AP_HAL_ChibiOS: Orqa H743 Pro

libraries/AP_HAL_ChibiOS/hwdef/OrqaH743Pro/README.md

@@ -0,0 +1,87 @@
+# Orqa FC 3030 F405 Flight Controller
+
+The Orqa FC 3030 F405 is a flight controller produced by [Orqa](https://enterprise.orqafpv.com/).
+
+## Features
+
+ - MCU - STM32F405 32-bit processor
+ - IMU - MPU6000
+ - Barometer - DPS310
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbit
+ - 4x UARTs
+ - 8x PWM Outputs (8 Motor Output)
+ - Battery input voltage: 2S-6S
+ - BEC 5V 2A
+ - BEC 10V 2A
+
+## Pinout
+
+![Orqa FC 3030 F405 Board](OrqaFC3030F405_Board.png "Orqa FC 3030 F405")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (RX/GHST, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL5 -> UART5 (ESC Telemetry)
+ - SERIAL6 -> UART6 (Sik/MAVLink)
+
+## RC Input
+
+RC input is configured for GHST by default on the T1 (UART1_TX) pin using half-duplex. To support other RC protocols set SERIAL1_OPTIONS to 0. This will support all serial RC protocols except SBUS. For PPM and SBUS support on UART1_RX set BRD_ALT_CONFIG to 1.
+
+## OSD Support
+
+The Orqa FC 3030 F405 supports OSD using OSD_TYPE 1 (MAX7456 driver) or OSD_TYPE 3 if using DJI OSD
+
+## PWM Output
+
+The Orqa FC 3030 F405 supports up to 8 PWM outputs in the JST-GH ESC and MFC connectors. Outputs 5-8 are labeled as GPIO1-4 on the 7pin JST-GH connector
+
+The PWM is in 3 groups:
+
+ - PWM 1,4-6 in group1
+ - PWM 2-3 in group2
+ - PWM 7-8 in group3
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use dshot. All channels support dshot. Channels 1-4 support bi-directional dshot.
+All channels can also be used for GPIO.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 13
+ - BATT_CURR_PIN 12
+ - BATT_VOLT_MULT 8.3
+ - BATT_AMP_PERVLT 92.6
+
+## VTX Control
+
+Switching between Camera1 and Camera2 can be achieved via GPIO pin 74 which is configured on RELAY2
+
+## Compass
+
+The Orqa FC 3030 F405 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pin.
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.
+

libraries/AP_HAL_ChibiOS/hwdef/OrqaH743Pro/hwdef-bl.dat

@@ -0,0 +1,44 @@
+
+# hw definition file for processing by chibios_hwdef.py
+# for H7PRO hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1000
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 384
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PB12 FLASH1_CS CS
+PA15 OSD1_CS CS
+PA4 GYRO1_CS CS
+PE11 GYRO2_CS CS
+
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/OrqaH743Pro/hwdef.dat

@@ -0,0 +1,159 @@
+
+# hw definition file for processing by chibios_hwdef.py
+# for H7PRO hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1000
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+MCU_CLOCKRATE_MHZ 480
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 384
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PD6 SPI3_MOSI SPI3
+
+# SPI4
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# Chip select pins
+PB12 FLASH1_CS CS
+PA15 OSD1_CS CS
+PA4 GYRO1_CS CS
+PE11 GYRO2_CS CS
+
+# Beeper
+PE9 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 EMPTY EMPTY USART3 EMPTY EMPTY USART6 UART7 UART8
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# USART6
+PC6 USART6_TX USART6 NODMA
+PC7 USART6_RX USART6 NODMA
+
+# UART7
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8
+PE0 UART8_RX UART8 NODMA
+
+# I2C ports
+I2C_ORDER I2C1 I2C2
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# Motors
+PD12 TIM4_CH1 TIM4 PWM(1) GPIO(50) BIDIR
+PD13 TIM4_CH2 TIM4 PWM(2) GPIO(51)
+PA1  TIM2_CH2 TIM2 PWM(3) GPIO(52) BIDIR
+PA0  TIM2_CH1 TIM2 PWM(4) GPIO(53)
+PA2  TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR
+PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)
+PB1  TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
+PB0  TIM3_CH3 TIM3 PWM(8) GPIO(57)
+# Servos
+PE6  TIM15_CH2 TIM15 PWM(9)  GPIO(58) NODMA
+PE5  TIM15_CH1 TIM15 PWM(10) GPIO(59) NODMA
+
+# ADC ports
+
+# ADC1
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_VOLT_SCALE 11.0
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 92.6
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+
+# Dataflash setup
+#SPIDEV dataflash SPI2 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+#define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+SPIDEV osd SPI3 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# Barometer setup
+BARO DPS310 I2C:1:0x77
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
+
+IMU Invensense SPI:imu1 ROTATION_YAW_90
+
+DMA_NOSHARE SPI1* SPI4*
+DMA_PRIORITY SPI1* SPI4*
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+define HAL_OS_FATFS_IO 1
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12