mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
feat(boards/zenfc): Add ZenFC H743 board support (#28360)
* Add ZenFC H743 board support plus the documentation. --------- Co-authored-by: abhishek-kumar-prodev <abhishek.kumar.ubuntu@gmail.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Farhang <46557204+farhangnaderi@users.noreply.github.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
This commit is contained in:
ztdrones
co-authored by
abhishek-kumar-prodev
Hamish Willee
Farhang
github-actions[bot]
abhishek-kumar-prodev
Hamish Willee
Farhang
github-actions[bot]
parent
d551d33b61
commit
23890f9988
@@ -0,0 +1,3 @@
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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ROMFSROOT=""
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@@ -0,0 +1,105 @@
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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_SERIAL_URT6="/dev/ttyS6"
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
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CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
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CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
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CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_DRIVERS_BAROMETER_BMP388=y
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CONFIG_DRIVERS_BATT_SMBUS=y
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CONFIG_DRIVERS_CAMERA_CAPTURE=y
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CONFIG_DRIVERS_CAMERA_TRIGGER=y
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CONFIG_DRIVERS_CDCACM_AUTOSTART=y
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CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
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CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_COMMON_HYGROMETERS=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_COMMON_MAGNETOMETER=y
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CONFIG_COMMON_OPTICAL_FLOW=y
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CONFIG_DRIVERS_OSD_ATXXXX=y
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CONFIG_DRIVERS_POWER_MONITOR_INA220=y
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CONFIG_DRIVERS_POWER_MONITOR_INA226=y
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CONFIG_DRIVERS_POWER_MONITOR_INA228=y
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CONFIG_DRIVERS_POWER_MONITOR_INA238=y
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CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
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CONFIG_DRIVERS_PPS_CAPTURE=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_COMMON_RC=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_COMMON_RPM=y
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CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
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CONFIG_DRIVERS_TAP_ESC=y
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CONFIG_COMMON_TELEMETRY=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_BOARD_UAVCAN_INTERFACES=1
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CONFIG_COMMON_UWB=y
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CONFIG_COMMON_WIND_SENSOR=y
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CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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CONFIG_MODULES_EVENTS=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_FW_ATT_CONTROL=y
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_FW_RATE_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_GYRO_FFT=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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CONFIG_MODULES_LOAD_MON=y
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CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_PAYLOAD_DELIVERER=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_DUMPFILE=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
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CONFIG_SYSTEMCMDS_SERIAL_TEST=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_USB_CONNECTED=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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CONFIG_ARCH_CHIP_STM32H7=y
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BIN
Binary file not shown.
@@ -0,0 +1,13 @@
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{
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"board_id": 5740,
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"magic": "PX4FWv1",
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"description": "Firmware for the ZenFC H743 board",
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"image": "",
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"build_time": 0,
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"summary": "ZenFC743",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 1966080,
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"git_identity": "",
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"board_revision": 0
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}
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@@ -0,0 +1,24 @@
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#!/bin/sh
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#
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# board specific defaults
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#------------------------------------------------------------------------------
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param set-default BAT1_A_PER_V 40
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param set-default BAT1_N_CELLS 4
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param set-default BAT1_V_CHARGED 4.2
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param set-default BAT1_V_DIV 10.09
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param set-default BAT1_V_EMPTY 3.2
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param set-default SYS_HAS_MAG 0
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param set-default PWM_MAIN_TIM0 -4
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param set-default RC_INPUT_PROTO -1
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param set-default IMU_GYRO_CUTOFF 80
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param set-default MC_PITCHRATE_K 0.4
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param set-default MC_ROLLRATE_K 0.35
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param set-default MC_YAWRATE_K 1.2
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param set-default MC_YAWRATE_MAX 360
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param set-default MAV_TYPE 2
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param set-default MSP_OSD_CONFIG 102
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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param set-default CBRK_SUPPLY_CHK 894281
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@@ -0,0 +1,7 @@
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#!/bin/sh
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#
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# board specific extras init
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#------------------------------------------------------------------------------
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# enable onboard OSD chip
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atxxxx start -s
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@@ -0,0 +1,17 @@
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#!/bin/sh
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#
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# board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Internal SPI bus 1 BMI088 accel/gyro
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bmi088 -s -b 1 -A -R 0 start
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bmi088 -s -b 1 -G -R 0 start
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# Internal SPI bus 3 BMI088 accel/gyro
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bmi088 -s -b 3 -A -R 0 start
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bmi088 -s -b 3 -G -R 0 start
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# Internal baro
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bmp388 -I -b 4 -a 0x77 start
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@@ -0,0 +1,86 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_DEV_CONSOLE is not set
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
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# CONFIG_SPI_EXCHANGE is not set
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# CONFIG_STM32H7_SYSCFG is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/zenfc/h743/nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="stm32h7"
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CONFIG_ARCH_CHIP_STM32H743VI=y
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CONFIG_ARCH_CHIP_STM32H7=y
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CONFIG_ARCH_INTERRUPTSTACK=768
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CONFIG_ARMV7M_BASEPRI_WAR=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_ARMV7M_MEMCPY=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BOARDCTL=y
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CONFIG_BOARDCTL_RESET=y
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CONFIG_BOARD_ASSERT_RESET_VALUE=0
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CONFIG_BOARD_INITTHREAD_PRIORITY=254
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CONFIG_BOARD_LATE_INITIALIZE=y
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CONFIG_BOARD_LOOPSPERMSEC=95150
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_CDCACM=y
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CONFIG_CDCACM_IFLOWCONTROL=y
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CONFIG_CDCACM_PRODUCTID=0x5741
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CONFIG_CDCACM_PRODUCTSTR="ZenFC743"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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CONFIG_CDCACM_VENDORID=0x1209
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CONFIG_CDCACM_VENDORSTR="Zenithra Tech"
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEBUG_TCBINFO=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FDCLONE_DISABLE=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_FILE_STREAM=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=750
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CONFIG_INIT_ENTRYPOINT="bootloader_main"
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CONFIG_INIT_STACKSIZE=3194
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_STRERROR=y
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CONFIG_MEMSET_64BIT=y
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CONFIG_MEMSET_OPTSPEED=y
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CONFIG_PREALLOC_TIMERS=50
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAM_SIZE=245760
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_SPI=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_BUFFER_SIZE=32
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CONFIG_STM32H7_BKPSRAM=y
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CONFIG_STM32H7_DMA1=y
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CONFIG_STM32H7_OTGFS=y
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CONFIG_STM32H7_PROGMEM=y
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CONFIG_STM32H7_TIM1=y
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CONFIG_SYSTEMTICK_HOOK=y
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CONFIG_SYSTEM_CDCACM=y
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CONFIG_TASK_NAME_SIZE=24
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CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGINT_CHAR=0x03
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CONFIG_TTY_SIGTSTP=y
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CONFIG_USBDEV=y
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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CONFIG_USEC_PER_TICK=1000
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Load Diff
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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* are met:
|
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*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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#pragma once
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#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37*/
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#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38*/
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#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
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#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
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#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */
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#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */
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File diff suppressed because it is too large
Load Diff
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Load Diff
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Load Diff
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
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add_library(drivers_board
|
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bootloader_main.c
|
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usb.c
|
||||
)
|
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target_link_libraries(drivers_board
|
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PRIVATE
|
||||
nuttx_arch
|
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nuttx_drivers
|
||||
bootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
)
|
||||
add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
)
|
||||
endif()
|
||||
@@ -0,0 +1,194 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* Board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
# define GPIO_nLED_RED /* PD10 Changed */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
# define GPIO_nLED_GREEN /* PB9 Changed */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||
# define GPIO_nLED_BLUE /* PD11 Changed */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
|
||||
|
||||
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
# define BOARD_OVERLOAD_LED LED_RED
|
||||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that
|
||||
* can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
|
||||
#define ADC1_CH(n) (n)
|
||||
|
||||
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PC4 */ GPIO_ADC12_INP4, \
|
||||
/* PC5 */ GPIO_ADC12_INP8 \
|
||||
|
||||
|
||||
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL /* PC4 */ ADC1_CH(4)
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC5 */ ADC1_CH(8)
|
||||
|
||||
#define ADC_CHANNELS \
|
||||
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||||
(1 << ADC_BATTERY_CURRENT_CHANNEL))
|
||||
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
// #define BOARD_BATTERY1_A_PER_V (40.0f)
|
||||
// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
|
||||
#define GPIO_OTGFS_VBUS /* PA9 Changed */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
|
||||
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
/* SD Card */
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 3
|
||||
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bootloader_main.c
|
||||
*
|
||||
* FMU-specific early startup code for bootloader
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "bl.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
#include <px4_platform_common/init.h>
|
||||
|
||||
extern int sercon_main(int c, char **argv);
|
||||
|
||||
__EXPORT void board_on_reset(int status) {}
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
}
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
extern void sys_tick_handler(void);
|
||||
void board_timerhook(void)
|
||||
{
|
||||
sys_tick_handler();
|
||||
}
|
||||
@@ -0,0 +1,132 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016:
|
||||
* To simplify the ripple effect on the tools, we will be using
|
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
|
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL "
|
||||
* in the USBDEVICESTRING
|
||||
* This Change will be made in an upcoming BL release
|
||||
****************************************************************************/
|
||||
/*
|
||||
* Define usage to configure a bootloader
|
||||
*
|
||||
*
|
||||
* Constant example Usage
|
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
|
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
|
||||
* BOARD_FMUV2
|
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
|
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
|
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
|
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig
|
||||
* BOARD_TYPE 9 - Must match .prototype boad_id
|
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
|
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
|
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
|
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
|
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
|
||||
* programmatically
|
||||
*
|
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
|
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
|
||||
* during a FW upgrade.
|
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
|
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device.
|
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined
|
||||
* in the table.
|
||||
*
|
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
|
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from
|
||||
* BOARD_FLASH_SIZE to determine the size of the App FW
|
||||
* and hence the address space of FLASH to erase and program.
|
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
|
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
|
||||
*
|
||||
* * Other defines are somewhat self explanatory.
|
||||
*/
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
|
||||
#define APP_LOAD_ADDRESS 0x08020000
|
||||
#define BOOTLOADER_DELAY 5000
|
||||
#define INTERFACE_USB 1
|
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
|
||||
#define BOARD_VBUS MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 1
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,115200"
|
||||
#define BOARD_TYPE 5740
|
||||
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
|
||||
#define BOARD_FLASH_SECTORS (15)
|
||||
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
|
||||
#define BOARD_LED_ON 0
|
||||
#define BOARD_LED_OFF 1
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH)
|
||||
# define ARCH_SN_MAX_LENGTH 12
|
||||
#endif
|
||||
|
||||
#if !defined(APP_RESERVATION_SIZE)
|
||||
# define APP_RESERVATION_SIZE 0
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
|
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
|
||||
#endif
|
||||
|
||||
#if !defined(USB_DATA_ALIGN)
|
||||
# define USB_DATA_ALIGN
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION
|
||||
# define BOOT_DEVICES_SELECTION (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB
|
||||
# define BOOT_DEVICES_FILTER_ONUSB (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)
|
||||
#endif
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusExternal(2),
|
||||
initI2CBusInternal(4),
|
||||
};
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,114 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from arm_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
GPIO_nLED_RED, // Indexed by BOARD_LED_RED
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
|
||||
}
|
||||
@@ -0,0 +1,177 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present;
|
||||
|
||||
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
@@ -0,0 +1,53 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortD, GPIO::Pin4}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,54 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
|
||||
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -0,0 +1,78 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
#include <stm32_otg.h>
|
||||
#include <debug.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 699 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 126 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 467 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 549 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 2.1 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 2.4 MiB |
@@ -207,6 +207,7 @@
|
||||
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
|
||||
- [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
|
||||
- [VOLOLAND NarinFC-H7](flight_controller/vololand_narinfc_h7.md)
|
||||
- [ZenFC H743](flight_controller/zenfc_h743.md)
|
||||
- [SIYI-UniFC-6-PICO](flight_controller/siyi-unifc-6-pico.md)
|
||||
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
|
||||
- [BeagleBone Blue](flight_controller/beaglebone_blue.md)
|
||||
|
||||
@@ -208,6 +208,7 @@
|
||||
- [ThePeach FCC-R1](/flight_controller/thepeach_r1.md)
|
||||
- [AP-H743-R1](/flight_controller/x-mav_ap-h743r1.md)
|
||||
- [VOLOLAND NarinFC-H7](/flight_controller/vololand_narinfc_h7.md)
|
||||
- [ZenFC H743](/flight_controller/zenfc_h743.md)
|
||||
- [Experimental Autopilots](/flight_controller/autopilot_experimental.md)
|
||||
- [BeagleBone Blue](/flight_controller/beaglebone_blue.md)
|
||||
- [Raspberry Pi 2/3 Navio2](/flight_controller/raspberry_pi_navio2.md)
|
||||
|
||||
@@ -56,4 +56,5 @@ The boards in this category are:
|
||||
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
|
||||
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
|
||||
- [X-MAV AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md)
|
||||
- [ZenFC H743](../flight_controller/zenfc_h743.md)
|
||||
- [SIYI-UniFC-6-PICO](../flight_controller/siyi-unifc-6-pico.md)
|
||||
|
||||
@@ -0,0 +1,150 @@
|
||||
# ZenFC H743
|
||||
|
||||
<!-- TODO: set to the PX4 release this target first merges into -->
|
||||
<Badge type="tip" text="PX4 main (v2.0)" />
|
||||
|
||||
::: warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://www.zenithratech.com/contact) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The _ZenFC H743_ is a flight controller designed by Zenithra Tech.
|
||||
It is built around the STM32H743 processor with dual Bosch BMI088 IMUs for sensor redundancy, an onboard barometer, and an integrated OSD.
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## Key Features
|
||||
|
||||
- **MCU:**
|
||||
- STM32H743VIT6 (32-bit Arm® Cortex®-M7, 480 MHz)
|
||||
- **IMU:**
|
||||
- 2x Bosch BMI088 (accel + gyro, independent SPI buses for redundancy)
|
||||
- **Barometer:**
|
||||
- Bosch BMP388
|
||||
- **OSD:**
|
||||
- Onboard AT7456E OSD chip
|
||||
- **Interfaces:**
|
||||
- 7x UARTs
|
||||
- 1x CAN
|
||||
- 2x external I2C (I2C1 with GPS connector and dedicated I2C2 connector)
|
||||
- 8x PWM outputs (Dshot supported)
|
||||
- microSD card slot
|
||||
- 1x USB Type-C
|
||||
- **Power:**
|
||||
- 2x ADC (V_BAT & current sense)
|
||||
- Battery Input range - 2S-6S
|
||||
- BEC Outputs
|
||||
- 9V 3A cont.
|
||||
- 5V 3A cont.
|
||||
|
||||
## Dimensions
|
||||
|
||||
- **Mounting:** 30.5 mm x 30.5 mm /Φ4mm hole
|
||||
- **Dimensions:** 35mm x 35mm x 8mm
|
||||
- **Weight:** 9g
|
||||
|
||||
|
||||
|
||||
## Where to Buy
|
||||
|
||||
Order from [Zenithra Tech](https://www.zenithratech.com/solutions/components).
|
||||
|
||||
## Flight Controller Layout
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Serial Port Mapping
|
||||
|
||||
| UART | Device | PX4 Port |
|
||||
| ------ | ---------- | -------- |
|
||||
| USART1 | /dev/ttyS0 | GPS1 |
|
||||
| USART2 | /dev/ttyS1 | TEL3 |
|
||||
| USART3 | /dev/ttyS2 | TEL4 |
|
||||
| UART5 | /dev/ttyS3 | TEL1 |
|
||||
| USART6 | /dev/ttyS4 | RC |
|
||||
| UART7 | /dev/ttyS5 | TEL2 |
|
||||
| UART8 | /dev/ttyS6 | UART6 |
|
||||
|
||||
## Connectors & Pinout
|
||||
|
||||
Board uses JST SH connectors for all interfaces.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
**Note** - SBus pin on DJI O3/O4 port is internally connected to RX6 (`RCIN`).
|
||||
|
||||
### PWM Outputs
|
||||
|
||||
The 8 outputs are in 3 groups:
|
||||
|
||||
- Outputs 1-4 in group1
|
||||
- Outputs 5-6 in group2
|
||||
- Outputs 7-8 in group3
|
||||
|
||||
**Note**:
|
||||
- All outputs support PWM and [DShot](../peripherals/dshot.md) protocol.
|
||||
Outputs 1-6 and 8 support "bidirectional DShot" (or "BDShot") telemetry.
|
||||
- Outputs 1-4 default to DShot300 ([PWM_MAIN_TIM0](../advanced_config/parameter_reference.md#PWM_MAIN_TIM0) = `-4`); outputs 5-6 and 7-8 default to PWM at 400 Hz.
|
||||
- Each group's protocol can be changed independently using the corresponding `PWM_MAIN_TIMx` parameter, including to [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) (BDShot) for ESC telemetry.
|
||||
|
||||
### Debug Port
|
||||
|
||||
This board does not configure a dedicated UART as a system console.
|
||||
Use the [MAVLink Shell](../debug/mavlink_shell.md) over USB for console/NSH access using QGroundControl.
|
||||
|
||||
**SWD**
|
||||
|
||||
The board features a [**4-pin SWD Debug**](../debug/swd_debug.md) interface (3V3 / SWCLK / SWDIO / GND) for hardware debugging.
|
||||
|
||||
|
||||
## Radio Control
|
||||
|
||||
A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
See [Radio Control modules](../modules/modules_driver_radio_control.md) for the list of supported protocols.
|
||||
|
||||
RC input is mapped to **USART6** (`/dev/ttyS4`, `RC` port).
|
||||
The port supports both single-wire inverted SBUS and full-duplex protocols with telemetry return (such as CRSF), and the receiver protocol is auto-detected by default ([RC_INPUT_PROTO](../advanced_config/parameter_reference.md#RC_INPUT_PROTO) = `-1`).
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
In addition to the [basic configuration](../config/index.md), the following
|
||||
parameter is important:
|
||||
|
||||
| Parameter | Setting |
|
||||
| -------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
|
||||
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | Disabled by default since the board has no internal magnetometer. Enable it if you attach an external mag. |
|
||||
|
||||
## Building Firmware
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```sh
|
||||
make zenfc_h743_default
|
||||
```
|
||||
|
||||
## Installing PX4 Firmware
|
||||
|
||||
The firmware can be installed in any of the normal ways:
|
||||
|
||||
- Build and upload the source:
|
||||
|
||||
```sh
|
||||
make zenfc_h743_default upload
|
||||
```
|
||||
|
||||
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
|
||||
You can use either pre-built firmware or your own custom firmware.
|
||||
|
||||
The board uses the standard PX4 bootloader, so it follows the same generic LED indications as most other boards (Red = Bootloader/Error, Blue = Active/Activity, Green = Powered).
|
||||
|
||||
## Further info
|
||||
|
||||
- [Zenithra Tech](https://www.zenithratech.com/contact)
|
||||
Reference in New Issue
Block a user