From bcebac9132bfdd199fc8a0d8fa57b062eb1fdf8a Mon Sep 17 00:00:00 2001 From: Martin Luessi Date: Wed, 6 Sep 2023 13:41:04 -0700 Subject: [PATCH] AP_HAL_ChibiOS: Add RADIX2HD target --- .../AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md | 115 +++++++++++ .../hwdef/RADIX2HD/defaults.parm | 16 ++ .../AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat | 185 ++++++++++++++++++ .../hwdef/RADIX2HD/pack_firmware.sh | 24 +++ .../RADIX2HD/radix_2_hd_pinout_bottom.png | Bin 0 -> 106129 bytes .../hwdef/RADIX2HD/radix_2_hd_pinout_top.png | Bin 0 -> 133565 bytes 6 files changed, 340 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat create mode 100755 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/radix_2_hd_pinout_bottom.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/radix_2_hd_pinout_top.png diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md new file mode 100644 index 0000000000..7b5b1eeacc --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/README.md @@ -0,0 +1,115 @@ +# BrainFPV RADIX 2 HD Flight Controller + +The BrainFPV RADIX 2 HD is a flight controller primarily intended for +First Person View (FPV) applications that use a HD (digital) FPV system. + +For the full documentation, refer to the [BrainFPV website](https://www.brainfpv.com/kb/radix-2-hd/). + +## Features + + - STM32H750 microcontroller + - IMU: Bosch Sensortec BMI270 + - Barometer: Infineon DPS310 + - Onboard flash: 16 MB connected via QUADSPI + - microSD slot + - 6 UARTs plus USB (7 UARTs with alternate board config) + - 10 PWM outputs (8 supporting BDSHOT on dual 4-in-1 ESC connectors) + - I2C and CAN port + - Builtin RGB LED + - Analog input for voltage sensing, up to 12S (52 V) + - Analog input for current sensing + - Analog input for RSSI + - External buzzer + - USB Type-C connector + - Battery voltage 3S-8S (35 V) + - 5 V / 1.5 A voltage regulator for powering flight controller and external devices + - 9 V / 2 A voltage regulator for HD FPV system (can be turned on/off using the Relay2 switch) + - Size: 37 x 37 mm (30.5 mm hole spacing) + - Weight: 7g + - Made in the USA, NDAA compliant + +## Pinout + +![RADIX2HD Board Top](radix_2_hd_pinout_top.png "RADIX2HD Top") + +![RADIX2HD Board Bottom](radix_2_hd_pinout_bottom.png "RADIX2HD Bottom") + +Refer to the [full documentation](https://www.brainfpv.com/kb/radix-2-hd/) for details +and how to use the "PWR:VBAT" jumper. + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART1 (DMA-enabled, MSP DisplayPort OSD) + - SERIAL2 -> UART2 (DMA-enabled, GPS) + - SERIAL3 -> UART3 (DMA-enabled, RCin) + - SERIAL4 -> UART4 (spare) + - SERIAL5 -> UART5 (spare) + - SERIAL6 -> UART6 (spare, PWM 9 and 10 by default, use BRD_ALT_CONFIG = 1 for UART) + - SERIAL7 -> UART7 (spare, RX is on HD connector for RC input, TX is not connected to external pad) + +## RC Input + +By default, SERIAL3 is used for RC input. The RC receiver 5 V pad next to RX3 ("+") is +also powered from USB for easy and safe configuration without having to connect the main +battery. + +## PWM Output + +The RADIX 2 HD has a total of 10 PWM outputs. The first 8 outputs support BDSHOT and +are on two 4-in-1 ESC connectors. The PWM outputs are in groups of 2 channels each, +all channels in the same group need to use the same configuration / rate. + + - PWM 1-2 Group 1 + - PWM 3-4 Group 2 + - PWM 5-6 Group 3 + - PWM 7-8 Group 4 + - PWM 9-10 Group 5 (These are on the TX6 and RX6 pads that can also be used for SERIAL6) + +## Analog inputs + +The RADIX 2 HD has 3 analog inputs: + + - ADC Pin 10 -> Battery Voltage (VBAT pin, builtin 1:17.6 voltage divider) + - ADC Pin 3 -> Battery Current Sensor (CUR pin) + - ADC Pin 11 -> RSSI voltage monitoring (RSSI pad) + +## Battery Monitoring + +The RADIX 2 HD can monitor battery voltages up to 12S using a built-in voltage divider. +The board itself can be powered by battery voltages up to 8S (35 V) and there is a jumper +to use the same pin for battery voltage monitoring and for powering the board. + +WARNING Powering the board with more than 8S (35 V) with the "PWR:VBAT" jumper soldered +will damage it. Refer to the official documentation for more details. + +In addition to voltage sensing, the board also has an input for an external current sensor. + +## Loading Firmware + +The RADIX 2 HD uses a proprietary bootloader. To load firmware, download the firmware binary file +from the [BrainFPV website](https://www.brainfpv.com/firmware) and copy it to the USB drive +that appears when connecting the RADIX 2 HD to your computer when it is in bootloader mode +(hold the BOOT button and release when connecting to USB). + +Note: When using Ardupilot, it is necessary to have a microSD card inserted, without it +the firmware won't run. + +Alternatively, you can create your own firmware file using the [BrainFPV Firmware Packer](https://github.com/BrainFPV/brainfpv_fw_packer). +To create a file for Ardupilot, install the BrainFPV Firmware Packer: + + pip install git+https://github.com/BrainFPV/brainfpv_fw_packer.git + +After that, build the Copter firmware: + + ./waf configure --board RADIX2HD + ./waf copter + +Finally, use the firmware packer script to create the firmware file that can be used with the +BrainFPV bootloader: + + ./libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh copter + +To use it, copy the resulting `arducopter_{VERSION}_brainfpv.bin` to the USB drive that appears +when the RADIX 2 HD is in bootloader mode. Once it finishes copying, safely remove the drive. +At this point the RADIX 2 HD will reboot and run the Copter firmware. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/defaults.parm new file mode 100644 index 0000000000..b6cc0c5e93 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/defaults.parm @@ -0,0 +1,16 @@ +# CRSF receiver on UART3 +SERIAL3_PROTOCOL 23 +RSSI_TYPE 3 + +# MSP DisplayPort OSD on UART1 +OSD_TYPE 5 +SERIAL1_PROTOCOL 42 + +# GPS on UART2 +SERIAL2_PROTOCOL 5 + +# ESC Telemetry on UART4 +SERIAL4_PROTOCOL 16 + +# 9V regulator switch, ON on boot +RELAY_DEFAULT 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat new file mode 100644 index 0000000000..23bfb972c3 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/hwdef.dat @@ -0,0 +1,185 @@ +# hw definition file for processing by chibios_pins.py +# for BrainFPV RADIX 2 HD + +# MCU class and specific type +MCU STM32H7xx STM32H750xx + +# board ID for firmware load +APJ_BOARD_ID 1118 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 16000000 + +MCU_CLOCKRATE_MHZ 480 + +# Use custom divider so we get 80 MHz clock for FDCAN +define STM32_PLL1_DIVQ_VALUE 12 + +env OPTIMIZE -O2 + +define HAL_WITH_EKF_DOUBLE 0 + +STM32_ST_USE_TIMER 13 +define CH_CFG_ST_RESOLUTION 16 + +# internal flash is off limits +FLASH_SIZE_KB 128 +FLASH_RESERVE_START_KB 0 +define HAL_FLASH_PROTECTION 1 + +EXT_FLASH_SIZE_MB 16 +EXT_FLASH_RESERVE_START_KB 4096 +EXT_FLASH_RESERVE_END_KB 0 + +# Supports upto 2 MBits/s +CANFD_SUPPORTED 2 + +# only one I2C bus +I2C_ORDER I2C1 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 + +# I2C1 for baro +PB6 I2C1_SCL I2C1 PULLUP +PB7 I2C1_SDA I2C1 PULLUP + +# Analog inputs +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PA6 BATT_CURRENT_SENS ADC1 SCALE(1) +PC1 RSSI_ADC ADC1 + +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 3 +define HAL_BATT_VOLT_SCALE 17.6 +define HAL_BATT_CURR_SCALE 28.5 +define BOARD_RSSI_ANA_PIN 11 + +# Debug +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 (HD OSD) +PB15 USART1_RX USART1 +PB14 USART1_TX USART1 + +# USART2 (GPS) +PD6 USART2_RX USART2 +PD5 USART2_TX USART2 + +# USART3 (RC input) +PB11 USART3_RX USART3 +PD8 USART3_TX USART3 + +# UART4 (ESC telemetry) +PB8 UART4_RX UART4 NODMA +PA0 UART4_TX UART4 NODMA + +# UART5 (spare) +PB12 UART5_RX UART5 NODMA +PB13 UART5_TX UART5 NODMA + +# USART6 (spare) +PC7 USART6_RX USART6 NODMA ALT(1) +PC6 USART6_TX USART6 NODMA ALT(1) + +# UART7 (spare, RX is on HD connector for RC input, TX is not connected to external pad) +PA8 UART7_RX UART7 +PE8 UART7_TX UART7 NODMA + +# CAN bus +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +# SP1 for BMI270 +PA5 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 +PD3 BMI270_CS CS + +# SD card +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# QuadSPI Flash running at 120 MHz from HCLK +define HAL_FORCE_CLOCK_INIT +define STM32_QSPISEL STM32_QSPISEL_HCLK +PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH +PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH +PE2 QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH +PA1 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH +PB10 QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH +PB2 QUADSPI_CLK QUADSPI1 SPEED_HIGH + +# Motors +PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50) BIDIR # M1 +PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) BIDIR # M2 +PA15 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR # M3 +PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR # M4 +PB5 TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR # M5 +PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR # M6 +PD13 TIM4_CH2 TIM4 PWM(7) GPIO(56) BIDIR # M7 +PD14 TIM4_CH3 TIM4 PWM(8) GPIO(57) BIDIR # M8 + +# PWM output on UART6 TX and RX pins +PC6 TIM8_CH1 TIM8 PWM(9) GPIO(58) NODMA # TX6 +PC7 TIM8_CH2 TIM8 PWM(10) GPIO(59) NODMA # RX6 + +# RGB LED output: Currently not working: Needs to be inverted due to level shifter +PA3 TIM5_CH4 TIM5 PWM(11) GPIO(60) + +# Buzzer pin +PE4 BUZZER OUTPUT LOW PULLDOWN GPIO(80) +define HAL_BUZZER_PIN 80 +define AP_NOTIFY_TONEALARM_ENABLED 1 + +# LEDs +PE5 LED_RED OUTPUT HIGH OPENDRAIN GPIO(10) +PE6 LED_GREEN OUTPUT HIGH OPENDRAIN GPIO(11) +PA7 LED_BLUE OUTPUT HIGH OPENDRAIN GPIO(12) + +define HAL_GPIO_A_LED_PIN 10 +define HAL_GPIO_B_LED_PIN 11 +define HAL_GPIO_C_LED_PIN 12 + +define HAL_GPIO_LED_ON 0 +define HAL_GPIO_LED_OFF 1 + +define HAL_HAVE_PIXRACER_LED + +# 9V regulator switch +PC14 VTX_PWR OUTPUT HIGH GPIO(81) +define RELAY2_PIN_DEFAULT 81 + +SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 2*MHZ 10*MHZ + +IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 + +BARO DPS310 I2C:0:0x76 + +# filesystem setup on sdcard +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +define STM32_PWM_USE_ADVANCED TRUE + +define HAL_STORAGE_SIZE 16384 + +# DMA +DMA_PRIORITY SPI1* +DMA_NOSHARE SPI1* TIM1* TIM2* TIM3* TIM4* +NODMA I2C* +define STM32_I2C_USE_DMA FALSE + +# bootloader embedding / bootloader flashing not available +define AP_BOOTLOADER_FLASHING_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh new file mode 100755 index 0000000000..c32aafe452 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/pack_firmware.sh @@ -0,0 +1,24 @@ +#!/usr/bin/env bash + +# Example script to pack firmware for RADIX 2 HD +# Get the firmware packer tool from here: https://github.com/BrainFPV/brainfpv_fw_packer + +# Get version information +GIT_VER=$(git describe HEAD 2>&1) +GIT_SHA1=$(git rev-parse HEAD) + +TARGET_BUILD_DIR=./build/RADIX2HD/bin +FW_ELF=${TARGET_BUILD_DIR}/ardu$1 +FW_HEX=${TARGET_BUILD_DIR}/ardu$1.hex +FW_PACKED=${TARGET_BUILD_DIR}/ardu$1_${GIT_VER}_brainfpv.bin + +# Create hex file +arm-none-eabi-objcopy -O ihex ${FW_ELF} ${FW_HEX} + +# Create binary for BrainFPV bootloader +brainfpv_fw_packer.py \ + --name ardu$1 \ + --version ${GIT_VER} \ + --sha1 ${GIT_SHA1} \ + --in ${FW_HEX} --out ${FW_PACKED} \ + --dev radix2hd -t firmware -b 0x90400000 -z --noheader diff --git a/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/radix_2_hd_pinout_bottom.png b/libraries/AP_HAL_ChibiOS/hwdef/RADIX2HD/radix_2_hd_pinout_bottom.png new file mode 100644 index 0000000000000000000000000000000000000000..fe933ee55f01b76b4294418139bdd360355efd59 GIT binary patch literal 106129 zcmb@tbySpH_csm_BCUYHAYIZmbc0BPlF|(h-3V@6Z11nAguV6bW!axM*l-1jn&S5eZ3%RJu>Ks0!bL)pnN`!mR|K%oZnuQ_f!EVq z$`S`H!D8V@qst=Wxg$E-?ejvJ@U=6gi8s-gbdf`4gc!dmG0<*hdrd=V4;T4-L4r<$ zCPfm3eO~_e_~4=M6-FK&&yLydh@%A#mR%okVdjaV-HM{qOrNrO23v$m*cm1jbos2& zdEU6tWwE`^X6RuRmVy4$_`-lz6aA)%k9TtnYrZ&KK`*z8wiem~xIGa2CjLhQtZfab zkrrWX)W}UqUm*?mgo}stOkF_oG)>Pn^>N8YVXm`e}TCo7Ig+v}z*2qBgP?*4VG=Q}DrHcA*Uba(dyNqzO7;vpV}^ICLcUM__ZJ(iMM 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