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hwdef: added files for Airvolute DCS2 onboard FMU #25354
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libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png
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libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png
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libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
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| # Onboard FMU on Airvolute DCS2.Pilot board | ||
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| 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 <https://firmware.ardupilot.org>`__ is for this secondary FMU | ||
| For more informations on DCS2.Pilot board see: | ||
| https://docs.airvolute.com/dronecore-autopilot/dcs2 | ||
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| ## Where To Buy | ||
| [email protected] | ||
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| ## Features | ||
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| - 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 | ||
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| ## DCS2.Pilot peripherals diagram | ||
| <img width="957" alt="DC2 Pilot peripherals" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot%20peripherals.png"> | ||
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| ## DCS2.Pilot onboard FMU related connectors pinout | ||
| ### Top side | ||
| <img width="818" alt="DCS2 Pilot_bottom" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png"> | ||
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| #### <ins>PPM connector (RC input)</ins> | ||
| JST GH 1.25mm pitch, 3-Pin | ||
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| Matching connector JST GHR-03V-S. | ||
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| 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. | ||
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| 5V supply is limited to 1A by internal current limiter. | ||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin </th> | ||
| <th>Signal </th> | ||
| </tr> | ||
| <tr> | ||
| <td>1</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| <td>2</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| <td>3</td> | ||
| <td>PPM</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
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| ### Bottom side | ||
| <img width="811" alt="DCS2 Pilot_top" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png"> | ||
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| #### <ins>FMU SEC. connector</ins> | ||
| JST GH 1.25mm pitch, 12-Pin | ||
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| Matching connector JST GHR-12V-S. | ||
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| 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. | ||
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| 5V supply is limited to 1A by internal current limiter. | ||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin </th> | ||
| <th>Signal </th> | ||
| </tr> | ||
| <tr> | ||
| <td>1</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| <td>2</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| <td>3</td> | ||
| <td>GPIO/PWM output 4</td> | ||
| </tr> | ||
| </tr> | ||
| <td>4</td> | ||
| <td>GPIO/PWM output 3</td> | ||
| </tr> | ||
| </tr> | ||
| <td>5</td> | ||
| <td>GPIO/PWM output 2</td> | ||
| </tr> | ||
| </tr> | ||
| <td>6</td> | ||
| <td>GPIO/PWM output 1</td> | ||
| </tr> | ||
| </tr> | ||
| <td>7</td> | ||
| <td>Serial 1 RX</td> | ||
| </tr> | ||
| </tr> | ||
| <td>8</td> | ||
| <td>Serial 1 TX</td> | ||
| </tr> | ||
| </tr> | ||
| <td>9</td> | ||
| <td>Serial 2 RX</td> | ||
| </tr> | ||
| </tr> | ||
| <td>10</td> | ||
| <td>Serial 2 TX</td> | ||
| </tr> | ||
| </tr> | ||
| <td>11</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| </tr> | ||
| <td>12</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
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| #### <ins>EXT. SENS. connector</ins> | ||
| BM23PF0.8-10DS-0.35V connector | ||
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| Matching connector BM23PF0.8-10DP-0.35V | ||
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| This connector allows connecting external IMU with I2C and SPI data buses. | ||
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| 5V supply is limited to 1.9A by internal current limiter. | ||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin </th> | ||
| <th>Signal </th> | ||
| </tr> | ||
| <tr> | ||
| <td>1</td> | ||
| <td>SPI_MOSI</td> | ||
| </tr> | ||
| <td>2</td> | ||
| <td>SPI_MISO</td> | ||
| </tr> | ||
| <td>3</td> | ||
| <td>SPI_SCK</td> | ||
| </tr> | ||
| </tr> | ||
| <td>4</td> | ||
| <td>SPI_CS0</td> | ||
| </tr> | ||
| </tr> | ||
| <td>5</td> | ||
| <td>SPI_CS1</td> | ||
| </tr> | ||
| </tr> | ||
| <td>6</td> | ||
| <td>SPI_CS2</td> | ||
| </tr> | ||
| </tr> | ||
| <td>7</td> | ||
| <td>SPI_CS3</td> | ||
| </tr> | ||
| </tr> | ||
| <td>8</td> | ||
| <td>IMU_DRDY_EXT</td> | ||
| </tr> | ||
| </tr> | ||
| <td>9</td> | ||
| <td>I2C_SE_SDA</td> | ||
| </tr> | ||
| </tr> | ||
| <td>10</td> | ||
| <td>I2C_SE_SCL</td> | ||
| </tr> | ||
| </tr> | ||
| <td>MP1</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| </tr> | ||
| <td>MP2</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| </tr> | ||
| <td>MP3</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tr> | ||
| <td>MP4</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
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| #### <ins>ETH EXP. connector</ins> | ||
| 505110-1692 connector | ||
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| Ethernet connector is routed to FMU through onboard switch. | ||
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| The onboard FMU is connected via the RMII bus with a speed of 100 Mbits. | ||
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| #### <ins>SD card connector</ins> | ||
| MEM2085-00-115-00-A connector | ||
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| Connector for standard microSD memory card. This card is primarily used to store flight data and logs. | ||
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| ## 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. | ||
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| 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 | ||
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| JST GH 1.25mm pitch, 4-Pin | ||
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| Matching connector JST GHR-04V-S. | ||
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| 5V supply is limited to 1.9A by internal current limiter. | ||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin </th> | ||
| <th>Signal </th> | ||
| </tr> | ||
| <tr> | ||
| <td>1</td> | ||
| <td>5V</td> | ||
| </tr> | ||
| <td>2</td> | ||
| <td>CAN_H</td> | ||
| </tr> | ||
| <td>3</td> | ||
| <td>CAN_L</td> | ||
| </tr> | ||
| <td>4</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
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| ## UART Mapping | ||
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| - 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)) | ||
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| UARTs do not have RTS/CTS. UARTs 1 and 2 are routed to FMU_SEC. connector. | ||
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| ## Loading Firmware | ||
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| Initial bootloader load is achievable only by SDW interface. Then it is possible to flash firmware thrugh onboard USB connection with Jetson host. | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| SERIAL3_PROTOCOL -1 | ||
| NTF_BUZZ_TYPES 0 | ||
| NTF_BUZZ_VOLUME 0 | ||
| SYSID_THISMAV 2 |
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libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
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| # hw definition file for processing by chibios_hwdef.py | ||
| # for H743 bootloader | ||
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| # MCU class and specific type | ||
| MCU STM32H7xx STM32H743xx | ||
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| # crystal frequency | ||
| OSCILLATOR_HZ 16000000 | ||
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| # board ID for firmware load | ||
| APJ_BOARD_ID 5200 | ||
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| # the nucleo seems to have trouble with flashing the last sector? | ||
| FLASH_SIZE_KB 2048 | ||
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| # bootloader is installed at zero offset | ||
| FLASH_RESERVE_START_KB 0 | ||
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| # the location where the bootloader will put the firmware | ||
| # the H743 has 128k sectors | ||
| FLASH_BOOTLOADER_LOAD_KB 128 | ||
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| # USB setup | ||
| USB_STRING_MANUFACTURER "Airvolute" | ||
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| # baudrate to run bootloader at on uarts | ||
| define BOOTLOADER_BAUDRATE 115200 | ||
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| # order of UARTs (and USB) | ||
| SERIAL_ORDER OTG1 USART1 | ||
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| # this is the pin that senses USB being connected. It is an input pin | ||
| # setup as OPENDRAIN | ||
| PA9 VBUS INPUT OPENDRAIN | ||
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| # UART1 (SE_CONNECTOR) | ||
| PB14 USART1_TX USART1 | ||
| PA10 USART1_RX USART1 | ||
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| PB1 LED_BOOTLOADER OUTPUT LOW | ||
| define HAL_LED_ON 1 | ||
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| define HAL_USE_SERIAL TRUE | ||
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| PA11 OTG_FS_DM OTG1 | ||
| PA12 OTG_FS_DP OTG1 | ||
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| PA13 JTMS-SWDIO SWD | ||
| PA14 JTCK-SWCLK SWD | ||
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| # 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 |
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Does it only have 3 UARTs?
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and one used as RC....