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b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png new file mode 100644 index 0000000000000..e12b3c6c1edc7 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png new file mode 100644 index 0000000000000..694f1497f67f6 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png new file mode 100644 index 0000000000000..b8623b56a7233 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md new file mode 100644 index 0000000000000..b747dd3f54be0 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md @@ -0,0 +1,256 @@ +# Onboard FMU on Airvolute DCS2.Pilot board + +DroneCore 2.0 is a modular AI-driven open architecture autopilot designed for complex use cases that combines high computational processing power, redundant connectivity, small size, and low weight.The autopilot represents a one-stop-solution for developers integrating the functionality of carrier board, companion computer, and power distribution board into a single compact form factor. +This system usually uses a "CUBE" autopilot as its primary FMU, but can use an onboard STM32H743 as the FMU. This board definition and firmware on `the ArduPilot firmware server `__ is for this secondary FMU +For more informations on DCS2.Pilot board see: +https://docs.airvolute.com/dronecore-autopilot/dcs2 + +## Where To Buy +info@airvolute.com + +## Features + + - MCU: STM32H743 + - IMU: BMI088 + - Barometer: BMP390 + - 2 UARTS + - 2 CAN buses + - 4 PWM outputs + - PPM (RC input) + - external SPI and I2C + - SD card connector + - USB connection onboard with Jetson Host + - Ethernet + +## DCS2.Pilot peripherals diagram +DC2 Pilot peripherals + +## DCS2.Pilot onboard FMU related connectors pinout +### Top side +DCS2 Pilot_bottom + +#### PPM connector (RC input) +JST GH 1.25mm pitch, 3-Pin + +Matching connector JST GHR-03V-S. + +RC input is configured on the PPM_SBUS_PROT pin as part of the PPM connector. Pin is connected to UART3_RX and also to analog input on TIM3_CH1. This pin supports all unidirectional RC protocols, but for it to be enabled, it is necessary to set SERIAL3_PROTOCOL as RCIN. Also RC input is shared with primary FMU, so it is default disabled on this secondary FMU. + +5V supply is limited to 1A by internal current limiter. + + + + + + + + + + + + + + + + + +
Pin Signal
1GND
25V
3PPM
+ +### Bottom side +DCS2 Pilot_top + +#### FMU SEC. connector +JST GH 1.25mm pitch, 12-Pin + +Matching connector JST GHR-12V-S. + +The DCS2 Onboard FMU supports up to 4 PWM outputs. These are directly attached to the STM32H743 and support all PWM protocols as well as DShot and bi-directional DShot. +The 4 PWM outputs are in 2 groups: +PWM 1,2 in group1 +PWM 3,4 in group2 +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. + +5V supply is limited to 1A by internal current limiter. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Pin Signal
1GND
2GND
3GPIO/PWM output 4
4GPIO/PWM output 3
5GPIO/PWM output 2
6GPIO/PWM output 1
7Serial 1 RX
8Serial 1 TX
9Serial 2 RX
10Serial 2 TX
115V
125V
+ + #### EXT. SENS. connector + BM23PF0.8-10DS-0.35V connector + + Matching connector BM23PF0.8-10DP-0.35V + + This connector allows connecting external IMU with I2C and SPI data buses. + + 5V supply is limited to 1.9A by internal current limiter. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Pin Signal
1SPI_MOSI
2SPI_MISO
3SPI_SCK
4SPI_CS0
5SPI_CS1
6SPI_CS2
7SPI_CS3
8IMU_DRDY_EXT
9I2C_SE_SDA
10I2C_SE_SCL
MP15V
MP25V
MP3GND
MP4GND
+ + #### ETH EXP. connector + 505110-1692 connector + + Ethernet connector is routed to FMU through onboard switch. + + The onboard FMU is connected via the RMII bus with a speed of 100 Mbits. + + #### SD card connector + MEM2085-00-115-00-A connector + + Connector for standard microSD memory card. This card is primarily used to store flight data and logs. + +## Other connectors +### CAN 1, CAN 2 connectors +The board contains two CAN buses - CAN1 and CAN 2. The buses support speeds up to 1 Mbits and in FD mode up to 8 Mbits. + +These connectors are not part of DCS2.Pilot board, but they are routed on DCS2.Adapter_board. This board (DCS2.Adapter_board) is fully modular and can be modified according to the customer's requirements. For more informations see: https://docs.airvolute.com/dronecore-autopilot/dcs2/adapter-extension-boards/dcs2.-adapter-default-v1.0/connectors-and-pinouts + +JST GH 1.25mm pitch, 4-Pin + +Matching connector JST GHR-04V-S. + +5V supply is limited to 1.9A by internal current limiter. + + + + + + + + + + + + + + + + + + + + +
Pin Signal
15V
2CAN_H
3CAN_L
4GND
+ +## UART Mapping + +- SERIAL0 -> USB (Default baud: 115200) +- SERIAL1 -> UART1 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2)) +- SERIAL2 -> UART2 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2)) +- SERIAL3 -> UART3 (RX pin only labeled as PPM on PPM connector) (Since this is a secondary FMU, default protocol is set to NONE instead of RCIN (23)) + +UARTs do not have RTS/CTS. UARTs 1 and 2 are routed to FMU_SEC. connector. + +## Loading Firmware + +Initial bootloader load is achievable only by SDW interface. Then it is possible to flash firmware thrugh onboard USB connection with Jetson host. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm new file mode 100644 index 0000000000000..6ffa986988d26 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm @@ -0,0 +1,4 @@ +SERIAL3_PROTOCOL -1 +NTF_BUZZ_TYPES 0 +NTF_BUZZ_VOLUME 0 +SYSID_THISMAV 2 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat new file mode 100644 index 0000000000000..e11d30a2ba390 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat @@ -0,0 +1,58 @@ +# hw definition file for processing by chibios_hwdef.py +# for H743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# board ID for firmware load +APJ_BOARD_ID 5200 + +# the nucleo seems to have trouble with flashing the last sector? +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 + +# USB setup +USB_STRING_MANUFACTURER "Airvolute" + +# baudrate to run bootloader at on uarts +define BOOTLOADER_BAUDRATE 115200 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 + +# this is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN +PA9 VBUS INPUT OPENDRAIN + +# UART1 (SE_CONNECTOR) +PB14 USART1_TX USART1 +PA10 USART1_RX USART1 + +PB1 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +define HAL_USE_SERIAL TRUE + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# Add CS pins to ensure they are high in bootloader +PD12 IMU_CS0 CS +PE13 IMU_CS1 CS +PD13 BARO_CS CS +PD15 EXT_0 CS +PD14 EXT_1 CS +PD11 EXT_2 CS +PD10 EXT_3 CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat new file mode 100644 index 0000000000000..313d8e6245301 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat @@ -0,0 +1,174 @@ +# hw definition file for processing by chibios_hwdef.py +#following exapmle: +#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105 +# for H743 bootloader + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# board ID for firmware load +APJ_BOARD_ID 5200 + +# the nucleo seems to have trouble with flashing the last sector? +FLASH_SIZE_KB 2048 + +# This is the STM32 timer that ChibiOS will use for the low level +# driver. This must be a 32 bit timer. We currently only support +# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details. + +# ChibiOS system timer +STM32_ST_USE_TIMER 5 + +#optimize for space +env OPTIMIZE -Os + +FLASH_RESERVE_START_KB 128 + +define HAL_STORAGE_SIZE 32768 + +# use last 2 pages for flash storage +# H743 has 16 pages of 128k each +STORAGE_FLASH_PAGE 14 + +# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN +PA0 VDD_5V_SENS ADC1 SCALE(2) + +# order of I2C buses +I2C_ORDER I2C1 + +# I2C1 (SE_CONNECTOR) +PB8 I2C1_SCL I2C1 PULLUP +PB7 I2C1_SDA I2C1 PULLUP + +# USB setup +USB_STRING_MANUFACTURER "Airvolute" + +# This is the pin that senses USB being connected. It is an input pin +# setup as OPENDRAIN. +PA9 VBUS INPUT OPENDRAIN + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 + +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# (---FUTURE REVISION---): PWM output for buzzer +PB15 TIM12_CH2 TIM12 GPIO(80) ALARM + +# (---FUTURE REVISION---): RC Input set for Interrupt not DMA +PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW + +# UART SETUP +# USART1 (SE_CONNECTOR) +PB14 USART1_TX USART1 +PA10 USART1_RX USART1 + +# USART2 (SE_CONNECTOR) +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 + +# USART3 (RC INPUT) +PD9 USART3_RX USART3 + +#LED RED +PB1 LED1 OUTPUT HIGH +#LED GREEN +PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0) + +# microSD card +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +# CS pins for SPI sensors. The labels for all CS pins need to +# match the SPI device table later in this file. +PD12 BMI088_ACC_CS CS +PE13 BMI088_GYRO_CS CS +PD13 BMP390_CS CS +PD15 EXT_0_CS CS +PD14 EXT_1_CS CS +PD11 EXT_2_CS CS +PD10 EXT_3_CS CS + +# CAN Busses +PD0 CAN1_RX CAN1 +PB9 CAN1_TX CAN1 + +# CAN1 Silent Pin LOW Enable +PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +PB5 CAN2_RX CAN2 +PB6 CAN2_TX CAN2 + +# CAN2 Silent Pin LOW Enable +PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71) + +# Ethernet +PC1 ETH_MDC ETH1 +PA2 ETH_MDIO ETH1 +PC4 ETH_RMII_RXD0 ETH1 +PC5 ETH_RMII_RXD1 ETH1 +PB12 ETH_RMII_TXD0 ETH1 +PB13 ETH_RMII_TXD1 ETH1 +PB11 ETH_RMII_TX_EN ETH1 +PA7 ETH_RMII_CRS_DV ETH1 +PA1 ETH_RMII_REF_CLK ETH1 + +define BOARD_PHY_RMII +define BOARD_PHY_ADDRESS 0x0000 +define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX +define HAL_PERIPH_ENABLE_NETWORKING + +#PWM outputs +PB3 TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR +PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51) +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR +PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) + +# BMI088_DRDY +PE12 BMI088_DRDY INPUT + +# (---FUTURE REVISION---) EXT IMU DRDY +PD1 EXT_IMU_DRDY INPUT + +# SPI1 (ONBOARD SENSORS) +PA5 SPI1_SCK SPI1 +PB4 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 + +# SPI4 (EXTERNAL SENSORS) +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# SPI devices +SPIDEV bmi088_g SPI1 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi088_a SPI1 DEVID2 BMI088_ACC_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmp390 SPI1 DEVID3 BMP390_CS MODE3 5*MHZ 5*MHZ +SPIDEV icm42688_ext SPI4 DEVID4 EXT_0_CS MODE3 5*MHZ 5*MHZ +SPIDEV lis3mdl SPI4 DEVID5 EXT_1_CS MODE3 5*MHZ 5*MHZ + +# Enable FAT filesystem support (needs a microSD defined via SDMMC). +define HAL_OS_FATFS_IO 1 + +# IMUs +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE +IMU Invensense SPI:icm42688_ext ROTATION_NONE + +# 1 baro +define HAL_BARO_ALLOW_INIT_NO_BARO 1 +BARO BMP388 SPI:bmp390 + +define ALLOW_ARM_NO_COMPASS + +define HAL_PROBE_EXTERNAL_I2C_COMPASSES