Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

AP_HAL_ChibiOS: add hwdef MFE_PDB_CAN #28694

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
+345 −0
Open

AP_HAL_ChibiOS: add hwdef MFE_PDB_CAN #28694

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f08a9e7
Tools:add bootloader for MFE_PDB_CAN
mikefenghao Nov 21, 2024
cdfef59
hwdef: added MFE_PDB_CAN
mikefenghao Nov 21, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file added Tools/bootloaders/MFE_PDB_CAN_bl.bin
View file
Open in desktop
Binary file not shown.
Binary file added libraries/AP_HAL_ChibiOS/hwdef/MFE_PDB_CAN/MFE_PDB_CAN-1.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
174 changes: 174 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MFE_PDB_CAN/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,174 @@

## MFE_PDB_CAN

The MFE_PDB_CAN is sold by a range of resellers listed on the makeflyeasy(http://www.makeflyeasy.com)

## Features

• STM32L431CCU6 microcontroller

• two power for autopilot(5.5V 5A)

• one power for servo(5.3V 5A)

• one power for load(12V 5A)

• Battery monitoring (power1 can, power2 adc)



## Picture

![MFE_PDB_CAN](MFE_PDB_CAN-1.png "MFE_PDB_CAN-1")


Connector pin assignments
=========================

power1 ports
---------------

<table border="1" class="docutils">
<tbody>
<tr>
<th>PIN</th>
<th>SIGNAL</th>
<th>VOLT</th>
</tr>
<tr>
<td>1</td>
<td>VCC</td>
<td>+5.5V</td>
</tr>
<tr>
<td>2</td>
<td>VCC</td>
<td>+5.5V</td>
</tr>
<tr>
<td>3</td>
<td>CAN_H</td>
<td>SINGAL</td>
</tr>
<tr>
<td>4</td>
<td>CAN_L</td>
<td>SINGAL</td>
</tr>
<tr>
<td>5</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>6</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>

power2 ports
---------------

<table border="1" class="docutils">
<tbody>
<tr>
<th>PIN</th>
<th>SIGNAL</th>
<th>VOLT</th>
</tr>
<tr>
<td>1</td>
<td>VCC</td>
<td>+5.5V</td>
</tr>
<tr>
<td>2</td>
<td>VCC</td>
<td>+5.5V</td>
</tr>
<tr>
<td>3</td>
<td>CURRENT</td>
<td>SINGAL</td>
</tr>
<tr>
<td>4</td>
<td>VALTAGE</td>
<td>SINGAL</td>
</tr>
<tr>
<td>5</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>6</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>

power3 pad
---------------

<table border="1" class="docutils">
<tbody>
<tr>
<th>PIN</th>
<th>SIGNAL</th>
<th>VOLT</th>
</tr>
<tr>
<td>1</td>
<td>VCC</td>
<td>+5.3V</td>
</tr>
<tr>
<td>2</td>
<td>GND</td>
<td>+GND</td>
</tr>

</tbody>
</table>

power4 pad
---------------

<table border="1" class="docutils">
<tbody>
<tr>
<th>PIN</th>
<th>SIGNAL</th>
<th>VOLT</th>
</tr>
<tr>
<td>1</td>
<td>VCC</td>
<td>+12V</td>
</tr>
<tr>
<td>2</td>
<td>GND</td>
<td>+GND</td>
</tr>

</tbody>
</table>

Connector pin assignments
=========================

BATT_VOLT_MULT 17.93387

BATT_AMP_PERVLT 22.0


Where to Buy
============

[www.makeflyeasy.com](www.makeflyeasy.com)

6 changes: 6 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MFE_PDB_CAN/defaults.parm
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
#Default Parameters for the MFE_PDB_CAN

BATT_AMP_OFFSET 0.01
BATT_CAPACITY 22000


55 changes: 55 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MFE_PDB_CAN/hwdef-bl.dat
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
# MCU class and specific type
MCU STM32L431 STM32L431xx

# crystal frequency
OSCILLATOR_HZ 8000000

# board ID for firmware load
APJ_BOARD_ID 6100

# setup build for a peripheral firmware
env AP_PERIPH 1

FLASH_RESERVE_START_KB 0
FLASH_BOOTLOADER_LOAD_KB 36
FLASH_SIZE_KB 256

# reserve some space for params
APP_START_OFFSET_KB 4

# ---------------------------------------------
PB3 LED_BOOTLOADER OUTPUT LOW # blue
define HAL_LED_ON 0

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

CAN_ORDER 1

# ---------------------------------------------

# make bl baudrate match debug baudrate for easier debugging
define BOOTLOADER_BAUDRATE 57600

# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000

define HAL_USE_SERIAL FALSE

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 32
define HAL_USE_EMPTY_IO TRUE
define PORT_INT_REQUIRED_STACK 64
define DMA_RESERVE_SIZE 0

MAIN_STACK 0x800
PROCESS_STACK 0x800

# Add CS pins to ensure they are high in bootloader
PA4 MAG_CS CS
PB2 SPARE_CS CS

# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
110 changes: 110 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/MFE_PDB_CAN/hwdef.dat
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,110 @@
# MCU class and specific type
MCU STM32L431 STM32L431xx

# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
FLASH_RESERVE_START_KB 40
FLASH_SIZE_KB 256

# store parameters in pages 18 and 19
STORAGE_FLASH_PAGE 18
define HAL_STORAGE_SIZE 800

# ChibiOS system timer
STM32_ST_USE_TIMER 15
define CH_CFG_ST_RESOLUTION 16

# board ID for firmware load
APJ_BOARD_ID 6100

# crystal frequency
OSCILLATOR_HZ 8000000

env AP_PERIPH 1

STDOUT_SERIAL SD1
STDOUT_BAUDRATE 57600

define HAL_NO_GPIO_IRQ
define SERIAL_BUFFERS_SIZE 512
define PORT_INT_REQUIRED_STACK 64

define DMA_RESERVE_SIZE 0

# MAIN_STACK is stack for ISR handlers
MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512

# blue LED0 marked as ACT
PC13 LED OUTPUT HIGH

define HAL_LED_ON 1

# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD



# ---------------------- CAN bus -------------------------
CAN_ORDER 1

PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1

define HAL_CAN_POOL_SIZE 6000

# ---------------------- UARTs ---------------------------
# | sr0 | MSP | GPS |
SERIAL_ORDER USART1 USART2 USART3

# USART1 for debug
PB6 USART1_TX USART1 SPEED_HIGH
PB7 USART1_RX USART1 SPEED_HIGH

# USART2 for MSP
PA2 USART2_TX USART2 SPEED_HIGH
PA3 USART2_RX USART2 SPEED_HIGH

# USART3 for GPS
PB10 USART3_TX USART3 SPEED_HIGH NODMA
PB11 USART3_RX USART3 SPEED_HIGH NODMA

# allow for reboot command for faster development
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

# keep ROMFS uncompressed as we don't have enough RAM
# to uncompress the bootloader at runtime
env ROMFS_UNCOMPRESSED True

define HAL_RCIN_THREAD_ENABLED 1

# ------------------ BATTERY Monitor -----------------------
define HAL_PERIPH_ENABLE_BATTERY

define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE

PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)

define HAL_BATT_MONITOR_DEFAULT 4
define HAL_BATT_VOLT_PIN 5
define HAL_BATT_VOLT_SCALE 17.93387
define HAL_BATT_CURR_PIN 6
define HAL_BATT_CURR_SCALE 22.0
#define HAL_BATT_AMP_OFFSET 0.02
#define HAL_BATT_CAPACITY 22000


PB0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
PB1 BATT2_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT2_MONITOR_DEFAULT 0
define HAL_BATT2_VOLT_PIN 15
define HAL_BATT2_VOLT_SCALE 17.93387
define HAL_BATT2_CURR_PIN 16
define HAL_BATT2_CURR_SCALE 22.0
Loading