diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index e604b12beb4c5f..02866a7cc5b7d2 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -264,6 +264,7 @@ AP_HW_BotBloxSwitch 1148 AP_HW_MatekH7A3 1149 AP_HW_MicoAir405v2 1150 AP_HW_ORAQF405PRO 1155 +AP_HW_NxtPX4v2 1159 AP_HW_ESP32_PERIPH 1205 AP_HW_ESP32S3_PERIPH 1206 diff --git a/Tools/bootloaders/NxtPX4v2_bl.bin b/Tools/bootloaders/NxtPX4v2_bl.bin new file mode 100644 index 00000000000000..8e654f771db208 Binary files /dev/null and b/Tools/bootloaders/NxtPX4v2_bl.bin differ diff --git a/Tools/bootloaders/NxtPX4v2_bl.hex b/Tools/bootloaders/NxtPX4v2_bl.hex new file mode 100644 index 00000000000000..c11a3189a22652 --- /dev/null +++ b/Tools/bootloaders/NxtPX4v2_bl.hex @@ -0,0 +1,987 @@ +:020000040800F2 +:1000000000060020A1020008C90F0008810F0008A7 +:10001000A90F0008810F0008A10F0008A302000823 +:10002000A3020008A3020008A3020008112300088D 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+:103CB0000000000000000000000000000000000004 +:103CC000AAAAAAAA00000000FFFF0000000000004E +:103CD000000000000000000000000000AAAAAAAA3C +:103CE00000000000FFFF00000000000000000000D6 +:103CF0000000000000000000AAAAAAAA000000001C +:103D0000FFFF0000000000000000000000000000B5 +:103D100000000000AAAAAAAA00000000FFFF0000FD +:103D20000000000000000000870400000000000008 +:103D300000001A0000000000FF000000000000006A +:103D4000203A00083F000000500400002B3A000811 +:103D50003F000000009600000000080096000000F0 +:103D60000008000004000000903B00080000000074 +:103D70000000000000000000000000000000000043 +:043D8000000000003F +:00000001FF diff --git a/Tools/scripts/generate_manifest.py b/Tools/scripts/generate_manifest.py index 9492ae627d2a5e..bb8674ff70c3f2 100755 --- a/Tools/scripts/generate_manifest.py +++ b/Tools/scripts/generate_manifest.py @@ -105,6 +105,7 @@ "SkystarsH7HD" : ("Skystars", "H743 HD"), "SkystarsH7HD-bdshot" : ("Skystars", "H743 HD"), "MicoAir405v2" : ("MicoAir F405 v2.1", "MicoAir"), + "NxtPX4v2" : ("HKUST UAV-Group", "MicoAir"), } class Firmware(): diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_BackView.jpg b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_BackView.jpg new file mode 100644 index 00000000000000..22e8d4885e0ad6 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_BackView.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_FrontView.jpg b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_FrontView.jpg new file mode 100644 index 00000000000000..061d96c320f60c Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_FrontView.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_Pinout.xlsx b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_Pinout.xlsx new file mode 100644 index 00000000000000..ba131825ff922d Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/NxtPX4v2_Pinout.xlsx differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/README.md new file mode 100644 index 00000000000000..09a4064f764408 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/README.md @@ -0,0 +1,92 @@ +# NxtPX4v2 Flight Controller + +The NxtPX4v2 is an open-source hardware designed and maintened by [HKUST UAV-Group](https://github.com/HKUST-Aerial-Robotics/Nxt-FC). And it is produced by [MicoAir Tech.](http://micoair.com/). + +## Features + + - STM32H743 microcontroller + - BMI088+BMI088(DUAL) IMU + - SPL06 barometer + - 12V 2.5A BEC; 5V 2.5A BEC + - SDCard +- 7x UART +- 8x PWM +- 1x I2C +- 1x SPI +- 1x SWD + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART2 + - SERIAL2 -> UART4 + - SERIAL3 -> UART1 (GPS) + - SERIAL4 -> UART3 (VTX-HD) + - SERIAL5 -> UART7 (ESC Telemetry) + - SERIAL6 -> UART5 (RCIN) + - SERIAL7 -> UART8 + +## RC Input + +The default RC input is configured on the UART5_RX inverted from the SBUS pin. Other RC protocols should be applied at other UART port such as UART2, UART4 or UART8, and set the protocol to receive RC data: `SERIALn_PROTOCOL=23` and change SERIAL6 _Protocol to something other than '23' + +## VTX Support + +The SH1.0-6P connector supports a DJI O3 Air Unit connection. Pin 1 of the connector is 12v so be careful not to connect this to a peripheral requiring 5v. + +## PWM Output + +The NxtPX4v2 supports up to 8 PWM outputs. All channels support DShot. + +PWM outputs are grouped and every group must use the same output protocol: + +1, 2, 3, 4 are Group1; + +5, 6 are Group 2; + +7, 8 are Group 3; + +## Battery Monitoring + +The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. +The voltage sensor can handle up to 6S LiPo batteries. + +The default battery parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 4 + - BATT_CURR_PIN 8 + - BATT_VOLT_MULT 10.2 + - BATT_CURR_SCALE 20.4 + +## Compass + +The NxtPX4v2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL connector. + +## GPIOs + +The remaining 3 outputs (labelled AUX1 to AUX3) are the "auxiliary" outputs. These are directly attached to the STM32H743. + +The numbering of the GPIOs for PIN variables in ardupilot is: + + - AUX1 - PA4 - 81 + - AUX2 - PC1 - 82 + - AUX3 - PC0 - 83 + +## Physical + + - Mounting: 20 x 20mm, Φ3mm +- Dimensions: 27 x 32 x 8 mm +- Weight: 6.5g + +## Ports Connector + +![NxtPX4v2 Front View](NxtPX4v2_FrontView.jpg) + +![NxtPX4v2 Back View](NxtPX4v2_BackView.jpg) + +## 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 favorite 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. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/defaults.parm new file mode 100644 index 00000000000000..eb8fdb8570f188 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/defaults.parm @@ -0,0 +1,9 @@ +#BATTERY MONITOR ON +BATT_MONITOR 4 + +#Serial Port defaults +SERIAL4_PROTOCOL 42 +SERIAL6_PROTOCOL 23 + +#MSP DisplayPort enable +OSD_TYPE 5 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef-bl.dat new file mode 100644 index 00000000000000..366fc611d6641c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef-bl.dat @@ -0,0 +1,45 @@ +# hw definition file for processing by chibios_hwdef.py +# for the NxtPX4v2 hardware + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1159 + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# flash size +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 128 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# CS pins +PA3 BMI088_1_G_CS CS +PA2 BMI088_1_A_CS CS +PC2 BMI088_2_G_CS CS +PC13 BMI088_2_A_CS CS + +# LEDs +PD15 LED_ACTIVITY OUTPUT HIGH GPIO(90) +PB15 LED_BOOTLOADER OUTPUT HIGH GPIO(92) +define HAL_LED_ON 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef.dat new file mode 100644 index 00000000000000..472a489b3d0721 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef.dat @@ -0,0 +1,164 @@ +# hw definition file for processing by chibios_hwdef.py +# for the NxtPX4v2 hardware + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID 1159 + +# crystal frequency +OSCILLATOR_HZ 16000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# flash size +FLASH_SIZE_KB 2048 +FLASH_RESERVE_START_KB 128 + +define HAL_STORAGE_SIZE 32768 +STORAGE_FLASH_PAGE 14 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART2 UART4 USART1 USART3 UART7 UART5 UART8 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +PD0 VBUS INPUT OPENDRAIN + +# GPS1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# TELEM1 +PD6 USART2_RX USART2 +PD5 USART2_TX USART2 + +# DJI O3 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 + +# TELEM2 +PB9 UART4_TX UART4 +PB8 UART4_RX UART4 + +# RC_INPUT +PB13 UART5_TX UART5 +PB12 UART5_RX UART5 +PD14 SBUS_INV OUTPUT LOW + +# ESC +PE7 UART7_RX UART7 + +# TELEM3 +PE0 UART8_RX UART8 +PE1 UART8_TX UART8 + +# SWD +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# two I2C bus +I2C_ORDER I2C1 I2C4 + +# I2C1 - baro +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C4 - CONNECTOR +PD12 I2C4_SCL I2C4 +PD13 I2C4_SDA I2C4 + +# PWM output pins +PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR +PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) +PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR +PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) +PB10 TIM2_CH3 TIM2 PWM(5) GPIO(54) BIDIR +PB11 TIM2_CH4 TIM2 PWM(6) GPIO(55) +PB0 TIM3_CH3 TIM3 PWM(7) GPIO(56) BIDIR +PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57) + +# GPIOs +PA4 PINIO1 OUTPUT GPIO(81) LOW +PC1 PINIO2 OUTPUT GPIO(82) LOW +PC0 PINIO3 OUTPUT GPIO(83) LOW + +# LEDs +PD15 LED_RED OUTPUT HIGH GPIO(90) +PD11 LED_GREEN OUTPUT HIGH GPIO(91) +PB15 LED_BLUE OUTPUT HIGH GPIO(92) + +define HAL_GPIO_A_LED_PIN 90 +define HAL_GPIO_B_LED_PIN 91 +define HAL_GPIO_C_LED_PIN 92 + +define HAL_GPIO_LED_ON 1 +define HAL_GPIO_LED_OFF 0 +define HAL_HAVE_PIXRACER_LED + +# ADC for Power +PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC5 BATT_CURRENT_SENS ADC2 SCALE(1) + +define HAL_BATT_VOLT_PIN 4 +define HAL_BATT_CURR_PIN 8 +define HAL_BATT_VOLT_SCALE 10.2 +define HAL_BATT_CURR_SCALE 20.4 + +# 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 + +# microSD support +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +define FATFS_HAL_DEVICE SDCD1 + +# SPI1 - IMU0 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PA3 BMI088_1_G_CS CS +PA2 BMI088_1_A_CS CS + +# SPI3 - CONNECTOR +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PB2 SPI3_MOSI SPI3 + +# SPI4 - IMU1 +PE6 SPI4_MOSI SPI4 +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PC2 BMI088_2_G_CS CS +PC13 BMI088_2_A_CS CS + +# barometers +BARO SPL06 I2C:0:0x77 + +# SPI devices +SPIDEV imu0_a SPI1 DEVID1 BMI088_1_A_CS MODE3 10*MHZ 10*MHZ +SPIDEV imu0_g SPI1 DEVID2 BMI088_1_G_CS MODE3 10*MHZ 10*MHZ +SPIDEV imu1_a SPI4 DEVID3 BMI088_2_A_CS MODE3 10*MHZ 10*MHZ +SPIDEV imu1_g SPI4 DEVID4 BMI088_2_G_CS MODE3 10*MHZ 10*MHZ + +# 2 IMUs +IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90 +IMU BMI088 SPI:imu1_a SPI:imu1_g ROTATION_ROLL_180_YAW_90 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 +define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS" +define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"