From d43dd5227ae90e9028a8410c968a15d225db1d5a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E2=80=9CJane=5FZeroOne=E2=80=9D?= <“ahdxzhangjie@126.com”> Date: Tue, 30 Jul 2024 09:06:28 +0200 Subject: [PATCH] AP_HAL_ChibiOS: add ZeroOneX6 --- .../AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md | 101 ++++++ .../hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg | Bin 0 -> 471802 bytes .../hwdef/ZeroOneX6/defaults.parm | 5 + .../hwdef/ZeroOneX6/hwdef-bl.dat | 106 ++++++ .../AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat | 343 ++++++++++++++++++ 5 files changed, 555 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md new file mode 100644 index 0000000000..ff9a42c1f4 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md @@ -0,0 +1,101 @@ +## ZeroOneX6 Flight Controller +The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications. + +## Features: +- Separate flight control core design. +- MCU + STM32H753IIK6 32-bit processor running at 480MHz + 2MB Flash + 1MB RAM +- IO MCU + STM32F103 +- Sensors +- IMU: + Internal Vibration Isolation for IMUs + IMU constant temperature heating(1 W heating power). + With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant: + IMU1-ICM45686(With vibration isolation) + IMU2-BMI088(With vibration isolation) + IMU3- ICM45686(No vibration isolation) +- Baro: + Two barometers:2 x ICP20100 + Magnetometer: Builtin RM3100 magnetometer + +## Pinout +![ZeroOneX6 Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/zeroOneBootLoader/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/ZeroOneX6Pinout.jpg "ZeroOneX6") + + +## UART Mapping +The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn. +| Name | Function | MCU PINS | DMA | +| :-----: | :------: | :------: | :------:| +| SERIAL0 | OTG1 | USB | +| SERIAL1 | Telem1 | UART7 |DMA Enabled | +| SERIAL2 | Telem2 | UART5 |DMA Enabled | +| SERIAL3 | GPS1 | USART1 |DMA Enabled | +| SERIAL4 | GPS2 | UART8 |DMA Enabled | +| SERIAL5 | Telem3 | USART2 |DMA Enabled | +| SERIAL6 | UART4 | UART4 |DMA Enabled | +| SERIAL7 |FMU DEBUG | USART3 |DMA Enabled | +| SERIAL8 | OTG-SLCAN| USB | + +## RC Input +The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.It will support ALL unidirectional RC protocols. + +## PWM Output +The X6 flight controller supports up to 16 PWM outputs. +First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. +The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller . +All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16. + +The 8 IO PWM outputs are in 4 groups: +- Outputs 1 and 2 in group1 +- Outputs 3 and 4 in group2 +- Outputs 5, 6, 7 and 8 in group3 + +The 8 FMU PWM outputs are in 4 groups: +- Outputs 1, 2, 3 and 4 in group1 +- Outputs 5 and 6 in group2 +- Outputs 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. + +## GPIO +All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is: + +
IO Pins | ++ | FMU Pins | +||||
---|---|---|---|---|---|---|
Name | Value | Option | Name | Value | Option | |
M1 | 101 | MainOut1 | M9 | 50 | AuxOut1 | |
M2 | 102 | MainOut2 | M10 | 51 | AuxOut2 | |
M3 | 103 | MainOut3 | M11 | 52 | AuxOut3 | |
M4 | 104 | MainOut4 | M12 | 53 | AuxOut4 | |
M5 | 105 | MainOut5 | M13 | 54 | AuxOut5 | |
M6 | 106 | MainOut6 | M14 | 55 | AuxOut6 | |
M7 | 107 | MainOut7 | M15 | 56 | ||
M8 | 108 | MainOut8 | M16 | 57 | BB Blue GPo pin 3 | |
FCU CAP | 58 |
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