diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 325dd047df8d4..050b0f686191a 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -430,7 +430,10 @@ AP_HW_CUAV-7-NANO 7000 # IDs 7100-7109 reserved for V-UAV AP_HW_VUAV-V7pro 7100 -# please fill gaps in the above ranges rather than adding past ID #7109 +# IDs 7110-7199 reserved for AEROFOX +AP_HW_AEROFOX_H7 7110 + +# please fill gaps in the above ranges rather than adding past ID #7199 # OpenDroneID enabled boards. Use 10000 + the base board ID diff --git a/Tools/bootloaders/AEROFOX-H7_bl.bin b/Tools/bootloaders/AEROFOX-H7_bl.bin new file mode 100644 index 0000000000000..e35dcf11a726c Binary files /dev/null and b/Tools/bootloaders/AEROFOX-H7_bl.bin differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_IMG.png b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_IMG.png new file mode 100644 index 0000000000000..221e5db5988ad Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_IMG.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_pinout.png new file mode 100644 index 0000000000000..7aa7f573a4da7 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/AEROFOX-H7_pinout.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md new file mode 100644 index 0000000000000..5f5b4dbc24b25 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md @@ -0,0 +1,101 @@ +# AEROFOX-H7 Flight Controller + +The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn) + + + +## Features + Processor + STM32H743 + + Sensors + ADIS16470 (appears in the advanced version) + ICM45686 (appears in the advanced version) + ICM42688 + QMC5883L + SPL06-001 + + Power + 2S-12S (MAX60V) Lipo input voltage + 5V BEC for system power supply( 5V peripheral current limit 1.2A) + 5V/12V BEC for VTX( Current limit 2.5A, need strong heat dissipation) + Dual power automatic switching and condition monitoring + + Interfaces + 16x PWM output + 7x UARTs for RC, TELEM, GPS and other peripherals + 2x I2C ports for external compass, airspeed, baro + 2x CAN port + 4x Relay output + 4x ADC input + + FPC connector + The connector includes an SPI, an I2C, an PWM IMU heating control pin. + +## Pinout + + +## UART Mapping + +All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below: +- SERIAL0 -> USB (MAVLink2) +- SERIAL1 -> UART7 (ESC Telemetry) +- SERIAL2 -> UART4 (User configured) +- SERIAL3 -> UART5 (User configured) +- SERIAL4 -> USART2 (User configured) +- SERIAL5 -> USART1 (GPS) +- SERIAL6 -> UART8 (RCIN) +- SERIAL7 -> USART3 (MAVLink2) + +## RC Input + +SERIAL 6 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL6_OPTIONS = 4 (Half-Duplex) + +## PWM Output + +The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot. + +The 16 PWM outputs are in 9 groups: + +- PWM 1,2 in group1 +- PWM 3,4 in group2 +- PWM 5,6 in group3 +- PWM 7,8 in group4 +- PWM 9,10 in group5 +- PWM 11 in group6 +- PWM 12 in group7 +- PWM 13,14 in group8 +- PWM 15,16 in group9 + +Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot. + +## Battery Monitoring + +The board has a builting voltage and current sensor. The voltage sensor can handle up +to 12S LiPo batteries. + +### The power A is onboard voltage sensor +It is enabled by default and has the following parameters set by default:s +- BATT_MONITOR 4 +- BATT_VOLT_PIN 19 +- BATT_CURR_PIN 9 +- BATT_VOLT_MULT 21 +- BATT_AMP_PERVL 40 + +### The power B is external PMU input +An additional power monitor input is provided and can be enabled by setting: +- BATT_MONITOR 4, then reboot and set the following: +- BATT_VOLT_PIN 10 +- BATT_CURR_PIN 11 +- BATT_VOLT_MULT 34 +- BATT_AMP_PERVLT should be set as required by the specific monitor used + +## Compass + +A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects. + +## Loading Firmware +The board comes pre-installed with an ArduPilot compatible bootloader, allowing the +loading of *.apj firmware files with any ArduPilot compatible ground station. The +hardware also supports the PX4 Betaflight INAV firmware, which needs to be changed with STlink. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat new file mode 100644 index 0000000000000..fca224f35da43 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat @@ -0,0 +1,53 @@ +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID AP_HW_AEROFOX_H7 + +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 + +#define LED pins +PE14 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red +PE12 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green +PE13 LED_RED OUTPUT OPENDRAIN HIGH # blue + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 + +# UART1 is debug +PA9 USART1_TX USART1 NODMA +PA10 USART1_RX USART1 NODMA + +PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN +PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH OPENDRAIN +PE8 nVDD_12V_PERIPH_EN OUTPUT LOW OPENDRAIN + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 32768 +define HAL_LED_ON 1 + +# define BOOTLOADER_DEBUG SD7 + +# Add CS pins to ensure they are high in bootloader +PD7 16470_CS CS +PD4 42688_1_CS CS +PC15 42688_2_CS CS + +PD10 FRAM_CS CS SPEED_VERYLOW +PC14 FLASH_CS CS \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat new file mode 100644 index 0000000000000..fde69f988ab9d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat @@ -0,0 +1,238 @@ +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 24000000 + +# board ID for firmware load +APJ_BOARD_ID AP_HW_AEROFOX_H7 + +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 128 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# supports upto 8MBits/s +CANFD_SUPPORTED 8 + +# with 2M flash we can afford to optimize for speed +env OPTIMIZE -O2 + +# system timer +STM32_ST_USE_TIMER 5 + +# UART +SERIAL_ORDER OTG1 UART7 UART4 UART5 USART2 USART1 UART8 USART3 OTG2 + +#serial1 +PA15 UART7_TX UART7 +PA8 UART7_RX UART7 +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry + +# serial2 +PC10 UART4_TX UART4 +PC11 UART4_RX UART4 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None + +# serial3 +PC12 UART5_TX UART5 +PD2 UART5_RX UART5 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None + +# serial4 +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None + +# serial5 +PA9 USART1_TX USART1 NODMA +PA10 USART1_RX USART1 NODMA +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS + +# serial6 +PE1 UART8_TX UART8 +PE0 UART8_RX UART8 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN + +# serial7 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2 + +# default the 2nd interface to MAVLink2 +define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 + +# CAN +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 + +PB12 CAN2_RX CAN2 +PB13 CAN2_TX CAN2 + +# I2C +I2C_ORDER I2C1 I2C2 + +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# SPI +PB3 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PB5 SPI1_MOSI SPI1 + +PD3 SPI2_SCK SPI2 +PC2 SPI2_MISO SPI2 +PC3 SPI2_MOSI SPI2 + +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# IMU +IMU ADIS1647x SPI:16470 ROTATION_PITCH_180 ADIS_DRDY_PIN +IMU Invensensev3 SPI:42688_1 ROTATION_NONE +IMU Invensensev3 SPI:42688_2 ROTATION_PITCH_180_YAW_270 + +SPIDEV 16470 SPI1 DEVID1 16470_CS MODE3 1*MHZ 2*MHZ +SPIDEV 42688_1 SPI1 DEVID2 42688_1_CS MODE3 2*MHZ 16*MHZ +SPIDEV 42688_2 SPI4 DEVID3 42688_2_CS MODE3 2*MHZ 16*MHZ + +SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ + +PD7 16470_CS CS +PD4 42688_1_CS CS +PC15 42688_2_CS CS + +PD10 FRAM_CS CS SPEED_VERYLOW +PC14 FLASH_CS CS + +PE7 DRDY1_ADIS16470 INPUT GPIO(90) +define ADIS_DRDY_PIN 90 + +# ADC +PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PB0 BATT_CURRENT_SENS ADC1 SCALE(1) + +PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT2_CURRENT_SENS ADC1 SCALE(1) + +PB1 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12) +PA4 VDD_5V_SENS ADC1 SCALE(2) + +# GPIO +PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR +PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51) +PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR +PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) +PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR +PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) +PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56) BIDIR +PC7 TIM3_CH2 TIM3 PWM(8) GPIO(57) + +PA2 TIM15_CH1 TIM15 PWM(9) GPIO(58) +PA3 TIM15_CH2 TIM15 PWM(10) GPIO(59) +PA7 TIM14_CH1 TIM14 PWM(11) GPIO(60) +PA6 TIM13_CH1 TIM13 PWM(12) GPIO(61) +PC9 TIM8_CH4 TIM8 PWM(13) GPIO(62) +PC8 TIM8_CH3 TIM8 PWM(14) GPIO(63) +PB15 TIM12_CH2 TIM12 PWM(15) GPIO(64) +PB14 TIM12_CH1 TIM12 PWM(16) GPIO(65) + +PB9 TIM17_CH1 TIM17 ALARM + +PE3 EXTERN_GPIO1 OUTPUT GPIO(1) +PE4 EXTERN_GPIO2 OUTPUT GPIO(2) +PD11 EXTERN_GPIO3 OUTPUT GPIO(3) +#PD14 EXTERN_GPIO4 OUTPUT GPIO(4) + +PD14 LED_SAFETY OUTPUT +PD15 SAFETY_IN INPUT PULLDOWN + +PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN +PC4 nVDD_5V_PERIPH_EN OUTPUT LOW OPENDRAIN +PE8 nVDD_12V_PERIPH_EN OUTPUT HIGH OPENDRAIN + +PE10 VDD_5V_HIPOWER_oOC INPUT PULLUP +PC5 VDD_BRICK_nVALID INPUT PULLUP + +# I2C BMP280 or SPL06 +BARO SPL06 I2C:0:0x76 +BARO BMP280 I2C:0:0x76 + +# COMPASS +COMPASS QMC5883L I2C:0:0x0D false ROTATION_NONE + +# LED setup is similar to PixRacer + +define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 +PE14 LED_RED OUTPUT GPIO(10) +PE12 LED_GREEN OUTPUT GPIO(11) +PE13 LED_BLUE OUTPUT GPIO(12) + +define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10 +define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11 +define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12 + + +# IMU heater +PB8 HEATER_EN OUTPUT LOW GPIO(80) +define HAL_HEATER_GPIO_PIN 80 +define HAL_HAVE_IMU_HEATER 1 +define HAL_IMU_TEMP_DEFAULT 40 +define HAL_IMUHEAT_P_DEFAULT 50 +define HAL_IMUHEAT_I_DEFAULT 0.07 +define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 40 + +# compass +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + +define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE + +define HAL_I2C_INTERNAL_MASK 1 + +# SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +define HAL_CHIBIOS_ARCH_FMUV3 1 + +define BOARD_TYPE_DEFAULT 3 + +# safety switch +define HAL_HAVE_SAFETY_SWITCH 1 + +# FRAM +define HAL_WITH_RAMTRON 1 +define HAL_STORAGE_SIZE 32768 + +# open all IMUs +define HAL_EKF_IMU_MASK_DEFAULT 7 + +# IMU fast sample +define HAL_DEFAULT_INS_FAST_SAMPLE 7 + +# Enable FAT +define HAL_OS_FATFS_IO 1 + +# DMA +DMA_NOSHARE SPI2* UART2* UART4* UART5* + +ENABLE_DFU_BOOT 1 + +define HAL_BATT_MONITOR 4 +define HAL_BATT_VOLT_PIN 19 +define HAL_BATT_CURR_PIN 9 +define HAL_BATT_VOLT_SCALE 21 +define HAL_BATT_CURR_SCALE 40 + +define HAL_BATT2_VOLT_PIN 10 +define HAL_BATT2_CURR_PIN 11 +define HAL_BATT2_VOLT_SCALE 34 +define HAL_BATT2_CURR_SCALE 40 \ No newline at end of file