mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: added QioTekZealotH743 support
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QioTek
Peter Barker
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7cea90df98
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## QioTekZealotH743 Flight Controller
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The QioTek Zealot H743 flight controller is sold by a range of resellers listed on the QIOTEK(http://www.Qio-Tek.com)
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## Features
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• STM32H743VIT6 microcontroller
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• Three IMUs, one ICM42688-P(SPI), one ICM42605(SPI), one ICM20689(SPI), ADIS1647X for reserve(SPI)
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• internal heater for IMUs temperature control
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• internal Soft Rubber Damping Ball isolation for All interna IMUs
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• Two DPS310(SPI) barometers
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• builtin QMC5883L or IST8310 magnetometer(internal I2C)
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• builtin analog OSD(SPI)
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• builtin RAMTRON(SPI)
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• microSD card slot
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• 5 UARTs and USB(Type-C)
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• PPM & S.Bus input
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• 14 PWM outputs
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• 4 Relay outputs
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• tow I2C ports and two FDCAN ports
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• one S.Bus output(inverter Share Serial5)
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• External Buzzer
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• builtin RGB LED
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• two voltage & current monitoring and servo rail voltage monitoring（support to 36V)）
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• two ADC inputs(default one for RSSI, one for Airspeed sensor, both support to 6.6V)
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• servo rail BEC independent power input for servos
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• builtin BEC（6S 1.5A）power input（share power2 module voltage monitoring）
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• external safety Switch
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• external USB connectors (Type-C USB and JST GH1.25)
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# setup the heater temperature to 45 degree
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BRD_IMU_TARGTEMP 45
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# setup serial2 port defaults for ESP8266
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define HAL_SERIAL2_PROTOCOL SerialProtocol_MAVLink2
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define HAL_SERIAL2_BAUD 921600
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# setup the parameter for the ADC power module
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BATT_VOLT_PIN 16
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BATT_CURR_PIN 17
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BATT_VOLT_MULT 20.000
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BATT_AMP_PERVLT 17.000
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BATT2_VOLT_PIN 10
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BATT2_CURR_PIN 11
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BATT2_VOLT_MULT 20.000
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BATT2_AMP_PERVLT 17.000
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# setup the parameter for the two Relays GPIO others for reserve
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define RELAY1_PIN_DEFAULT 1
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define RELAY2_PIN_DEFAULT 2
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# hw definition file for processing by chibios_hwdef.py
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# for Qiotek ZealotH743
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# board ID for firmware load
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APJ_BOARD_ID 1036
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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#define LED pins
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PE2 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red
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PE1 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
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PE0 LED_RED OUTPUT OPENDRAIN HIGH # blue
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define HAL_LED_ON 1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 32768
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define BOOTLOADER_DEBUG SD7
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# Add CS pins to ensure they are high in bootloader
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PB2 IMU1_CS CS
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PE10 IMU2_CS CS
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PE12 IMU3_CS CS
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PA10 FRAM_CS CS
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PA15 ADIS1647X_CS CS
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PA8 AT7456_CS CS
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PE3 MS5611_CS CS
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PD7 DPS310_CS CS
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PC10 FLASH_CS CS
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# hw definition file for processing by chibios_hwdef.py for Qiotek ZealotH743
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# board ID for firmware load
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APJ_BOARD_ID 1036
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7
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# now we define the pins that USB is connected on
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT
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# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 - internal sensors and OSD
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2 - FRAM and SmartCard
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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# SPI3 - ADIS16470 sensor
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# sensor
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PB2 IMU1_CS CS
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PE10 IMU2_CS CS
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PE12 IMU3_CS CS
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PE3 BARO1_CS CS
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PD7 BARO2_CS CS
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PA8 AT7456_CS CS
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PA10 FRAM_CS CS
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PC10 FLASH_CS CS
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PA15 ADIS16470_CS CS
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# use GPIO(93) for data ready on ADIS16470
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define ADIS_DRDY_PIN 93
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# define the order that I2C buses
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I2C_ORDER I2C2 I2C1
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# I2C1 is on GPS port
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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define HAL_I2C_INTERNAL_MASK 1
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# define UARTs
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# USART1 is telem1
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PB15 USART1_RX USART1
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PB14 USART1_TX USART1
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# USART2 is telem2
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PD6 USART2_RX USART2
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PD5 USART2_TX USART2
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# USART3 is GPS1
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3 NODMA
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# USART4 is GPS2
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PB8 UART4_RX UART4 NODMA
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PB9 UART4_TX UART4 NODMA
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# UART7 is debug
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# PWM AUX channels
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PA2 TIM5_CH3 TIM5 PWM(1) GPIO(50)
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PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51)
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PB0 TIM3_CH3 TIM3 PWM(3) GPIO(52)
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PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
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PC6 TIM3_CH1 TIM3 PWM(13) GPIO(62) NODMA
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PC7 TIM3_CH2 TIM3 PWM(14) GPIO(63) NODMA
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# PWM output for buzzer
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PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
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# RC input
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PC8 TIM8_CH3 TIM8 RCININT PULLUP LOW
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# analog in
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(2)
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PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
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PC1 BATT2_CURRENT_SENS ADC1 SCALE(2)
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# Board VCC and servo rail VCC
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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PC4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
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# analog in ADC6.6
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PC5 PRESSURE_SENS ADC1 SCALE(2)
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PB1 RSSI_IN ADC1 SCALE(2)
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# 2nd CAN bus
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# control for silent (no output) for CAN
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PD11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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PD10 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
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# SPI devices
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SPIDEV adis16470 SPI3 DEVID1 ADIS16470_CS MODE3 1*MHZ 2*MHZ
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SPIDEV imu1 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu2 SPI1 DEVID2 IMU2_CS MODE3 2*MHZ 8*MHZ
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SPIDEV imu3 SPI1 DEVID3 IMU3_CS MODE3 2*MHZ 8*MHZ
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SPIDEV baro1 SPI1 DEVID2 BARO1_CS MODE3 5*MHZ 5*MHZ
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SPIDEV baro2 SPI1 DEVID1 BARO2_CS MODE3 5*MHZ 5*MHZ
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SPIDEV osd SPI1 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID2 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID3 FLASH_CS MODE0 400*KHZ 10*MHZ
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# four IMUs, ADIS1647X for reserve
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IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
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IMU Invensense SPI:imu1 ROTATION_ROLL_180
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IMU Invensensev3 SPI:imu1 ROTATION_YAW_270
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IMU Invensense SPI:imu2 ROTATION_ROLL_180
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IMU Invensensev3 SPI:imu2 ROTATION_YAW_270
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IMU Invensense SPI:imu3 ROTATION_ROLL_180
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# two Baro sensors
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BARO DPS280 SPI:baro1
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BARO DPS280 SPI:baro2
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# look for I2C compass
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COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
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COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 1
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# LED setup is similar to PixRacer
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define HAL_HAVE_PIXRACER_LED
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PE2 LED_RED OUTPUT GPIO(10)
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PE1 LED_GREEN OUTPUT GPIO(11)
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PE0 LED_BLUE OUTPUT GPIO(12)
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define HAL_GPIO_A_LED_PIN 10
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define HAL_GPIO_B_LED_PIN 11
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define HAL_GPIO_C_LED_PIN 12
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define HAL_GPIO_LED_ON 0
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define HAL_GPIO_LED_OFF 1
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#define GPIOs
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PE15 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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PC11 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC12 EXTERN_GPIO2 OUTPUT GPIO(2)
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PD2 EXTERN_GPIO3 OUTPUT GPIO(3)
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PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 32768
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define HAL_WITH_RAMTRON 1
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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PC13 LED_SAFETY OUTPUT
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PE4 SAFETY_IN INPUT PULLDOWN
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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DMA_PRIORITY ADC* SPI1* TIM*UP*
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DMA_NOSHARE SPI1* TIM*UP*
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