AP_HAL_ChibiOS: add hwdef files for Airvolute DCS2 onboard FMU

added ethernet config to hwdef updated readme.md hwdef: MAC parameters redefined according to ChibiOS hwdef: add default params for Airvolute DCS2 on board FMU update according to new changes in ChibiOS MAC driver added defines to support ethernet communication bootloaders: Airvolute-DCS2
2023-12-08 12:10:06 +01:00 · 2023-12-08 12:10:06 +01:00 · e6feebb2fb
parent f8d7be5e43
commit e6feebb2fb
7 changed files with 492 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
@ -0,0 +1,256 @@
+# Onboard FMU on Airvolute DCS2.Pilot board
+
+DroneCore 2.0 is a modular AI-driven open architecture autopilot designed for complex use cases that combines high computational processing power, redundant connectivity, small size, and low weight.The autopilot represents a one-stop-solution for developers integrating the functionality of carrier board, companion computer, and power distribution board into a single compact form factor.
+This system usually uses a "CUBE" autopilot as its primary FMU, but can use an onboard STM32H743 as the FMU. This board definition and firmware on `the ArduPilot firmware server <https://firmware.ardupilot.org>`__ is for this secondary FMU
+For more informations on DCS2.Pilot board see:
+https://docs.airvolute.com/dronecore-autopilot/dcs2
+
+## Where To Buy
+info@airvolute.com
+
+## Features
+
+ - MCU: STM32H743
+ - IMU: BMI088 
+ - Barometer: BMP390
+ - 2 UARTS
+ - 2 CAN buses
+ - 4 PWM outputs
+ - PPM (RC input)
+ - external SPI and I2C
+ - SD card connector
+ - USB connection onboard with Jetson Host
+ - Ethernet
+
+## DCS2.Pilot peripherals diagram
+<img width="957" alt="DC2 Pilot peripherals" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot%20peripherals.png">
+
+## DCS2.Pilot onboard FMU related connectors pinout
+### Top side
+<img width="818" alt="DCS2 Pilot_bottom" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png">
+
+#### <ins>PPM connector (RC input)</ins>
+JST GH 1.25mm pitch, 3-Pin
+
+Matching connector JST GHR-03V-S.
+
+RC input is configured on the PPM_SBUS_PROT pin as part of the PPM connector. Pin is connected to UART3_RX and also to analog input on TIM3_CH1. This pin supports all unidirectional RC protocols, but for it to be enabled, it is necessary to set SERIAL3_PROTOCOL as RCIN. Also RC input is shared with primary FMU, so it is default disabled on this secondary FMU.
+
+5V supply is limited to 1A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>GND</td>
+   </tr>
+   <td>2</td>
+   <td>5V</td>
+   </tr>
+   <td>3</td>
+   <td>PPM</td>
+   </tr>
+   </tbody>
+   </table>
+
+### Bottom side
+<img width="811" alt="DCS2 Pilot_top" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png">
+
+#### <ins>FMU SEC. connector</ins>
+JST GH 1.25mm pitch, 12-Pin
+
+Matching connector JST GHR-12V-S.
+
+The DCS2 Onboard FMU supports up to 4 PWM outputs. These are directly attached to the STM32H743 and support all PWM protocols as well as DShot and bi-directional DShot.
+The 4 PWM outputs are in 2 groups:
+PWM 1,2 in group1
+PWM 3,4 in group2
+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.
+
+5V supply is limited to 1A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>GND</td>
+   </tr>
+   <td>2</td>
+   <td>GND</td>
+   </tr>
+   <td>3</td>
+   <td>GPIO/PWM output 4</td>
+   </tr>
+    </tr>
+   <td>4</td>
+   <td>GPIO/PWM output 3</td>
+   </tr>
+    </tr>
+   <td>5</td>
+   <td>GPIO/PWM output 2</td>
+   </tr>
+    </tr>
+   <td>6</td>
+   <td>GPIO/PWM output 1</td>
+   </tr>
+    </tr>
+   <td>7</td>
+   <td>Serial 1 RX</td>
+   </tr>
+    </tr>
+   <td>8</td>
+   <td>Serial 1 TX</td>
+   </tr>
+    </tr>
+   <td>9</td>
+   <td>Serial 2 RX</td>
+   </tr>
+    </tr>
+   <td>10</td>
+   <td>Serial 2 TX</td>
+   </tr>
+    </tr>
+   <td>11</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>12</td>
+   <td>5V</td>
+   </tr>
+   </tbody>
+   </table>
+   
+   #### <ins>EXT. SENS. connector</ins>
+   BM23PF0.8-10DS-0.35V connector
+   
+   Matching connector BM23PF0.8-10DP-0.35V
+   
+   This connector allows connecting external IMU with I2C and SPI data buses.
+
+   5V supply is limited to 1.9A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>SPI_MOSI</td>
+   </tr>
+   <td>2</td>
+   <td>SPI_MISO</td>
+   </tr>
+   <td>3</td>
+   <td>SPI_SCK</td>
+   </tr>
+    </tr>
+   <td>4</td>
+   <td>SPI_CS0</td>
+   </tr>
+    </tr>
+   <td>5</td>
+   <td>SPI_CS1</td>
+   </tr>
+    </tr>
+   <td>6</td>
+   <td>SPI_CS2</td>
+   </tr>
+    </tr>
+   <td>7</td>
+   <td>SPI_CS3</td>
+   </tr>
+    </tr>
+   <td>8</td>
+   <td>IMU_DRDY_EXT</td>
+   </tr>
+    </tr>
+   <td>9</td>
+   <td>I2C_SE_SDA</td>
+   </tr>
+    </tr>
+   <td>10</td>
+   <td>I2C_SE_SCL</td>
+   </tr>
+    </tr>
+   <td>MP1</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>MP2</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>MP3</td>
+   <td>GND</td>
+   </tr>
+    </tr>
+   <td>MP4</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+   #### <ins>ETH EXP. connector</ins>
+   505110-1692 connector
+   
+   Ethernet connector is routed to FMU through onboard switch.
+   
+   The onboard FMU is connected via the RMII bus with a speed of 100 Mbits.
+   
+   #### <ins>SD card connector</ins>
+   MEM2085-00-115-00-A connector
+   
+   Connector for standard microSD memory card. This card is primarily used to store flight data and logs.
+   
+## Other connectors
+### CAN 1, CAN 2 connectors
+The board contains two CAN buses - CAN1 and CAN 2. The buses support speeds up to 1 Mbits and in FD mode up to 8 Mbits. 
+
+These connectors are not part of DCS2.Pilot board, but they are routed on DCS2.Adapter_board. This board (DCS2.Adapter_board) is fully modular and can be modified according to the customer's requirements. For more informations see: https://docs.airvolute.com/dronecore-autopilot/dcs2/adapter-extension-boards/dcs2.-adapter-default-v1.0/connectors-and-pinouts
+
+JST GH 1.25mm pitch, 4-Pin
+
+Matching connector JST GHR-04V-S.
+
+5V supply is limited to 1.9A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>5V</td>
+   </tr>
+   <td>2</td>
+   <td>CAN_H</td>
+   </tr>
+   <td>3</td>
+   <td>CAN_L</td>
+   </tr>
+    <td>4</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+## UART Mapping
+
+- SERIAL0 -> USB (Default baud: 115200)
+- SERIAL1 -> UART1 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2))
+- SERIAL2 -> UART2 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2))
+- SERIAL3 -> UART3 (RX pin only labeled as PPM on PPM connector) (Since this is a secondary FMU, default protocol is set to NONE instead of RCIN (23))
+  
+UARTs do not have RTS/CTS. UARTs 1 and 2 are routed to FMU_SEC. connector.
+
+## Loading Firmware
+
+Initial bootloader load is achievable only by SDW interface. Then it is possible to flash firmware thrugh onboard USB connection with Jetson host.
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm
@ -0,0 +1,4 @@
+SERIAL3_PROTOCOL -1
+NTF_BUZZ_TYPES 0
+NTF_BUZZ_VOLUME 0
+SYSID_THISMAV 2
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
@ -0,0 +1,58 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5200
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# USB setup
+USB_STRING_MANUFACTURER "Airvolute"
+
+# baudrate to run bootloader at on uarts
+define BOOTLOADER_BAUDRATE 115200
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# this is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN
+PA9 VBUS INPUT OPENDRAIN
+
+# UART1 (SE_CONNECTOR)
+PB14 USART1_TX USART1
+PA10 USART1_RX USART1
+
+PB1 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+define HAL_USE_SERIAL TRUE
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Add CS pins to ensure they are high in bootloader
+PD12 IMU_CS0 CS
+PE13 IMU_CS1 CS
+PD13 BARO_CS CS
+PD15 EXT_0 CS
+PD14 EXT_1 CS
+PD11 EXT_2 CS
+PD10 EXT_3 CS
--- a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat
@ -0,0 +1,174 @@
+# hw definition file for processing by chibios_hwdef.py
+#following exapmle: 
+#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5200
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+# This is the STM32 timer that ChibiOS will use for the low level
+# driver. This must be a 32 bit timer. We currently only support
+# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details.
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+#optimize for space
+env OPTIMIZE -Os
+
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN
+PA0 VDD_5V_SENS ADC1 SCALE(2)
+
+# order of I2C buses
+I2C_ORDER I2C1
+
+# I2C1 (SE_CONNECTOR)
+PB8 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+
+# USB setup
+USB_STRING_MANUFACTURER "Airvolute"
+
+# This is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN.
+PA9 VBUS INPUT OPENDRAIN
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# (---FUTURE REVISION---): PWM output for buzzer 
+PB15 TIM12_CH2 TIM12 GPIO(80) ALARM
+
+# (---FUTURE REVISION---): RC Input set for Interrupt not DMA
+PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
+
+# UART SETUP
+# USART1 (SE_CONNECTOR)
+PB14 USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2 (SE_CONNECTOR)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (RC INPUT)
+PD9 USART3_RX USART3
+
+#LED RED
+PB1 LED1 OUTPUT HIGH
+#LED GREEN
+PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0)
+
+# microSD 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
+
+# CS pins for SPI sensors. The labels for all CS pins need to
+# match the SPI device table later in this file.
+PD12 BMI088_ACC_CS CS
+PE13 BMI088_GYRO_CS CS
+PD13 BMP390_CS CS
+PD15 EXT_0_CS CS
+PD14 EXT_1_CS CS
+PD11 EXT_2_CS CS
+PD10 EXT_3_CS CS
+
+# CAN Busses
+PD0 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# CAN1 Silent Pin LOW Enable
+PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+
+# CAN2 Silent Pin LOW Enable
+PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# Ethernet
+PC1  ETH_MDC            ETH1
+PA2  ETH_MDIO           ETH1
+PC4  ETH_RMII_RXD0      ETH1
+PC5  ETH_RMII_RXD1      ETH1
+PB12 ETH_RMII_TXD0      ETH1
+PB13 ETH_RMII_TXD1      ETH1
+PB11 ETH_RMII_TX_EN     ETH1
+PA7  ETH_RMII_CRS_DV    ETH1
+PA1  ETH_RMII_REF_CLK   ETH1
+
+define BOARD_PHY_RMII
+define BOARD_PHY_ADDRESS 0x0000
+define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
+define HAL_PERIPH_ENABLE_NETWORKING
+
+#PWM outputs
+PB3  TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR
+PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
+
+# BMI088_DRDY
+PE12 BMI088_DRDY INPUT
+
+# (---FUTURE REVISION---) EXT IMU DRDY
+PD1 EXT_IMU_DRDY INPUT
+
+# SPI1 (ONBOARD SENSORS)
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI4 (EXTERNAL SENSORS)
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# SPI devices
+SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3  10*MHZ  10*MHZ
+SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACC_CS     MODE3  10*MHZ  10*MHZ
+SPIDEV bmp390      SPI1 DEVID3  BMP390_CS         MODE3  5*MHZ  5*MHZ
+SPIDEV icm42688_ext  SPI4 DEVID4  EXT_0_CS        MODE3  5*MHZ  5*MHZ
+SPIDEV lis3mdl       SPI4 DEVID5  EXT_1_CS        MODE3  5*MHZ  5*MHZ
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+
+# IMUs
+IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
+IMU Invensense   SPI:icm42688_ext ROTATION_NONE
+
+# 1 baro
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+BARO BMP388      SPI:bmp390
+
+define ALLOW_ARM_NO_COMPASS
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES