diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index a3a0665afdc313..48a16e44461a6e 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -293,6 +293,7 @@ AP_HW_X-MAV-AP-H743V2 1174 AP_HW_BETAFPV_F4_2-3S_20A 1175 AP_HW_MicoAir743AIOv1 1176 AP_HW_CrazyF405 1177 +AP_HW_MicoAir743v2 1179 AP_HW_FlywooF405HD_AIOv2 1180 AP_HW_FlywooH743Pro 1181 diff --git a/Tools/bootloaders/MicoAir743v2_bl.bin b/Tools/bootloaders/MicoAir743v2_bl.bin new file mode 100755 index 00000000000000..57b123f4659899 Binary files /dev/null and b/Tools/bootloaders/MicoAir743v2_bl.bin differ diff --git a/Tools/bootloaders/MicoAir743v2_bl.hex b/Tools/bootloaders/MicoAir743v2_bl.hex new file mode 100644 index 00000000000000..7becc46733d0fb --- /dev/null +++ b/Tools/bootloaders/MicoAir743v2_bl.hex @@ -0,0 +1,1279 @@ +:020000040800F2 +:1000000000060020E1020008E3020008E302000805 +:10001000E3020008E3020008E3020008E30200082C 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b/Tools/scripts/generate_manifest.py index 86c76ee400da42..e3a98129e5aafc 100755 --- a/Tools/scripts/generate_manifest.py +++ b/Tools/scripts/generate_manifest.py @@ -106,6 +106,7 @@ "SkystarsH7HD-bdshot" : ("Skystars", "H743 HD"), "MicoAir405v2" : ("MicoAir F405 v2.1", "MicoAir"), "MicoAir405Mini" : ("MicoAir F405 Mini", "MicoAir"), + "MicoAir743v2" : ("MicoAir H743 v2.0", "MicoAir"), "GEPRCF745BTHD": ("TAKER F745 BT","GEPRC"), "GEPRC_TAKER_H743": ("TAKER H743 BT","GEPRC"), } diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Physical_Size.jpg b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Physical_Size.jpg new file mode 100644 index 00000000000000..9a36f264e1e655 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Physical_Size.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Ports_Connection.jpg b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Ports_Connection.jpg new file mode 100644 index 00000000000000..2ddbf6f3e37a96 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/MicoAir743v2_Ports_Connection.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md new file mode 100644 index 00000000000000..d7c0d8ec42816d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/README.md @@ -0,0 +1,113 @@ +# MicoAir743v2 Flight Controller + +The MicoAir743v2 is a flight controller designed and produced by [MicoAir Tech](http://micoair.com/). + +## Features + + - STM32H743 microcontroller + - BMI088/BMI270 dual IMUs + - Integrated BlueTooth module for telemetry + - SPL06 barometer + - QMC5883L magnetometer + - AT7456E OSD + - 9V 3A BEC; 5V 3A BEC + - MicroSD Card Slot + - 8 UARTs + - 11 PWM outputs + - 1 I2C + - 1 SWD + +## Physical + +![MicoAir H743 v2.0 Physical Size](MicoAir743v2_Physical_Size.jpg) + +## UART Mapping + + - SERIAL0 -> USB + - SERIAL1 -> UART1 (MAVLink2, DMA-enabled) + - SERIAL2 -> UART2 (DisplayPort, DMA-enabled) + - SERIAL3 -> UART3 (GPS, DMA-enabled) + - SERIAL4 -> UART4 (MAVLink2, DMA-enabled) + - SERIAL5 -> UART5 (User, DMA-enabled) + - SERIAL6 -> UART6 (RCIN, DMA-enabled) + - SERIAL7 -> UART7 (RX only, ESC Telemetry, DMA-enabled) + - SERIAL8 -> UART8 (MAVLink2, connected to on board BlueTooth module) + + +## RC Input + +The UART6 is compatible with all ArduPilot supported receiver protocols, + +* PPM is not supported. + + * SBUS/DSM/SRXL connects to the RX6 pin. + + * FPort requires connection to TX6 . See FPort Receivers. + + * CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry. + + * SRXL2 requires a connection to TX6 and automatically provides telemetry. Set SERIAL6_OPTIONS to “4”. + +Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See Radio Control Systems for details. + +## OSD Support + +The MicoAir743v2 supports onboard OSD using OSD_TYPE 1 (MAX7456 driver). Simultaneously, DisplayPort OSD is available on the HD VTX connector, See below. + +## VTX Support + +The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v. + +## PWM Output + +The MicoAir743v2 supports up to 11 PWM outputs. + +All the channels support DShot. + +Channels 1-8 support bi-directional DShot. + +PWM outputs are grouped and every group must use the same output protocol: + +1, 2, 3, 4 are Group 1; + +5, 6 are Group 2; + +7, 8, 11 are Group 3; + +9, 10 are Group 4; +Note: PWM11 is the "LED" pin. If this is configured for serial LED use then PWM 7 and 8 can only be used as serial LED also. + +## Battery Monitoring + +The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. +The voltage sensor can handle up to 6S LiPo batteries. + +The default battery parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 10 + - BATT_CURR_PIN 11 + - BATT_VOLT_MULT 21.12 + - BATT_CURR_SCALE 40.2 + +## Compass + +The MicoAir743v2 has a built-in compass sensor (QMC5883L), and you can also attach an external compass using I2C on the SDA and SCL connector. + +## Mechanical + + - Mounting: 30.5 x 30.5mm, Φ4mm + - Dimensions: 36 x 36 x 8 mm + - Weight: 10g + +## Ports Connector + +![MicoAir H743 v2.0 Ports Connection](MicoAir743v2_Ports_Connection.jpg) + +## Loading Firmware + +Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "XXXX_with_bl.hex" firmware, using your favorite DFU loading tool. + + +Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the "\*.apj" firmware files. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat new file mode 100644 index 00000000000000..e9b5f967c04b87 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef-bl.dat @@ -0,0 +1,46 @@ +# hw definition file for processing by chibios_hwdef.py +# for the MicoAir743 hardware + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_MicoAir743v2 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# flash size +FLASH_SIZE_KB 2048 + +# bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 128 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 + +# pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# CS pins +PD5 BMI088_G_CS CS +PD4 BMI088_A_CS CS +PA15 BMI270_CS CS +PB12 AT7456E_CS CS + +# LEDs +PE2 LED_ACTIVITY OUTPUT LOW #green +PE4 LED_BOOTLOADER OUTPUT LOW #blue +define HAL_LED_ON 0 \ No newline at end of file diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat new file mode 100644 index 00000000000000..862bf72c34df47 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir743v2/hwdef.dat @@ -0,0 +1,178 @@ +# hw definition file for processing by chibios_hwdef.py +# for the MicoAir743v2 hardware + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_MicoAir743v2 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# flash size +FLASH_SIZE_KB 2048 +FLASH_RESERVE_START_KB 128 + +define HAL_STORAGE_SIZE 32768 +STORAGE_FLASH_PAGE 14 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# UARTs +PA9 USART1_TX USART1 +PA10 USART1_RX USART1 +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +PA0 UART4_TX UART4 +PA1 UART4_RX UART4 +PB6 UART5_TX UART5 +PB5 UART5_RX UART5 +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +PE8 UART7_TX UART7 +PE7 UART7_RX UART7 +PE1 UART8_TX UART8 +PE0 UART8_RX UART8 + +# SWD +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# order of I2C +I2C_ORDER I2C2 I2C1 + +# I2C +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# PWM +PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR +PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) +PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR +PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) +PB1 TIM3_CH4 TIM3 PWM(5) GPIO(54) BIDIR +PB0 TIM3_CH3 TIM3 PWM(6) GPIO(55) +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) +PE5 TIM15_CH1 TIM15 PWM(9) GPIO(58) +PE6 TIM15_CH2 TIM15 PWM(10) GPIO(59) + +# LED-pad +PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) #M11 + +# BUZZER +PD15 BUZZER OUTPUT GPIO(61) LOW +define HAL_BUZZER_PIN 61 + +# 11 PWM available by default +define BOARD_PWM_COUNT_DEFAULT 11 + +# LEDs +PE3 LED_RED OUTPUT LOW GPIO(0) +PE2 LED_GREEN OUTPUT LOW GPIO(1) +PE4 LED_BLUE OUTPUT LOW GPIO(2) + +define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0 +define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1 +define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2 + +define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 + +# ADC for Power +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) + +# setup for battery +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_VOLT_SCALE 21.12 +define HAL_BATT_CURR_SCALE 40.2 + +# compass +define HAL_COMPASS_DISABLE_QMC5883L_INTERNAL_PROBE +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +COMPASS QMC5883L I2C:ALL_EXTERNAL:0x0D true ROTATION_NONE +COMPASS QMC5883L I2C:ALL_INTERNAL:0x0D false ROTATION_NONE + +# microSD support +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +define FATFS_HAL_DEVICE SDCD1 + +# SPI1 - OSD +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 +PB12 AT7456E_CS CS + +# SPI2 - BMI088 +PD3 SPI2_SCK SPI2 +PC2 SPI2_MISO SPI2 +PC3 SPI2_MOSI SPI2 +PD5 BMI088_G_CS CS +PD4 BMI088_A_CS CS +PC15 DRDY1_BMI088_G INPUT +PC14 DRDY2_BMI088_A INPUT + +# SPI3 - BMI270 +PB3 SPI3_SCK SPI3 +PB4 SPI3_MISO SPI3 +PD6 SPI3_MOSI SPI3 +PA15 BMI270_CS CS +PB7 DRDY3_BMI270 INPUT + +# SPI devices +SPIDEV bmi088_a SPI2 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi088_g SPI2 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ +SPIDEV bmi270 SPI3 DEVID3 BMI270_CS MODE3 1*MHZ 10*MHZ +SPIDEV osd SPI1 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ + +# 2 IMUs +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270 +IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 + +# barometers +BARO SPL06 I2C:0:0x77 + +# enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +# setup for serial ports +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2 +define DEFAULT_SERIAL4_OPTIONS 1024 +define DEFAULT_SERIAL4_BAUD 115 +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry +define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_MAVLink2 +define DEFAULT_SERIAL8_BAUD 115 + +# setup for OSD +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +# setup for BF migration +define HAL_FRAME_TYPE 12 \ No newline at end of file