-bl.dat @@ -0,0 +1,45 @@ +# hw definition file for processing by chibios_pins.py +# for Diatone MambaH743 mk4 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1073 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 384 + +STORAGE_FLASH_PAGE 1 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +PE3 BUZZER OUTPUT LOW PULLDOWN + +PE5 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# Add CS pins to ensure they are high in bootloader +PA15 FLASH_CS CS +PB12 MAX7456_CS CS +PA4 MPU6000_CS CS +PE11 MPU6000_2_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat new file mode 100644 index 0000000000..56508895a9 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat @@ -0,0 +1,187 @@ +# hw definition file for processing by chibios_pins.py +# for Diatone MambaH743 mk4 hardware. + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1073 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +MCU_CLOCKRATE_MHZ 480 + +FLASH_SIZE_KB 2048 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# leave 1 sectors free +FLASH_RESERVE_START_KB 384 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +STORAGE_FLASH_PAGE 1 +define HAL_STORAGE_SIZE 32768 + +# enable logging to dataflash +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# one I2C bus +I2C_ORDER I2C1 I2C2 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 + +# buzzer +PE3 BUZZER OUTPUT LOW PULLDOWN GPIO(80) +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 +define HAL_PWM_ALT_ALARM + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for BMI270 / MPU6000 +PA4 MPU6000_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI2 for MAX7456 OSD +PB12 MAX7456_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI3 for flash +PA15 FLASH_CS CS +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PB2 SPI3_MOSI SPI3 + +# SPI4 for MPU6000_2 +PE11 MPU6000_2_CS CS +PE12 SPI4_SCK SPI4 +PE13 SPI4_MISO SPI4 +PE14 SPI4_MOSI SPI4 + +# I2C1 for baro +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C2 for baro +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC3 BATT_CURRENT_SENS ADC1 SCALE(1) + +# define default battery setup +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 11 +define HAL_BATT_CURR_PIN 13 +define HAL_BATT_VOLT_SCALE 11.1 +define HAL_BATT_CURR_SCALE 64 + +PC2 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 12 + +PE5 LED0 OUTPUT LOW GPIO(90) # blue +PE4 LED1 OUTPUT LOW GPIO(91) # orange +define HAL_GPIO_A_LED_PIN 91 +define HAL_GPIO_B_LED_PIN 90 +define HAL_GPIO_LED_OFF 1 + +# USART1 (RX / SBUS) +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 +PD5 USART2_TX USART2 NODMA +PD6 USART2_RX USART2 NODMA + +# USART3 (VTX) +PD8 USART3_TX USART3 NODMA +PD9 USART3_RX USART3 NODMA + +# UART4 (GPS) +PD1 UART4_TX UART4 +PD0 UART4_RX UART4 + +# UART5 (SPORT) +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA + +# USART6 (ESC Telemetry) +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA + +# UART7 (GPS) +PE8 UART7_TX UART7 +PE7 UART7_RX UART7 + +PE1 UART8_TX UART8 NODMA +PE0 UART8_RX UART8 NODMA + +define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN +define HAL_SERIAL1_BAUD 115 +define HAL_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry +define HAL_SERIAL6_BAUD 115 + +# Motors +PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR +PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) +PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR +PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) +PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR +PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) +PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR +PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) + +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12 + +# LED strip +PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) + +DMA_NOSHARE SPI3* SPI1* + +# spi devices +SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV bmi270 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3 1*MHZ 4*MHZ +SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ +SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 + +# Two MPU6000s or one BMI270 +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 +IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180 +IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 + +define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV + +# one BARO +BARO DPS280 I2C:0:0x76 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +define STM32_PWM_USE_ADVANCED TRUE