AP_HAL_ChibiOS: add new target Stellar H7V2 #28926
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Needs full readme with images and pinouts...see other recent hwdefs....should break out board id into separate PR that can be merged before this gets a review in order to reserve the board id...also use the text board name instead of number in the hwdefs |
Done |
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cvetaevvitaliy
changed the title
andyp1per
requested changes
Dec 23, 2024
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Commits need to be squashed per subsystem and labeled according to our coding standards. Please see https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html
| define HAL_GPIO_B_LED_PIN 90 | ||
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| # order of UARTs (and USB) | ||
| SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 |
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I would not recommend changing the order here unless the silkscreen has the same numbering
| PD9 USART3_RX USART3 | ||
| PD8 USART3_TX USART3 | ||
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| # UART4 (spare) |
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RCIN according to the picture?
| PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) | ||
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| # Motors | ||
| PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) |
andyp1per
requested changes
Jan 2, 2025
| receive pin for UART*. The Tx* pin is the transmit pin for UART*. | ||
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| - SERIAL0 -> USB | ||
| - SERIAL1 -> USART1 (User) |
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These need some better descriptions I think
| # Motors | ||
| PB0 TIM3_CH3 TIM3 PWM(1) BIDIR GPIO(50) | ||
| PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) | ||
| PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) |
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You should at least add it to PWM3 as well so that you can support a quad with bi-dir
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Should come at the end of the line
Hwurzburg
requested changes
Jan 9, 2025
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you will also need to squash the commits into one for the Tools library titled
Tools:add StellarH7V2
and one for the hwdef library titled
HWDEF: add StellarH7V2
Please make similar changes as from this review to PR#28925 StellarF4 and then I will review it also
| DPS310/BMP280 barometer | ||
| AT7456E OSD | ||
| SD Card | ||
| W25N02G/1G dataflash |
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unless this will be on the autopilot when we merge this, remove this line
| SD Card | ||
| W25N02G/1G dataflash | ||
| Power | ||
| 8S Lipo input voltage with voltage monitoring |
| 12V, 3A BEC for powering Video Transmitter | ||
| 5V, 2A BEC for internal and peripherals | ||
| Interfaces | ||
| 10x PWM outputs DShot capable |
There was a problem hiding this comment.
I see only 8 outputs on the board, what am I missing?
| 12V, 3A BEC for powering Video Transmitter | ||
| 5V, 2A BEC for internal and peripherals | ||
| Interfaces | ||
| 10x PWM outputs DShot capable |
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Suggested change
| 10x PWM outputs DShot capable | |
| 10x PWM outputs DShot capable, 4 outputs BDShot capable |
| 1x CAN | ||
| 1x I2C | ||
| 3x ADC | ||
| SD card and 128/256MB NAND for logging |
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Suggested change
| SD card and 128/256MB NAND for logging | |
| micro-SD card interface |
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| ## RC Input | ||
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| RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default. |
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Suggested change
| RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default. | |
| The default RC input is configured on the UART4 RX4 input and can be used for all ArduPilot supported unidirectional receiver protocols. | |
| * PPM is not supported. | |
| * SBUS/DSM/SRXL connects to the RX4 pin. | |
| * FPort requires connection to TX4 and RX4 via a bi-directional inverter. See :ref:`common-FPort-receivers`. | |
| * CRSF also requires a TX4 connection, in addition to RX6, and automatically provides telemetry. | |
| * SRXL2 requires a connection to TX4 and automatically provides telemetry. Set :ref:`SERIAL4_OPTIONS<SERIAL4_OPTIONS>` to “4”. | |
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| ## OSD Support | ||
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| StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info. |
There was a problem hiding this comment.
Suggested change
| StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info. | |
| StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). Simulatenous DisplayPort OSD operation is preconfigured on SERIAL 6 but requires OSD_TYPE2 = 5. See :ref:`common-msp-osd-overview-4.2` for more info. |
| ## PWM Output | ||
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| StellarH7V2 supports up to 10 PWM outputs. All outputs support DShot. | ||
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There was a problem hiding this comment.
Suggested change
| All the channels support DShot. Channels 1-4 support bi-directional DShot. PWM outputs are grouped and every group must use the same output protocol: | |
| * 1, 2,are Group 1; | |
| * 3 - 6 are Group 2; | |
| * 7 - 9 are Group 3; |
| ## Battery Monitoring | ||
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| The board has 1 built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor | ||
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There was a problem hiding this comment.
Suggested change
| The voltage input is compatible with 2~8S LiPo batteries. | |
| The default battery parameters are: | |
| * :ref:`BATT_MONITOR<BATT_MONITOR>` = 4 | |
| * :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 10 | |
| * :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 11 | |
| * :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` = 11 | |
| * :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` = 10 | |
| * :ref:`BATT2_CURR_PIN<BATT2_CURR_PIN__AP_BattMonitor_Analog>` = 7 |
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| StellarH7V2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads. | ||
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need to add section on Camera Switch:
Suggested change
| ## Camera Switch | |
| GPIO 81 controls which camera input (CAM1 or CAM22 is applied to the internal OSD. A RELAY function can be enabled to control the switching. |
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No problem.
New Year's holidays are over, back to work.
чт, 9 січ. 2025 р. о 18:13 Henry Wurzburg ***@***.***> пише:
… ***@***.**** requested changes on this pull request.
you will also need to squash the commits into one for the Tools library
titled
Tools:add StellarH7V2
and one for the hwdef library titled
HWDEF: add StellarH7V2
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> @@ -0,0 +1,94 @@
+# StellarH7V2 Flight Controller
+
+https://stingbee.com.ua/flight_controllers/stellarh7v2
+
+
+## Features
+ Processor
+ STM32H743VIH6 480 MHz, 2MB flash
+ Sensors
+ ICM-42688p Acc/Gyro with external clock feature
+ DPS310/BMP280 barometer
+ AT7456E OSD
+ SD Card
+ W25N02G/1G dataflash
unless this will be on the autopilot when we merge this, remove this line
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +# StellarH7V2 Flight Controller
+
+https://stingbee.com.ua/flight_controllers/stellarh7v2
+
+
+## Features
+ Processor
+ STM32H743VIH6 480 MHz, 2MB flash
+ Sensors
+ ICM-42688p Acc/Gyro with external clock feature
+ DPS310/BMP280 barometer
+ AT7456E OSD
+ SD Card
+ W25N02G/1G dataflash
+ Power
+ 8S Lipo input voltage with voltage monitoring
2S-8S?
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +
+## Features
+ Processor
+ STM32H743VIH6 480 MHz, 2MB flash
+ Sensors
+ ICM-42688p Acc/Gyro with external clock feature
+ DPS310/BMP280 barometer
+ AT7456E OSD
+ SD Card
+ W25N02G/1G dataflash
+ Power
+ 8S Lipo input voltage with voltage monitoring
+ 12V, 3A BEC for powering Video Transmitter
+ 5V, 2A BEC for internal and peripherals
+ Interfaces
+ 10x PWM outputs DShot capable
I see only 8 outputs on the board, what am I missing?
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +
+## Features
+ Processor
+ STM32H743VIH6 480 MHz, 2MB flash
+ Sensors
+ ICM-42688p Acc/Gyro with external clock feature
+ DPS310/BMP280 barometer
+ AT7456E OSD
+ SD Card
+ W25N02G/1G dataflash
+ Power
+ 8S Lipo input voltage with voltage monitoring
+ 12V, 3A BEC for powering Video Transmitter
+ 5V, 2A BEC for internal and peripherals
+ Interfaces
+ 10x PWM outputs DShot capable
⬇️ Suggested change
- 10x PWM outputs DShot capable
+ 10x PWM outputs DShot capable, 4 outputs BDShot capable
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> + ICM-42688p Acc/Gyro with external clock feature
+ DPS310/BMP280 barometer
+ AT7456E OSD
+ SD Card
+ W25N02G/1G dataflash
+ Power
+ 8S Lipo input voltage with voltage monitoring
+ 12V, 3A BEC for powering Video Transmitter
+ 5V, 2A BEC for internal and peripherals
+ Interfaces
+ 10x PWM outputs DShot capable
+ 7x UARTs
+ 1x CAN
+ 1x I2C
+ 3x ADC
+ SD card and 128/256MB NAND for logging
⬇️ Suggested change
- SD card and 128/256MB NAND for logging
+ micro-SD card interface
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> + USB-C port
+ LED
+ Red, 3.3V power indicator
+ Blue and Green, FC status
+ Size
+ 41 x 41mm PCB with 30.5mm M3 mounting
+
+
+## Overview
+
+
+
+
+
+## Wiring Diagram
+
will this be provided?
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> + 41 x 41mm PCB with 30.5mm M3 mounting
+
+
+## Overview
+
+
+
+
+
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
⬇️ Suggested change
-receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+receive pin for UART*. The Tx* pin is the transmit pin for UART*. All UARTS are DMA capable.
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +## Overview
+
+
+
+
+
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (User)
Why not use the default protocols for UART1 and UART2 of MAVLink2??
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +
+
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (User)
+ - SERIAL2 -> USART2 (User)
+ - SERIAL3 -> USART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL6 -> USART6 (User)
⬇️ Suggested change
- - SERIAL6 -> USART6 (User)
+ - SERIAL5-> USART6 (GPS)
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +
+## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (User)
+ - SERIAL2 -> USART2 (User)
+ - SERIAL3 -> USART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL6 -> USART6 (User)
+ - SERIAL7 -> USART6 (User)
⬇️ Suggested change
- - SERIAL7 -> USART6 (User)
+ - SERIAL6 -> USART7 (DisplayPort)
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +## Wiring Diagram
+
+
+## UART Mapping
+
+The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (User)
+ - SERIAL2 -> USART2 (User)
+ - SERIAL3 -> USART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL6 -> USART6 (User)
+ - SERIAL7 -> USART6 (User)
+ - SERIAL8 -> USART6 (User)
⬇️ Suggested change
- - SERIAL8 -> USART6 (User)
+ - SERIAL7 -> USART8 (RX pin only, ESC Telemetry)
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +The UARTs are marked Rx* and Tx* in the above pinouts. The Rx* pin is the
+receive pin for UART*. The Tx* pin is the transmit pin for UART*.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1 (User)
+ - SERIAL2 -> USART2 (User)
+ - SERIAL3 -> USART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL6 -> USART6 (User)
+ - SERIAL7 -> USART6 (User)
+ - SERIAL8 -> USART6 (User)
+
+## CAN and I2C
+
+StellarH7V2 supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
"multiple CAN peripherals" comment line not necessary
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> + - SERIAL1 -> USART1 (User)
+ - SERIAL2 -> USART2 (User)
+ - SERIAL3 -> USART3 (User)
+ - SERIAL4 -> UART4 (Serial RC input)
+ - SERIAL6 -> USART6 (User)
+ - SERIAL7 -> USART6 (User)
+ - SERIAL8 -> USART6 (User)
+
+## CAN and I2C
+
+StellarH7V2 supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
+
+## RC Input
+
+RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
⬇️ Suggested change
-RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+The default RC input is configured on the UART4 RX4 input and can be used for all ArduPilot supported unidirectional receiver protocols.
+
+* PPM is not supported.
+* SBUS/DSM/SRXL connects to the RX4 pin.
+* FPort requires connection to TX4 and RX4 via a bi-directional inverter. See :ref:`common-FPort-receivers`.
+* CRSF also requires a TX4 connection, in addition to RX6, and automatically provides telemetry.
+* SRXL2 requires a connection to TX4 and automatically provides telemetry. Set :ref:`SERIAL4_OPTIONS<SERIAL4_OPTIONS>` to “4”.
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> + - SERIAL7 -> USART6 (User)
+ - SERIAL8 -> USART6 (User)
+
+## CAN and I2C
+
+StellarH7V2 supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
+
+## RC Input
+
+RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+
+
+## OSD Support
+
+StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
⬇️ Suggested change
-StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
+StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). Simulatenous DisplayPort OSD operation is preconfigured on SERIAL 6 but requires OSD_TYPE2 = 5. See :ref:`common-msp-osd-overview-4.2` for more info.
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +StellarH7V2 supports 1x CAN bus and 1x I2C bus
+multiple CAN peripherals can be connected to one CAN bus in parallel. similarly for I2C bus.
+
+## RC Input
+
+RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+
+
+## OSD Support
+
+StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+StellarH7V2 supports up to 10 PWM outputs. All outputs support DShot.
+
⬇️ Suggested change
-
+All the channels support DShot. Channels 1-4 support bi-directional DShot. PWM outputs are grouped and every group must use the same output protocol:
+
+* 1, 2,are Group 1;
+* 3 - 6 are Group 2;
+* 7 - 9 are Group 3;
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +RC input is configured on the UART4(SERIAL4). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
+
+
+## OSD Support
+
+StellarH7V2 supports using its internal OSD using OSD_TYPE 1 (MAX7456 driver). External OSD support such as DJI or DisplayPort is supported using any spare UART. See :ref:`common-msp-osd-overview-4.2` for more info.
+
+## PWM Output
+
+StellarH7V2 supports up to 10 PWM outputs. All outputs support DShot.
+
+
+## Battery Monitoring
+
+The board has 1 built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
+
⬇️ Suggested change
-
+The voltage input is compatible with 2~8S LiPo batteries.
+
+The default battery parameters are:
+
+* :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
+* :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 10
+* :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 11
+* :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` = 11
+* :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` = 10
+* :ref:`BATT2_CURR_PIN<BATT2_CURR_PIN__AP_BattMonitor_Analog>` = 7
------------------------------
In libraries/AP_HAL_ChibiOS/hwdef/StellarH7V2/Readme.md
<#28926 (comment)>
:
> +
+## PWM Output
+
+StellarH7V2 supports up to 10 PWM outputs. All outputs support DShot.
+
+
+## Battery Monitoring
+
+The board has 1 built-in voltage dividers and 2x current ADC. support external 3.3V based current sensor
+
+
+## Compass
+
+StellarH7V2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+
need to add section on Camera Switch:
⬇️ Suggested change
-
+## Camera Switch
+GPIO 81 controls which camera input (CAM1 or CAM22 is applied to the internal OSD. A RELAY function can be enabled to control the switching.
—
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add Stellar H7V2 target