mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
boards: add support for Gear Up AirBrainH743
This commit is contained in:
Julian Oes
@@ -0,0 +1,3 @@
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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
@@ -0,0 +1,85 @@
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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_GPS1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
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||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
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CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
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CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
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CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
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||||
CONFIG_DRIVERS_BAROMETER_DPS310=y
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||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
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||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
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CONFIG_COMMON_LIGHT=y
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CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
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CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
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CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
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CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
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CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
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CONFIG_DRIVERS_OSD_MSP_OSD=y
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CONFIG_COMMON_OPTICAL_FLOW=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_COMMON_TELEMETRY=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
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CONFIG_MODULES_BATTERY_STATUS=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_EKF2_AUX_GLOBAL_POSITION is not set
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# CONFIG_EKF2_AUXVEL is not set
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# CONFIG_EKF2_BARO_COMPENSATION is not set
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# CONFIG_EKF2_DRAG_FUSION is not set
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# CONFIG_EKF2_GNSS_YAW is not set
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# CONFIG_EKF2_SIDESLIP is not set
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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_MODE_MANAGER=y
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CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
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CONFIG_MODULES_FW_RATE_CONTROL=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_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_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_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=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_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_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=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_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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Binary file not shown.
@@ -0,0 +1,13 @@
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{
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"board_id": 1209,
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"magic": "PX4FWv1",
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"description": "Firmware for the AirBrainH743 by Gear Up",
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"image": "",
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"build_time": 0,
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"summary": "AirBrainH743",
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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 +1,17 @@
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#!/bin/sh
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#
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# AirBrainH743 board specific defaults
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#------------------------------------------------------------------------------
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# Battery voltage divider and current scale
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param set-default BAT1_V_DIV 15.0
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param set-default BAT1_A_PER_V 101.0
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# system_power unavailable
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param set-default CBRK_SUPPLY_CHK 894281
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param set-default IMU_GYRO_RATEMAX 2000
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# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
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set LOGGER_BUF 32
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param set-default SDLOG_DIRS_MAX 3
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@@ -0,0 +1,6 @@
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#!/bin/sh
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#
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# AirBrainH743 specific board extras init
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#------------------------------------------------------------------------------
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# No extras configured by default
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@@ -0,0 +1,16 @@
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#!/bin/sh
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#
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# AirBrainH743 specific board sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Internal SPI bus IMU - ICM42688P (Invensensev3)
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icm42688p -R 2 -b 1 -s start
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# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
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dps310 -I -a 118 start
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# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
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# Using iis2mdc driver (functionally equivalent to LIS2MDL)
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iis2mdc -I -R 2 -a 30 start
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@@ -0,0 +1,3 @@
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#
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# Board-specific Kconfig for AirBrainH743
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#
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@@ -0,0 +1,89 @@
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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/gearup/airbrainh743/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=22114
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_CDCACM=y
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CONFIG_CDCACM_PRODUCTID=0x004b
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CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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CONFIG_CDCACM_VENDORID=0x3162
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CONFIG_CDCACM_VENDORSTR="Gear Up"
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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_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_SERIAL_TERMIOS=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_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32H7_TIM1=y
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CONFIG_STM32H7_USART1=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_USART1_RXBUFSIZE=600
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CONFIG_USART1_TXBUFSIZE=300
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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
@@ -0,0 +1,42 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2026 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
|
||||
|
||||
/* DMA mapping for SPI1 (IMU) */
|
||||
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
|
||||
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
|
||||
|
||||
/* DMA mapping for SPI2 (W25N Flash) */
|
||||
#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
|
||||
#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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Load Diff
@@ -0,0 +1,67 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2026 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")
|
||||
add_library(drivers_board
|
||||
bootloader_main.c
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
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
|
||||
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()
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2026 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
|
||||
*
|
||||
* AirBrainH743-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 +1,85 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2026 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
|
||||
|
||||
#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 INTERFACE_USART 1
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,57600"
|
||||
#define BOOT_DELAY_ADDRESS 0x000001a0
|
||||
#define BOARD_TYPE 1209
|
||||
#define _FLASH_KBYTES (*(uint32_t *)0x1FF1E880)
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_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
|
||||
|
||||
/* Reserve 128KB (1 sector) at end of flash for parameters */
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#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
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
@@ -0,0 +1,45 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2026 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>
|
||||
|
||||
/*
|
||||
* I2C bus configuration for AirBrainH743
|
||||
*
|
||||
* I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
|
||||
* Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
|
||||
*/
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
};
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,58 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2026 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>
|
||||
|
||||
/*
|
||||
* SPI bus configuration for AirBrainH743
|
||||
*
|
||||
* SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
|
||||
* SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
|
||||
* SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
|
||||
*/
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}), // W25N Flash
|
||||
}),
|
||||
initSPIBusExternal(SPI::Bus::SPI4, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
@@ -0,0 +1,70 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2026 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>
|
||||
|
||||
/*
|
||||
* PWM output configuration for AirBrainH743
|
||||
*
|
||||
* M1: PE14 (TIM1_CH4)
|
||||
* M2: PE13 (TIM1_CH3)
|
||||
* M3: PE11 (TIM1_CH2)
|
||||
* M4: PE9 (TIM1_CH1)
|
||||
* M5: PB0 (TIM3_CH3)
|
||||
* M6: PB1 (TIM3_CH4)
|
||||
* M7: PB10 (TIM2_CH3)
|
||||
* M8: PB11 (TIM2_CH4)
|
||||
* M9: PA2 (TIM5_CH3) - LED strip
|
||||
*/
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
|
||||
initIOTimer(Timer::Timer5),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), // M1
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), // M2
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), // M3
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), // M4
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}), // M5
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}), // M6
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}), // M7
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}), // M8
|
||||
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}), // M9 (LED)
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
@@ -0,0 +1,75 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2026 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 */
|
||||
#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.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
@@ -178,6 +178,7 @@
|
||||
- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
|
||||
- [Cube Wiring Quickstart](assembly/quick_start_cube.md)
|
||||
- [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
|
||||
- [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](flight_controller/kakuteh7.md)
|
||||
|
||||
@@ -25,6 +25,7 @@ The boards in this category are:
|
||||
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
|
||||
- [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](../flight_controller/kakuteh7.md)
|
||||
|
||||
@@ -0,0 +1,96 @@
|
||||
# Gear Up AirBrainH743
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
|
||||
:::
|
||||
|
||||
::: info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
|
||||
|
||||
## Key Features
|
||||
|
||||
- MCU: STM32H743 32-bit processor running at 480 MHz
|
||||
- IMU: ICM42688P
|
||||
- Barometer: DPS310
|
||||
- Magnetometer: LIS2MDL (internal)
|
||||
- 128MB NAND Flash for logging (W25N)
|
||||
- 7x UARTs
|
||||
- I2C, SPI
|
||||
- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
|
||||
- Battery input voltage: 3S-10S
|
||||
- Battery voltage/current monitoring
|
||||
- 5V@2A and 10V@2.5A BEC outputs
|
||||
- USB Type-C (IP68)
|
||||
- EMC and ESD protection
|
||||
|
||||
## Connectors and Pins
|
||||
|
||||
:::warning
|
||||
The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
|
||||
:::
|
||||
|
||||
### UARTs
|
||||
|
||||
Current UART configuration:
|
||||
|
||||
| UART | Device | Function |
|
||||
| ------ | ---------- | ---------------------------- |
|
||||
| USART1 | /dev/ttyS0 | Console/Debug |
|
||||
| USART2 | /dev/ttyS1 | RC Input |
|
||||
| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP) |
|
||||
| UART4 | /dev/ttyS3 | TEL1 |
|
||||
| UART5 | /dev/ttyS4 | TEL2 |
|
||||
| UART7 | /dev/ttyS5 | TEL3 (ESC Telemetry) |
|
||||
| UART8 | /dev/ttyS6 | GPS1 |
|
||||
|
||||
### Motor/Servo Outputs
|
||||
|
||||
| Connector | Pin | Function |
|
||||
| ----------| ------------------ |
|
||||
| ESC | M1 | Motor 1 |
|
||||
| ESC | M2 | Motor 2 |
|
||||
| ESC | M3 | Motor 3 |
|
||||
| ESC | M4 | Motor 4 |
|
||||
| PWM | M5 | Motor 5 |
|
||||
| PWM | M6 | Motor 6 |
|
||||
| PWM | M7 | Motor 7 |
|
||||
| PWM | M8 | Motor 8 |
|
||||
| AUX | M9 | LED/PWM/etc. |
|
||||
|
||||
<a id="bootloader"></a>
|
||||
|
||||
## PX4 Bootloader Update
|
||||
|
||||
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## Building Firmware
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make gearup_airbrainh743_default
|
||||
```
|
||||
|
||||
## Installing PX4 Firmware
|
||||
|
||||
Firmware can be installed in any of the normal ways:
|
||||
|
||||
- Build and upload the source:
|
||||
|
||||
```
|
||||
make gearup_airbrainh743_default upload
|
||||
```
|
||||
|
||||
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
|
||||
You can use either pre-built firmware or your own custom firmware.
|
||||
|
||||
## Debug Port
|
||||
|
||||
### System Console
|
||||
|
||||
UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).
|
||||
Reference in New Issue
Block a user