From e85594e42385437e72d682c56812f65a68692b9e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 Sep 2021 14:47:14 +1000 Subject: [PATCH] HAL_ChibiOS: added KakuteH7 support --- .../Kakkute_H7_Board_Top__Bottom2.jpg | Bin 0 -> 55661 bytes .../Kakkute_H7_Board_Top__Bottom3.jpg | Bin 0 -> 46111 bytes .../Kakkute_H7_Board_Top__Bottom4.jpg | Bin 0 -> 40726 bytes .../AP_HAL_ChibiOS/hwdef/KakuteH7/README.md | 100 +++++++++++ .../hwdef/KakuteH7/defaults.parm | 3 + .../hwdef/KakuteH7/hwdef-bl.dat | 48 ++++++ .../AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat | 159 ++++++++++++++++++ 7 files changed, 310 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/Kakkute_H7_Board_Top__Bottom2.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/Kakkute_H7_Board_Top__Bottom3.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/Kakkute_H7_Board_Top__Bottom4.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/README.md create mode 100644 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-> UART3 (GPS) + - SERIAL4 -> UART4 + - SERIAL5 -> not available + - SERIAL6 -> UART6 + - SERIAL7 -> UART7 + - SERIAL7 -> USB2 + +## RC Input + +RC input is configured on the R6 (UART6_RX) pin. It supports all RC +protocols. For protocols requiring half-duplex serial to transmit +telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup +SERIAL6 as an RC input serial port, with half-duplex, pin-swap +and inversion enabled. + +## FrSky Telemetry + +FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT + + - SERIAL6_PROTOCOL 10 + - SERIAL6_OPTIONS 7 + +## OSD Support + +The KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The KakuteH7 supports up to 9 PWM outputs. The pads for motor output +M1 to M8 on the two motor connectors, plus M9 for LED strip or another +PWM output. + +The PWM is in 5 groups: + + - PWM 1, 2 in group1 + - PWM 3, 4 in group2 + - PWM 5, 6 in group3 + - PWM 7, 8 in group4 + - PWM 9 in group5 + +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 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 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 10.1 + - BATT_AMP_PERVLT 17.0 + +## Compass + +The KakuteH7 does not have a builting 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/KakuteH7/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/defaults.parm new file mode 100644 index 0000000000..8ff4570cbf --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/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/KakuteH7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef-bl.dat new file mode 100644 index 0000000000..0fae85c0f9 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef-bl.dat @@ -0,0 +1,48 @@ +# hw definition file for processing by chibios_pins.py +# for Holybro KakuteH7 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1048 + +# 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 128 + +# reserve space for flash storage in last 2 sectors +FLASH_RESERVE_END_KB 256 + +# 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 + +PC13 BUZZER OUTPUT LOW PULLDOWN + +PC2 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# Add CS pins to ensure they are high in bootloader +PE4 IMU_CS CS +PA4 SDCARD_CS CS +PB12 SPARE_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat new file mode 100644 index 0000000000..cf86565831 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat @@ -0,0 +1,159 @@ +# hw definition file for processing by chibios_pins.py +# for Holybro KakuteH7 hardware. + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1048 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +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 128 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +define STORAGE_FLASH_PAGE 14 +define HAL_STORAGE_SIZE 32768 + +# one I2C bus +I2C_ORDER I2C1 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 OTG2 + +# buzzer +PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80) +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# SPI1 for SDCard +PA4 SDCARD_CS CS +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +PA3 SDCARD_DETECT INPUT + +# SPI2 for MAX7456 OSD +PB12 MAX7456_CS CS +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI4 for ICM20689 +PE4 ICM20689_CS CS +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# I2C1 for baro +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) + +PA8 VBUS INPUT + +# define default battery setup +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 10.1 +define HAL_BATT_CURR_SCALE 17.0 + +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 8 + +PC2 LED0 OUTPUT LOW + +# USART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 (GPS) +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 + +# UART4 (GPS2) +PD0 UART4_RX UART4 NODMA +PD1 UART4_TX UART4 NODMA + +# RC input defaults to timer capture +PC7 TIM3_CH2 TIM3 RCININT PULLDOWN + +# alternative config using USART for protocols +# like FPort +PC7 USART6_RX USART6 NODMA ALT(1) +PC6 USART6_TX USART6 NODMA + +# UART7 USED BY ESC FROM ORIGINAL DESIGN +PE7 UART7_RX UART7 +PE8 UART7_TX UART7 + +# Motors +PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50) +PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51) +PB3 TIM2_CH2 TIM2 PWM(3) GPIO(52) +PB10 TIM2_CH3 TIM2 PWM(4) GPIO(53) +PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) +PA2 TIM5_CH3 TIM5 PWM(6) GPIO(55) +PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) +PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) + +# LED strip +PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58) + +DMA_PRIORITY TIM1* TIM2* TIM5* TIM3* SPI4* SPI1* +DMA_NOSHARE SPI1* + +# spi devices +SPIDEV icm20689 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ +SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*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_COMPASS_DEFAULT HAL_COMPASS_NONE +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 + +# one IMU +IMU Invensense SPI:icm20689 ROTATION_YAW_180 + +# one BARO +BARO BMP280 I2C:0:0x76 + +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN" + +# setup for OSD +define OSD_ENABLED 1 +define OSD_PARAM_ENABLED 0 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +define STM32_PWM_USE_ADVANCED TRUE