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HAL_ChibiOS: added Pixhawk1 docs
This commit is contained in:
Andrew Tridgell
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libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1/PixhawkLabeled.jpg
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libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1/PixhawkLabeled.jpg
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libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1/README.md
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libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1/README.md
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# Pixhawk1 Flight Controller
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The Pixhawk1 flight controller was originally produced by 3DR. A
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number of vendors now sell boards with the same layout as the original
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board.
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## Features
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- STM32F427 microcontroller
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- MPU6000 and LSM303D/L3GD20 IMUs
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- MS5611 SPI barometer
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- builtin SPI LSM303D magnetometer
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- microSD card slot
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- 5 UARTs plus USB
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- 14 PWM outputs
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- I2C and CAN ports
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- Spektrum satellite connector
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- External Buzzer
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- builtin RGB LED
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- external safety Switch
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- external SPI port
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- voltage monitoring for servo rail and Vcc
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- dedicated power input port for external power brick
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- external USB connectors (micro USB and DF13)
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1)
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- SERIAL2 -> UART3 (Telem2)
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- SERIAL3 -> UART4 (GPS)
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- SERIAL4 -> UART8 (GPS2)
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- SERIAL5 -> UART7 (spare)
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
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have RTS/CTS.
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The GPS2/spare port (labelled serial5) has two UARTs on one 6 pin
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connector. The spare port was originally used as a debug console, but
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debug is now on USB, so this port is free for any UART protocol.
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## Connectors
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The original Pixhawk1 uses DF13 connectors, and has 14 ports
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### TELEM1, TELEM2 ports
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>CTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>RTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>CAN2 TX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>CAN2 RX</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SERIAL 4/5 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>TX (#4)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>RX (#4)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>TX (#5)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>RX (#5)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC 6.6V
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>ADC IN</td>
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<td>up to +6.6V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC 3.3V
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>ADC IN</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>ADC IN</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### I2C
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>SCL</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SDA</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### CAN
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>CAN_H</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CAN_L</td>
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<td>+12V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SPI
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>SPI_SCK</td>
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<td>3.3V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SPI_MISO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>SPI_MOSI</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5 (blk)</td>
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<td>!SPI_NSS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6 (blk)</td>
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<td>!GPIO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>7 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### POWER
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>CURRENT</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>4 (blk)</td>
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<td>VOLTAGE</td>
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<td>up to +3.3V</td>
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</tr>
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<td>5 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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<td>6 (blk)</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### SWITCH
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1 (red)</td>
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<td>VCC</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>2 (blk)</td>
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<td>!IO_LED_SAFETY</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>3 (blk)</td>
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<td>SAFETY</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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## RC Input
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RC input is configured on the RCIN pin, at one end of the servo rail,
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marked PPM in the above diagram. This pin supports all RC
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protocols. In addition there is a dedicated Spektrum satellite port
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which supports software power control, allowing for binding of
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Spektrum satellite receivers.
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## PWM Output
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The Pixhawk1 supports up to 14 PWM outputs. First first 8 outputs (labelled
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"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
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outputs support all PWM output formats, but not DShot.
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The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
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outputs. These are directly attached to the STM32F427 and support all
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PWM protocols as well as DShot.
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The 8 main PWM outputs are in 3 groups:
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- PWM 1 and 2 in group1
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- PWM 3 and 4 in group2
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- PWM 5, 6, 7 and 8 in group3
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The 6 auxillary PWM outputs are in 2 groups:
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- PWM 1, 2, 3 and 4 in group1
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- PWM 5 and 6 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot.
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## Battery Monitoring
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The board has a dedicatd power monitor port on a 6 pin DF13
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connector. The correct battery setting parameters are dependent on the
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type of power brick which is connected.
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## Compass
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The Pixhawk1 has a LSM303D builtin SPI compass, but due to
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interference the board is usually used with an external I2C compass as
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part of a GPS/Compass combination.
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## GPIOs
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The 6 auxillary PWM ports can be used as GPIOs (relays, buttons, RPM
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etc). To use them you need to limit the number of these pins that is
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used for PWM by setting the BRD_PWM_COUNT to a number less than 6. For
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example if you set BRD_PWM_COUNT to 4 then AUX5 and AUX6 will be
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available for use as GPIOs.
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The numbering of the GPIOs for PIN variables in ArduPilot is:
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- AUX1 50
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- AUX2 51
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- AUX3 52
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- AUX4 53
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- AUX5 54
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- AUX6 55
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## Analog inputs
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The Pixhawk1 has 6 analog inputs on the FMU, plus servo rail voltage
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and RSSI monitoring on the IO controller.
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- ADC Pin2 -> Battery Voltage
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- ADC Pin3 -> Battery Current Sensor
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- ADC Pin4 -> Vdd 5V supply sense
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- ADC Pin13 -> ADC 3.3V Port pin1
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- ADC Pin14 -> ADC 3.3V Port pin2
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- ADC Pin15 -> ADC 6.6V port
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- ADC Pin103 -> RSSI voltage monitoring
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader,
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allowing the loading of *.apj firmware files with any ArduPilot
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compatible ground station.
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