diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/PH4-mini-pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/PH4-mini-pinout.jpg new file mode 100644 index 0000000000..53c667c341 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/PH4-mini-pinout.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/README.md b/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/README.md new file mode 100644 index 0000000000..435584584b --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/PH4-mini/README.md @@ -0,0 +1,117 @@ +# Pixhawk4-Mini Flight Controller + +The Pixhawk4-Mini flight controller is sold by [Holybro](http://www.holybro.com/product/64) + +## Features + + - STM32F765 microcontroller + - Two IMUs: ICM20689 and BMI055 + - MS5611 SPI barometer + - builtin SPI IST8310 magnetometer + - microSD card slot + - 3 UARTs plus USB + - 8 PWM outputs + - Two I2C and one CAN ports + - External Buzzer + - external safety Switch + - dedicated power input port for external power bricks + +## Pinout + +![Pixhawk4 Mini Board](PH4-mini-pinout.jpg "Pixhawk4 Mini") + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART2 (Telem1) + - SERIAL2 -> UART3 (Telem2) + - SERIAL3 -> UART1 (GPS) + - SERIAL6 -> UART7 (debug) + +The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not +have RTS/CTS. + +The UART7 connector is inside the case and labelled as debug, but is +available as a general purpose UART with ArduPilot. + +## RC Input + +RC input is configured on the port marked RC IN. This connector +supports all RC protocols. Two cables are available for this port. To +use software binding of Spektrum satellite receivers you need to use +the Spektrum satellite cable. + +## PWM Output + +The Pixhawk4-Mini supports up to 8 PWM outputs. All 8 outputs support all +normal PWM output formats. Only the first 6 outputs support DShot. + +The 8 auxillary PWM outputs are in 3 groups: + + - PWM 1, 2, 3 and 4 in group1 + - PWM 5 and 6 in group2 + - PWM 7 and 8 in group3 + +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. + +## Battery Monitoring + +The board has two dedicated power monitor ports on 6 pin +connectors. The correct battery setting parameters are dependent on +the type of power brick which is connected. + +## Compass + +The Pixhawk4-Mini has a builtin IST8310 compass. Due to potential +interference the board is usually used with an external I2C compass as +part of a GPS/Compass combination. + +## GPIOs + +The 8 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To +use them you need to limit the number of these pins that is used for +PWM by setting the BRD_PWM_COUNT to a number less than 8. For example +if you set BRD_PWM_COUNT to 6 then PWM6 and PWM7 will be available for +use as GPIOs. + +The numbering of the GPIOs for PIN variables in ArduPilot is: + + - PWM1 50 + - PWM2 51 + - PWM3 52 + - PWM4 53 + - PWM5 54 + - PWM6 55 + - PWM7 56 + - PWM8 57 + +In addition there are 4 pins on the servo rail marked CAP1 to +CAP4. The first 3 of these are available as GPIOs in ArduPilot using +the following GPIO numbers: + + - CAP1 58 + - CAP2 59 + - CAP3 60 + +## Analog inputs + +The Pixhawk4-Mini has 4 analog inputs + + - ADC Pin0 -> Battery Voltage + - ADC Pin1 -> Battery Current Sensor + - ADC Pin10 -> ADC 5V Sense + - ADC Pin11 -> ADC 3.3V Sense + +## Loading Firmware + +The board comes pre-installed with an ArduPilot compatible bootloader, +allowing the loading of *.apj firmware files with any ArduPilot +compatible ground station. + +## Acknowledgements + +Thanks to +[PX4](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html) for +images used under the [CC-BY 4.0 license](https://creativecommons.org/licenses/by/4.0/) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/README.md b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/README.md index 4d39ce596d..34390661bd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/README.md @@ -46,13 +46,13 @@ the Spektrum satellite cable. ## PWM Output -The Pixhawk4 supports up to 14 PWM outputs. First first 8 outputs (labelled +The Pixhawk4 supports up to 16 PWM outputs. First first 8 outputs (labelled "MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 outputs support all PWM output formats, but not DShot. -The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary" +The remaining 8 outputs (labelled AUX1 to AUX8) are the "auxillary" outputs. These are directly attached to the STM32F765 and support all -PWM protocols as well as DShot. +PWM protocols. The first 6 of the auxillary PWM outputs support DShot. The 8 main PWM outputs are in 3 groups: @@ -60,10 +60,11 @@ The 8 main PWM outputs are in 3 groups: - PWM 3 and 4 in group2 - PWM 5, 6, 7 and 8 in group3 -The 6 auxillary PWM outputs are in 2 groups: +The 8 auxillary PWM outputs are in 2 groups: - PWM 1, 2, 3 and 4 in group1 - PWM 5 and 6 in group2 + - PWM 7 and 8 in group3 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