HAL_Chibios: support modalai_fc-v1 flight controller
Based on M0018 version. Thanks to ModalAI for assistance
This commit is contained in:
auturgy
Andrew Tridgell
parent
28c34bdce4
commit
7c3c3a0a41
68
libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/README.md
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libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/README.md
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# ModalAI Flight Core v1 Controller
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The ModalAI FlightCore is a flight controller produced by [ModalAI](http://www.modalai.com/).
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## Features
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- STM32F765 microcontroller
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- ICM42688 and ICM20602 IMUs
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- BMP388 barometer
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- microSD card slot
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- 7 UARTs plus USB
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- 8 PWM outputs
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## Pinout
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For detailed pinout descriptions see [FlightCore Pinout](https://docs.modalai.com/flight-core-datasheets-connectors/)
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART7 (Telem1)
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- SERIAL2 -> UART5 (Telem2)
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- SERIAL3 -> USART1 (GPS)
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- SERIAL4 -> UART4 (GPS2)
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- SERIAL5 -> USART2
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- SERIAL6 -> USART6 (spektrum RCIN)
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- SERIAL7 -> USART3
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- SERIAL8 -> USB2
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## RC Input
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RC input is configured on both the PPM input pin and the "spektrum"
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USART6 UART. The PPM pin supports all one-way RC protocols. For
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protocols requiring half-duplex serial to transmit telemetry (such as
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FPort) you should use the spektrum port, mapped to SERIAL6. Both PPM
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and spektrum ports are enabled for RCIN by default.
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## PWM Output
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The ModalAI_v1 supports up to 8 PWM outputs on the PWM output connector
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The PWM is in 2 groups:
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- PWM 1, 2, 3, 4 in group1
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- PWM 5, 6, 7, 8 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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## Power Monitoring
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In addition to the normal range of ArduPilot power monitoring options,
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the modalAI build supports two I2C power monitors, the INA231 and the
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LTC2946. The FlightCore board comes with the INA231 and you should set
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BATTERY_MONITOR to 21. For the LTC2946 based power brick you should
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set BATTERY_MONITOR to 22.
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## Compass
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The ModalAI_v1 does not have a built-in compass, but you can attach an
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external compass
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Binary file not shown.
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After Width: | Height: | Size: 143 KiB |
76
libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef-bl.dat
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libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef-bl.dat
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# hw definition file for processing by chibios_hwdef.py
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# for F765 bootloader
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# MCU class and specific type
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MCU STM32F7xx STM32F767xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 41775
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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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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FLASH_BOOTLOADER_LOAD_KB 32
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PB1 LED_BOOTLOADER OUTPUT HIGH
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PB0 LED_ACTIVITY OUTPUT HIGH
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define HAL_LED_ON 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART2 USART3
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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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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# UARTs
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# USART2 is telem3, MSS_SPARE_4W
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PA3 USART2_RX USART2 NODMA
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART3, UART_2W_DEBUG
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PD9 USART3_RX USART3 NODMA
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PD8 USART3_TX USART3
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# UART5 Telem 2, MSS_UART_4W
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PD2 UART5_RX UART5
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PB9 UART5_TX UART5
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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# UART7 Telem 1, TELEM_UART_4W
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE9 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# Add CS pins to ensure they are high in bootloader
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PF3 ICM20602_CS CS SPEED_VERYLOW
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PF4 BMI088_G_CS CS
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PG10 BMI088_A_CS CS
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PF5 FRAM_CS CS SPEED_VERYLOW
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PF11 SPARE_CS CS
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PH5 AUXMEM_CS CS
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PI4 EXTERNAL1_CS1 CS
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PI10 EXTERNAL1_CS2 CS
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PI11 EXTERNAL1_CS3 CS
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PI6 EXTERNAL2_CS1 CS
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PI7 EXTERNAL2_CS2 CS
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PI8 EXTERNAL2_CS3 CS
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280
libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef.dat
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libraries/AP_HAL_ChibiOS/hwdef/modalai_fc-v1/hwdef.dat
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# hw definition file for processing by chibios_hwdef.py
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# for Modal AI FC v1
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# MCU class and specific type. It is a F765, which is the same as F767
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# but without the TFT interface
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MCU STM32F7xx STM32F767xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID 41775
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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FLASH_RESERVE_START_KB 32
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART2 USART6 USART3 OTG2
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# default the 2nd interface to MAVLink2
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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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 - ICM20602
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PA5 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PB5 SPI1_MOSI SPI1
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# SPI2 - ICM42688
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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# SPI5 - FRAM
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PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF11 SPI5_MOSI SPI5
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# SPI6 - BMI088 6DoF, disabled due to lack of DMA channels
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#PB3 SPI6_SCK SPI6
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#PA6 SPI6_MISO SPI6
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#PG14 SPI6_MOSI SPI6
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# sensor CS
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PI9 ICM20602_CS CS
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PH5 ICM42688_CS CS
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PA15 BMI088_G_CS CS
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PI10 BMI088_A_CS CS
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PG7 FRAM_CS CS SPEED_VERYLOW
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# fsync pins
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PA0 IMU_2_FSYNC INPUT FLOATING
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PA1 IMU_3_FSYNC INPUT FLOATING
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# interrupt pins
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PF2 IMU_1_DRDY INPUT PULLDOWN
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PH12 IMU_2_DRDY INPUT PULLDOWN
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PG5 BARO_INT INPUT PULLDOWN
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PF3 SPARE_INT INPUT PULLDOWN
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PI6 IMU_3_ACCEL_INT INPUT PULLDOWN
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PI7 IMU_3_GYRO_INT INPUT PULLDOWN
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# LSE crystal, unused
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PC14 LSE1 INPUT FLOATING
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PC15 LSE2 INPUT FLOATING
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# HWID pins, unused
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PA4 HWID_DAC1 INPUT FLOATING
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PF4 HW_VER_SENS INPUT FLOATING
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PF5 HW_REV_SENS INPUT FLOATING
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PG0 HW_VR_DRIVE INPUT FLOATING
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# security module, A71CH
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PH3 SEC_RESET INPUT PULLDOWN
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# I2C buses
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# I2C1, EXT_GPS_I2C
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PB8 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2, DISPLAY_I2C
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C3, EXP_I2C
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4, BMP388 BARO AND A71CH SEC MODULE (0x49)
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C4 I2C3 I2C2 I2C1
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define HAL_I2C_INTERNAL_MASK 1
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# GPIOs
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PE3 EXC_GPIO_25 INPUT FLOATING GPIO(110)
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# PE4 EXC_GPIO_26 INPUT FLOATING GPIO(111)
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# allow to have have a dedicated safety switch pin
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# on PE4
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PE4 SAFETY_IN INPUT PULLDOWN
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define HAL_HAVE_SAFETY_SWITCH 1
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define BOARD_SAFETY_ENABLE_DEFAULT 0
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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#PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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#PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
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#PG5 VDD_5V_RC_EN OUTPUT HIGH
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#PG6 VDD_5V_WIFI_EN OUTPUT HIGH
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# UARTs
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# USART1 is EXT_GPS
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PB15 USART1_RX USART1 NODMA
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PB14 USART1_TX USART1
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# USART2 is telem3, MSS_SPARE_4W
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PA3 USART2_RX USART2 NODMA
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# USART3, UART_2W_DEBUG
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PD9 USART3_RX USART3 NODMA
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PD8 USART3_TX USART3
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# UART4 GPS2, EXP_UART_2W
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PH14 UART4_RX UART4 NODMA
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PH13 UART4_TX UART4
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# UART5 Telem 2, MSS_UART_4W
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PD2 UART5_RX UART5
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PB9 UART5_TX UART5
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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# USART6, spektrum
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PC7 USART6_RX USART6 NODMA GPIO(74)
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PC6 USART6_TX USART6
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# RC input. Support all serial protocols on both PPM and spektrum
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# ports. PPM protocol also supported on the PPM port
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PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
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# setup for spektrum satellite bind
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define HAL_GPIO_SPEKTRUM_RC 74
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PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# setup for RCIN on USUART6, will auto-baud for 100000 and 115200 and
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# auto-switch inversion as needed
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define HAL_SERIAL6_PROTOCOL 23
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define HAL_SERIAL6_BAUD 115200
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# UART7 Telem 1, TELEM_UART_4W
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE9 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# PWM AUX channels
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PA8 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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# PWM output for buzzer
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#PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
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define HAL_USE_ADC FALSE
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define HAL_DISABLE_ADC_DRIVER TRUE
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# INA231 battery monitor
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define HAL_BATTMON_INA231_BUS 1
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define HAL_BATTMON_INA231_ADDR 0x44
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define HAL_BATT_MONITOR_DEFAULT 21
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# on some units a LTC2946 is used
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define HAL_BATTMON_LTC2946_BUS 1
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define HAL_BATTMON_LTC2946_ADDR 0x6a
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PC0 VDD_5V_SENS ADC1 SCALE(2) # ADC pin 10
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PC1 SCALED_V3V3 ADC1 SCALE(2)
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define ANALOG_VCC_5V_PIN 10
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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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PI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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#PHI11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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# SPI devices
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SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# SPI6 disabled due to lack of DMA channels
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#SPIDEV bmi088_g SPI6 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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#SPIDEV bmi088_a SPI6 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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# two IMUs enabled
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
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IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_90
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#IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# one baro on I2C4
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BARO BMP388 I2C:0:0x76
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# microSD support on SDMMC2
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PG9 SDMMC2_D0 SDMMC2
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PG10 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PG12 SDMMC2_D3 SDMMC2
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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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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# red LED
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PB0 LED_RED OUTPUT OPENDRAIN GPIO(90)
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PB1 LED_GREEN OUTPUT OPENDRAIN GPIO(91)
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PA7 LED_BLUE OUTPUT OPENDRAIN GPIO(92)
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# 2nd bank of LEDs
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PI0 LED_RED_2 OUTPUT OPENDRAIN LOW GPIO(93)
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PA2 LED_BLUE_2 OUTPUT OPENDRAIN LOW GPIO(94)
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PH11 LED_GREEN_2 OUTPUT OPENDRAIN LOW GPIO(95)
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# setup for BoardLED2
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 92
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define HAL_GPIO_C_LED_PIN 91
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define HAL_GPIO_LED_ON 0
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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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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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DMA_PRIORITY SDMMC* ADC* SPI* TIM* UART*
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