Add Aocoda-RC-H743Dual target board configuration #25396

aocodarc · 2023-10-29T12:19:48Z

Add Aocoda-RC-H743Dual target board configuration

Hwurzburg

need to reserve your board id in a separate pr immediately unless this board really is the TWD_H7
if this is to be commercially available and included in the wiki, you need a complete README.md file with pinouts, images,etc.

aocodarc · 2023-10-29T22:09:02Z

need to reserve your board id in a separate pr immediately unless this board really is the TWD_H7

OK, we prepared board id reserve #25398, please check.

if this is to be commercially available and included in the wiki, you need a complete README.md file with pinouts, images,etc.

OK, when board id for AocodaRC H743 Dual is accepted, i'll prepare readme and other stuff asap.

BTW, Is there any guide or links can help us to add a page to ardupilot wiki?

Hwurzburg · 2023-10-29T22:26:06Z

here is the general format https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/README.md
here is how to setup to do big edits (like a new page for an autopilot) https://ardupilot.org/dev/docs/common-wiki_editing_guide.html

peterbarker · 2023-10-30T04:51:04Z

@aocodarc please see https://ardupilot.org/dev/docs/git-interactive-rebase.html for tips on cleaning up the commit list. Don't pull master into your branch, rebase on top of master.

aocodarc · 2023-10-30T08:06:15Z

@aocodarc please see https://ardupilot.org/dev/docs/git-interactive-rebase.html for tips on cleaning up the commit list. 》Don't pull master into your branch, rebase on top of master.

Sorry！ Still not very proficient.

Should I rebase these commits?

aocodarc · 2023-10-30T08:54:12Z

@Hwurzburg @peterbarker @drnic OK git rebased. Please check, thanks.

lida2003 · 2023-10-30T13:08:07Z

It needs two commits(#25401, #25402) related to Aocoda-RC board id, or CI build fails.

commit 7ddcd7ab0c885d8d5aabdb81c1d54d488417df34
Author: Daniel Li <[email protected]>
Date:   Mon Oct 30 11:50:25 2023 +0800

    AP_Bootloader: Reserve Aocoda-RC board IDs and apply for H743DUAL/F405V3

commit 6f2236e3515d79b5a327132efdb7b9322a032e32
Author: daniel.li <[email protected]>
Date:   Mon Oct 30 10:26:31 2023 +0800

    AP_Bootloader: Fix AIRVOLUTE format issue

andyp1per · 2023-11-01T13:41:25Z

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

+PA12 OTG_FS_DP OTG1
+
+# OTG USB Detect
+PE2 EXT_CS2 CS


Isn't this usually VBUS?

It's VBUS actually. I'm NOT sure if the configuration should be this way, just reference Matek H743

ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat

Lines 48 to 50 in 7d4d2f9

# external CS pins

PD4 EXT_CS1 CS

PE2 EXT_CS2 CS

Or should I configure this as below?

PE2 VBUS INPUT

right, that's what I was thinking

not changed yet,fyi

I have checked again (it should be update 9 hours ago, but don't know why). @Hwurzburg Can you help to check it again.

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

andyp1per · 2023-11-01T13:45:59Z

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

+PA3  TIM5_CH4 TIM5  PWM(6)  GPIO(55)         //S6
+PD12 TIM4_CH1 TIM4  PWM(7)  GPIO(56) BIDIR   //S7
+PD13 TIM4_CH2 TIM4  PWM(8)  GPIO(57)         //S8
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) NODMA  //S9


You can't do this if you want dshot on PWM(7) and PWM(8). You should take off the NODMA

Is it because these pins are all PDx? And if I remove "NODMA", PWM(9) PWM(10) can also be use as bdshot, right?

change from

PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR //S7 PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) //S8 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) NODMA //S9 PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) NODMA //S10

to

PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR //S7 PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) //S8 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) //S9 PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) //S10

To enable bi-dir on all you would need to add BIDIR to PWM(9) as well. More what I was saying was that dshot won't work at all on PWM7-10 without this change

Is it because these pins are all PDx

No, its because they are all on TIM4

To enable bi-dir on all you would need to add BIDIR to PWM(9) as well.

OK. I though PWM(1) to PWM(8) works for bdshot is OK, as there are only two motor connectors wiring PWM(1) to PWM(8).

I'm NOT aware of how code handling bdshot. Is BIDIR lable working on TIM4_CHn and TIM4_CHn+1, n belongs to odd numbers?

More what I was saying was that dshot won't work at all on PWM7-10 without this change

Thanks.

Yes, it's missing. Thanks.

Sorry, but you should add BIDIR to TIM4_CH3 - we don't currently have the ability to do split dshot/bdshot on the same timer

Currently the layout has following suggestions:
a) S1-S8 output throught ESC connector, which is supposed to be used as bdshot by default.
b) S9 S10 used for servos
c) SE1, SE2 used for servos or pinio (which has a current limit resistor)

So I have left these IO definitions below:

PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR //S1 PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) //S2 PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR //S3 PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53) //S4 PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR //S5 PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) //S6 PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR //S7 PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) //S8 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) //S9 PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) //S10 PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA //SE1 PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA //SE2

this stikk needs the change Andy mentioned to add BIDIR to PD14 line

@Hwurzburg @andyp1per OK, I'll add BIDIR to PD14 line. But I don't understand why?

As andy and I have discussion about this and in his words "BIDIR applies to channel pairs - either CH1-2 or CH3-4. It can be on any channel apart from TIM4_CH4 which does not exist."

Now I just wana use S1-S8 left S9/S10 no bdshot (maybe saving DMA), why I have to add BIDIR to PD14?

One more question if I add BIDIR to PD14, does PD14/PD15 (S9/S10) can use as bdshot pins?

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

andyp1per · 2023-11-01T13:48:33Z

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# support VTX IRC tramp protocol
+define AP_TRAMP_ENABLED 1


this is enabled by default on 2MB

OK, I'll remove the tramp. Thanks for the tip.

andyp1per · 2023-11-01T13:48:56Z

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/defaults.parm

@@ -0,0 +1,4 @@
+# logging
+LOG_BACKEND_TYPE    4
+LOG_FILE_BUFSIZE    4


that's way too small

I found most of LOG_FILE_BUFSIZE is set to 16.

So how about 16? what if I doesn't define LOG_FILE_BUFSIZE, is there any default values?

Maybe I can remove defaults.parm file.

LOG_FILE_BUFSIZE 16

Yeah I think remove defaults.parm - the defaults should be set appropriately based on chip (200 for H743 I believe)

OK, Thanks a lot. I'll remove the file.
It seems the param is quite advanced. Just default(based on MCU) will do.

ardupilot/libraries/AP_Logger/AP_Logger.cpp

Lines 26 to 36 in 1bf7c9e

#ifndef HAL_LOGGING_FILE_BUFSIZE

#if HAL_MEM_CLASS >= HAL_MEM_CLASS_1000

#define HAL_LOGGING_FILE_BUFSIZE 200

#elif HAL_MEM_CLASS >= HAL_MEM_CLASS_500

#define HAL_LOGGING_FILE_BUFSIZE 80

#elif HAL_MEM_CLASS >= HAL_MEM_CLASS_300

#define HAL_LOGGING_FILE_BUFSIZE 50

#else

#define HAL_LOGGING_FILE_BUFSIZE 16

#endif

#endif

ardupilot/libraries/AP_HAL/AP_HAL_Boards.h

Lines 107 to 116 in 1bf7c9e

/*

memory classes, in kbytes. Board must have at least the given amount

of memory

*/

#define HAL_MEM_CLASS_20 1

#define HAL_MEM_CLASS_64 2

#define HAL_MEM_CLASS_192 3

#define HAL_MEM_CLASS_300 4

#define HAL_MEM_CLASS_500 5

#define HAL_MEM_CLASS_1000 6

ardupilot/libraries/AP_HAL/board/chibios.h

Lines 7 to 19 in 1bf7c9e

#if HAL_MEMORY_TOTAL_KB >= 1000

#define HAL_MEM_CLASS HAL_MEM_CLASS_1000

#elif HAL_MEMORY_TOTAL_KB >= 500

#define HAL_MEM_CLASS HAL_MEM_CLASS_500

#elif HAL_MEMORY_TOTAL_KB >= 300

#define HAL_MEM_CLASS HAL_MEM_CLASS_300

#elif HAL_MEMORY_TOTAL_KB >= 192

#define HAL_MEM_CLASS HAL_MEM_CLASS_192

#elif HAL_MEMORY_TOTAL_KB >= 64

#define HAL_MEM_CLASS HAL_MEM_CLASS_64

#else

#define HAL_MEM_CLASS HAL_MEM_CLASS_20

#endif

ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

Lines 1101 to 1113 in 1bf7c9e

total_memory = 0

for (address, size, flags) in ram_map:

size *= 1024

cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size))

if self.env_vars['APP_RAM_START'] is not None and address == ram_map[self.env_vars['APP_RAM_START']][0]:

ram_reserve_start = self.get_ram_reserve_start()

address += ram_reserve_start

size -= ram_reserve_start

regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size, flags))

total_memory += size

f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))

f.write('#define HAL_CC_MEMORY_REGIONS %s\n' % ', '.join(cc_regions))

f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % (total_memory/1024))

now you will need the defaults.parm file to setup the LED, now that it can work and you have it marked as such on new board

Welp, I don't know how to, any links or idea about setting LED in defaults.parm file?

add to a defaults.param file
# setup for LEDs on chan13
SERVO13_FUNCTION 120

OK, SERVO13 for PWM(13), thanks very much!

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/defaults.parm

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

Hwurzburg · 2023-11-02T20:25:44Z

you are failing ci since you have not added the bootloader in Tools/bootloaders...fyi

lida2003 · 2023-11-02T22:44:22Z

@Hwurzburg

you are failing ci since you have not added the bootloader in Tools/bootloaders...fyi

Yes, it needs two commits(#25401, #25402).

When I create this PR, I'm NOT aware of board id. How can I make CI work in this PR?

commit 7ddcd7ab0c885d8d5aabdb81c1d54d488417df34
Author: Daniel Li <[email protected]>
Date:   Mon Oct 30 11:50:25 2023 +0800

    AP_Bootloader: Reserve Aocoda-RC board IDs and apply for H743DUAL/F405V3

commit 6f2236e3515d79b5a327132efdb7b9322a032e32
Author: daniel.li <[email protected]>
Date:   Mon Oct 30 10:26:31 2023 +0800

    AP_Bootloader: Fix AIRVOLUTE format issue

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat

Hwurzburg · 2023-11-04T21:27:06Z

sorry all my review comments had been pending me pushing the final review button...so they have been there for days but were not shown...

lida2003 · 2023-11-04T21:37:32Z

sorry all my review comments had been pending me pushing the final review button...so they have been there for days but were not shown...

I have rebased all the above changes. And listed question below:

VBUS config

It's just reference Matek H743, should I change to PE2 VBUS INPUT?

ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat

Lines 48 to 50 in 7d4d2f9

    
           # external CS pins 
        
           PD4 EXT_CS1 CS 
        
           PE2 EXT_CS2 CS

is it possible that Rx1 can be configured as SBUS (for DJI) or CRSF (for ELRS), and at the mean time LED stripe can work properly?

@Hwurzburg You mean config as below can work both with SBUS and CRSF?

If so, how can I configure two different setting? Just belwo works?
SERIAL1_OPTIONS = 23 for SBUS
SERIAL1_OPTIONS = 0 for CRSF

# USART1 (RC input), SERIAL1
PA9  USART1_TX USART1
PA10 USART1_RX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN

Just a quick quesition, is it possible to apply BIDIR to channel pairs PB8/PB9 or PD14/PD15, which use TIM4_CH3&TIME_CH4?

There are two commits(AP_Bootloader: Fix AIRVOLUTE format issue #25401, AP_Bootloader: Reserve Aocoda-RC board IDs and apply for H743DUAL/F405V3 #25402) for this PR, as when I create this PR, I'm NOT aware of board id. How can I make CI work in this PR. So How can I make this PR pass CI build? Or I have to create a new PR?

lida2003 · 2023-11-04T21:48:19Z

@Hwurzburg "Andy, he meant SBus, and TX1 is pinned out" I doesn't understand this. Can you explain a little bit more?

Hwurzburg · 2023-11-04T23:58:43Z

@Hwurzburg "Andy, he meant SBus, and TX1 is pinned out" I doesn't understand this. Can you explain a little bit more?

Andy had asked what you meant by "subs" in a comment, I was responding to him...look thru the history of comments ...remember I actually made the comment two days ago, but because I forgot to complete the review, they only appeared in the flow now...

Hwurzburg · 2023-11-05T00:26:09Z

sorry all my review comments had been pending me pushing the final review button...so they have been there for days but were not shown...

I have rebased all the above changes. And listed question below:

VBUS config

It's just reference Matek H743, should I change to PE2 VBUS INPUT?

ardupilot/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat

Lines 48 to 50 in 7d4d2f9

# external CS pins

PD4 EXT_CS1 CS

PE2 EXT_CS2 CS

is it possible that Rx1 can be configured as SBUS (for DJI) or CRSF (for ELRS), and at the mean time LED stripe can work properly?

@Hwurzburg You mean config as below can work both with SBUS and CRSF?

If so, how can I configure two different setting? Just belwo works? SERIAL1_OPTIONS = 23 for SBUS SERIAL1_OPTIONS = 0 for CRSF
# USART1 (RC input), SERIAL1
PA9  USART1_TX USART1
PA10 USART1_RX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
Just a quick quesition, is it possible to apply BIDIR to channel pairs PB8/PB9 or PD14/PD15, which use TIM4_CH3&TIME_CH4?

There are two commits(AP_Bootloader: Fix AIRVOLUTE format issue #25401, AP_Bootloader: Reserve Aocoda-RC board IDs and apply for H743DUAL/F405V3 #25402) for this PR, as when I create this PR, I'm NOT aware of board id. How can I make CI work in this PR. So How can I make this PR pass CI build? Or I have to create a new PR?

answers to your questions:
1, Andy already addressed this...should really be VBUS INPUT
2.yes..you have it right in the PR now...works for everything except PPM..and LED will work...no SERIAL_OPTIONS changes (except for FPort and SRXL2 which use half duplex and user must configure this for those))
3. Andy will need to address this, hes the bdir dshot guy
4. before CI will pass you need add the bootloader

lida2003 · 2023-11-05T01:10:09Z

before CI will pass you need to reserve the board id in https://github.com/ArduPilot/ardupilot/blob/0b1c6eec16aef38ae9134b427ab1b4c6c1d6e489/Tools/AP_Bootloader/board_types.txt in a separate PR that would need to be merged first...I suggest adding this at line 256 in that file and pushing a PR:
AP_HW_AOCODA-RC-H743DUAL 1142

Currently, I have reserved board id in these two commits(#25401, #25402)

How can I make CI work in this PR? It seems I can't use cherry-pick.

--- update

It seems work, eventually failed.

Running (python waf configure --board thepeach-r1 --bootloader)
Failed builds:
  configure: Aocoda-RC-H743Dual
Error: Process completed with exit code 1.

libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/README.md

Hwurzburg · 2023-11-26T02:58:08Z

@andyp1per please approve if okay now..

Hwurzburg · 2023-11-27T16:58:04Z

since changes were not enabled, I squashed, rebased, and split it here #25648

tridge · 2023-11-27T23:30:12Z

@aocodarc merged the cleaned up commits from @Hwurzburg

Hwurzburg reviewed Oct 29, 2023

View reviewed changes

lida2003 force-pushed the Aocoda-RC-H743Dual branch 2 times, most recently from 54d5ddc to 39a675b Compare October 30, 2023 08:52

lida2003 force-pushed the Aocoda-RC-H743Dual branch 2 times, most recently from 2fa049e to 1b816f8 Compare November 1, 2023 06:54

khancyr added ChibiOS hwdef and removed ChibiOS labels Nov 1, 2023

Hwurzburg added the WikiNeeded needs wiki update label Nov 1, 2023

andyp1per requested changes Nov 1, 2023

View reviewed changes

Hwurzburg requested changes Nov 1, 2023

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Hwurzburg approved these changes Nov 4, 2023

View reviewed changes

hwdef: Add Aocoda-RC-H743Dual target

68b3a90

lida2003 force-pushed the Aocoda-RC-H743Dual branch from f042273 to 68b3a90 Compare November 4, 2023 21:28

hwdef: Fix VBUS and modify readme description.

a04ad29

Merge branch 'master' into Aocoda-RC-H743Dual

dd57a81

lida2003 added 3 commits November 5, 2023 10:12

hwdef: Fix CI fail due to bootloader binary files.

c755e61

hwdef: add comment for servo and led stripe

b4cf5fc

hwdef: Add second group of battery monitor pins

6551e96

Hwurzburg reviewed Nov 6, 2023

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libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/README.md Show resolved Hide resolved

lida2003 added 2 commits November 7, 2023 08:16

hwdef: Add BIDIR to PWM9 and assign led function to led stripe(PWM13)

3e35f5e

hwdef: optimize MPU6000 max clock

6caeac9

Hwurzburg added the DevCallTopic label Nov 26, 2023

andyp1per approved these changes Nov 27, 2023

View reviewed changes

Hwurzburg mentioned this pull request Nov 27, 2023

Add Aocoda rc h743 dual #25648

Merged

CraigElder removed the DevCallTopic label Nov 27, 2023

tridge closed this Nov 27, 2023

	#ifndef HAL_LOGGING_FILE_BUFSIZE
	#if HAL_MEM_CLASS >= HAL_MEM_CLASS_1000
	#define HAL_LOGGING_FILE_BUFSIZE 200
	#elif HAL_MEM_CLASS >= HAL_MEM_CLASS_500
	#define HAL_LOGGING_FILE_BUFSIZE 80
	#elif HAL_MEM_CLASS >= HAL_MEM_CLASS_300
	#define HAL_LOGGING_FILE_BUFSIZE 50
	#else
	#define HAL_LOGGING_FILE_BUFSIZE 16
	#endif
	#endif

	/*
	memory classes, in kbytes. Board must have at least the given amount
	of memory
	*/
	#define HAL_MEM_CLASS_20 1
	#define HAL_MEM_CLASS_64 2
	#define HAL_MEM_CLASS_192 3
	#define HAL_MEM_CLASS_300 4
	#define HAL_MEM_CLASS_500 5
	#define HAL_MEM_CLASS_1000 6

	#if HAL_MEMORY_TOTAL_KB >= 1000
	#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
	#elif HAL_MEMORY_TOTAL_KB >= 500
	#define HAL_MEM_CLASS HAL_MEM_CLASS_500
	#elif HAL_MEMORY_TOTAL_KB >= 300
	#define HAL_MEM_CLASS HAL_MEM_CLASS_300
	#elif HAL_MEMORY_TOTAL_KB >= 192
	#define HAL_MEM_CLASS HAL_MEM_CLASS_192
	#elif HAL_MEMORY_TOTAL_KB >= 64
	#define HAL_MEM_CLASS HAL_MEM_CLASS_64
	#else
	#define HAL_MEM_CLASS HAL_MEM_CLASS_20
	#endif

	total_memory = 0
	for (address, size, flags) in ram_map:
	size *= 1024
	cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size))
	if self.env_vars['APP_RAM_START'] is not None and address == ram_map[self.env_vars['APP_RAM_START']][0]:
	ram_reserve_start = self.get_ram_reserve_start()
	address += ram_reserve_start
	size -= ram_reserve_start
	regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size, flags))
	total_memory += size
	f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
	f.write('#define HAL_CC_MEMORY_REGIONS %s\n' % ', '.join(cc_regions))
	f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % (total_memory/1024))

Add Aocoda-RC-H743Dual target board configuration #25396

Add Aocoda-RC-H743Dual target board configuration #25396

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