AP_HAL_ChibiOS: Add ZeroOneX6 Flight Controller Bootloader File. #27282

ZeroOne-Aero · 2024-06-11T04:09:54Z

ZeroOneX6 flight control adopts open source FMU v6X architecture.
Separate flight control core design.
Support CAN FD to increase the communication rate to 8Mbps.
Support PWM 3.3V 5V voltage switching, adapt to more peripherals and large-size models .
BalancedGyro™ technology, low noise and more shock-resistant.
IMU constant temperature heating, stable as always.
CAN bus dual power supply redundancy.
Adopt industrial-grade magnetic compass.
Customized shock-absorbing sponge, full-surround shock-absorbing design.
Support 100M Ethernet interface.
All external interfaces have port anti-static and filtering protection.
High-voltage over-current and over-voltage protection.

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

Hwurzburg

Needs README file, images, pin diagram, etc. and bootloader binaries....like https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef/BlitzWingH743

moved before the MCU line

andyp1per

This is ok from a hwdef point of view I think, but Henry will still want the docs

rmackay9 · 2024-06-17T07:10:56Z

We need to squash the commits together as well and also the commits should be prefixed with "AP_HAL_ChibiOS:" like we always do to ease back porting.

ZeroOne-Aero · 2024-06-17T08:30:07Z

This is ok from a hwdef point of view I think, but Henry will still want the docs

Thank you. I'm in the process of organizing docs, and I'll upload the docs soon.

ZeroOne-Aero · 2024-06-20T03:04:20Z

@Hwurzburg Updated README file, Pinout and default parm file. Please help review the document. Looking forward to your reply.

Hwurzburg · 2024-06-20T12:44:06Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

+
+CAN_P1_DRIVER 1
+BATT_MONITOR 8
+GPS1_TYPE 9


unless you are supplying a DroneCAN GPS I would not do this...most use an autodetected GPS..I would remove this line

We will supply a DroneCAN GPS ,and we have removed this line already.

if you supply a dronecan gps I would add GPS_TYPE =9

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

Hwurzburg · 2024-06-20T13:00:14Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+| Name    | Function |
+| ------- | -------- |
+| SERIAL0 | OTG1     |
+| SERIAL1 | UART7    |


all uarts should also say if TX/RX or both have DMA assigned

We have supplemented all uarts if TX/RX or both have DMA assigned.

which UART is Telem3? its protocol has not been set...

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

Hwurzburg · 2024-06-20T13:03:41Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+The remote control signal should be connected to the SBUS RC IN port or DSM/PPM RC Port.Support three types of remote control signal inputs, SBUS/DSM and PPM signals.
+
+## PWM Output
+The X6 flight controller supports up to 16 PWM outputs. All 16 outputs support normal PWM output formats. All FMU outputs, except 7 and 8, also support DShot.


which outputs correspond to IOMCU and which to FMU?

Should also have a section relating GPIO assignments for each motor output

We have modified it in Readme file.

Hwurzburg · 2024-06-20T13:10:53Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+## PWM Output
+The X6 flight controller supports up to 16 PWM outputs. All 16 outputs support normal PWM output formats. All FMU outputs, except 7 and 8, also support DShot.
+
+The 8 FMU PWM outputs are in 4 groups:


there is a similar table required for the IOMCU outputs

We have supplemented the table of IOMCU outputs.

I think Dshot is now possible with F103 IOMCU... @andyp1per ?

# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin

define HAL_WITH_IO_MCU_DSHOT 1

and the GPIO assignments for the FMU outputs are not listed...

We have listed it to the README file.

Ensure normal communication for telem3.

Hwurzburg · 2024-07-11T17:06:07Z

@ZeroOne-Aero is this still an active project...no changes as requested for a while...also needs bootloader...where can this be obtained?

ZeroOne-Aero · 2024-07-17T05:59:27Z

@Hwurzburg Sorry, this project is still in progress, and I will make the submission after I finish modifying the README file. Could you clarify what you mean by 'bootloader'？The hwdef-bl.dat file has already been submitted in this Pull Request.

Hwurzburg · 2024-07-17T19:13:49Z

read step 4 of this :https://ardupilot.org/dev/docs/porting.html

needs bootloader binary added here https://firmware.ardupilot.org/Tools/Bootloaders/

Pin for PWM Voltage Selection Update.

Pin for PWM Voltage Selection Updater.

Add ZeroOneX6_bl.bin and ZeroOneX6_bl.hex.

ZeroOne-Aero · 2024-07-19T08:34:18Z

read step 4 of this :https://ardupilot.org/dev/docs/porting.html

needs bootloader binary added here https://firmware.ardupilot.org/Tools/Bootloaders/

Hello, I have submitted the bootloader binary in PR#27596.

Hwurzburg

also remove the JPG from the Tools/Bootloaders folder

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

Hwurzburg · 2024-07-19T16:40:05Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+## PWM Output
+The X6 flight controller supports up to 16 PWM outputs. All 16 outputs support normal PWM output formats. All FMU outputs, except 7 and 8, also support DShot.
+
+The 8 FMU PWM outputs are in 4 groups:


I think Dshot is now possible with F103 IOMCU... @andyp1per ?

# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin

define HAL_WITH_IO_MCU_DSHOT 1

Hwurzburg · 2024-07-19T16:47:50Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

+
+CAN_P1_DRIVER 1
+BATT_MONITOR 8
+GPS1_TYPE 9


if you supply a dronecan gps I would add GPS_TYPE =9

Hwurzburg · 2024-07-19T16:49:15Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+| Name    | Function |
+| ------- | -------- |
+| SERIAL0 | OTG1     |
+| SERIAL1 | UART7    |


which UART is Telem3? its protocol has not been set...

Hwurzburg · 2024-07-19T16:54:56Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md

+## PWM Output
+The X6 flight controller supports up to 16 PWM outputs. All 16 outputs support normal PWM output formats. All FMU outputs, except 7 and 8, also support DShot.
+
+The 8 FMU PWM outputs are in 4 groups:


and the GPIO assignments for the FMU outputs are not listed...

Hwurzburg

will need some squashes and clean up besides the pending changes

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

andyp1per · 2024-07-21T11:04:00Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

+CAN_P2_DRIVER 1
+
+BATT_MONITOR 8
+GPS1_TYPE 9


You should not be setting the GPS type - that is up to the user

they supply a dronecan gps with the autopilot....should remain

We primarily consider our users, aiming to reduce the difficulty in using our products. Our PMU and GPS communicate via dronecan, they can communicate with each other without requiring additional parameter configuration, so we have set default parameters: CAN P1 DRIVER=1, GPS1_TYPE=9.

if the CAN PMU is also provided with autopilot , it should be setup also, not an analog PMU

Yes , we alsp supply a dronecan PMU .

andyp1per · 2024-07-21T11:04:21Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

+BATT_VOLT_PIN 12
+BATT_CURR_PIN 13
+
+CAN_P1_DRIVER 1


These should be set automatically I believe

are we sure????

I suggest remain it, if customer uses their own analog PMU, they just need to configure BATT_MONITOR = 4, no need to further configure BATT VOLT PIN=12 and BATT CURR PIN=13, I think this would be more user-friendly.

I think he was referring to the CAN line, and I am not sure it gets set just because a CAN port is configured....its used in many other autopilots with CAN in their defaults.param files

andyp1per · 2024-07-21T11:04:30Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/defaults.parm

@@ -0,0 +1,8 @@
+BATT_VOLT_PIN 12


These can be done in the hwdef

Could this be kept here?

andyp1per · 2024-07-21T11:05:28Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN


I think you should just remove this line

would this need remain to avoid ESD issues?

it should not be used in the bootloader...can be used in main firmware...this prevents some peripherals from entering test modes during their power up

andyp1per · 2024-07-21T11:06:26Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

+
+# telem1
+PE8 UART7_TX UART7
+PF6 UART7_RX UART7 OUTPUT HIGH


I don't think you need OUTPUT HIGH here - what is the purpose?

andyp1per · 2024-07-21T11:07:43Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef-bl.dat

+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1


You don't need these in the bootloader

Yes, removed.

andyp1per · 2024-07-21T11:10:35Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2


I don't think this is required in the main firmware

Hello, it needs to be retained, otherwise, there will be some compilation errors...

andyp1per · 2024-07-21T11:11:29Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

+#define HAL_HEATER_MAG_OFFSET HAL_HEATER_MAG_OFFSET_RM3100
+
+# IMU devices for ZeroOne X6
+SPIDEV icm45686_1  SPI2 DEVID1  SP2_CS1 MODE3  2*MHZ  8*MHZ


I would probably make the max 16Mhz for the ICM45686's

andyp1per · 2024-07-21T11:13:10Z

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/hwdef.dat

+PH13 UART4_TX UART4
+PH14 UART4_RX UART4
+
+# debug uart


I haven't looked at the actual DMA output, but my guess is that there is a lot of sharing given the number of SPI buses and UARTs - I would think carefully about removing DMA from some of the UARTs if at all possible

virtually all the uart TX are shared with a spi bus...

andyp1per · 2024-07-21T11:13:44Z

Added some comments. The commits all need squashing as well.

peterbarker · 2024-07-24T08:28:58Z

Duplicate of #27596

Add ZeroOne Bootloader File.

dcacb53

andyp1per requested changes Jun 12, 2024

View reviewed changes

Hwurzburg requested changes Jun 12, 2024

View reviewed changes

ZeroOne-Aero added 2 commits June 14, 2024 11:44

Update hwdef-bl.dat

5e96204

Update hwdef.dat

6c0c0fa

khancyr added the ChibiOS label Jun 14, 2024

ZeroOne-Aero added 2 commits June 17, 2024 13:05

Update hwdef-bl.dat

6175bde

moved before the MCU line

Update hwdef.dat

d961abc

moved before the MCU line

andyp1per approved these changes Jun 17, 2024

View reviewed changes

ZeroOne-Aero changed the title ~~Add ZeroOneX6 Flight Controller Bootloader File.~~ AP_HAL_ChibiOS: Add ZeroOneX6 Flight Controller Bootloader File. Jun 17, 2024

ZeroOne-Aero added 5 commits June 19, 2024 01:03

Merge branch 'ArduPilot:master' into zeroOneBootLoader

6b5032c

Merge branch 'ArduPilot:master' into zeroOneBootLoader

5167202

ZeroOneX6 README file and pin diagram

77f29f4

Update README.md

24e348c

Update README.md

5561638

ZeroOne-Aero requested a review from Hwurzburg June 20, 2024 02:51

Hwurzburg requested changes Jun 20, 2024

View reviewed changes

ZeroOne-Aero added 2 commits June 21, 2024 09:55

Update defaults.parm

51eca40

Update hwdef-bl.dat

45cf212

Ensure normal communication for telem3.

ZeroOne-Aero added 5 commits July 19, 2024 10:57

Update README.md

584666c

Update hwdef-bl.dat

3545a4e

Update hwdef.dat

6b45b55

Pin for PWM Voltage Selection Update.

Update hwdef-bl.dat

cd4ace7

Pin for PWM Voltage Selection Updater.

Add files via upload

0202780

ZeroOne-Aero added 2 commits July 19, 2024 13:57

Add files via upload

ff405ed

Add Bootloader Binary

70aeafe

Add ZeroOneX6_bl.bin and ZeroOneX6_bl.hex.

Merge branch 'master' into zeroOneBootLoader

699cd75

Hwurzburg requested changes Jul 19, 2024

View reviewed changes

ZeroOne-Aero added 7 commits July 20, 2024 14:24

Update hwdef.dat

6ea2f73

Update hwdef-bl.dat

416d360

Update defaults.parm

5d2a4c1

Update defaults.parm

02828c7

Update hwdef.dat

6de6def

Update hwdef.dat

54dfc92

Delete ZeroOneX6Pinout.jpg

85db285

Hwurzburg requested changes Jul 20, 2024

View reviewed changes

ZeroOne-Aero added 3 commits July 21, 2024 15:31

Update README.md

8847978

Update hwdef.dat

63fd5b3

Update hwdef-bl.dat

bc714b1

andyp1per requested changes Jul 21, 2024

View reviewed changes

Update hwdef-bl.dat

532e6b6

peterbarker marked this as a duplicate of #27596 Jul 24, 2024

peterbarker closed this Jul 24, 2024

AP_HAL_ChibiOS: Add ZeroOneX6 Flight Controller Bootloader File. #27282

AP_HAL_ChibiOS: Add ZeroOneX6 Flight Controller Bootloader File. #27282

Conversation

ZeroOne-Aero commented Jun 11, 2024

Hwurzburg left a comment

Choose a reason for hiding this comment

andyp1per left a comment

Choose a reason for hiding this comment

rmackay9 commented Jun 17, 2024

ZeroOne-Aero commented Jun 17, 2024

ZeroOne-Aero commented Jun 20, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ZeroOne-Aero Jul 19, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Hwurzburg Jul 19, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Hwurzburg commented Jul 11, 2024

ZeroOne-Aero commented Jul 17, 2024

Hwurzburg commented Jul 17, 2024 • edited Loading

ZeroOne-Aero commented Jul 19, 2024

Hwurzburg left a comment

Choose a reason for hiding this comment

Hwurzburg Jul 19, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Hwurzburg left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ZeroOne-Aero Jul 22, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

andyp1per commented Jul 21, 2024

peterbarker commented Jul 24, 2024

ZeroOne-Aero Jul 19, 2024 •

edited

Loading

Hwurzburg Jul 19, 2024 •

edited

Loading

Hwurzburg commented Jul 17, 2024 •

edited

Loading

Hwurzburg Jul 19, 2024 •

edited

Loading

ZeroOne-Aero Jul 22, 2024 •

edited

Loading