hwdef: Add support for Sierra-F1 #24695
There are no files selected for viewing
Binary file not shown.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,233 @@ | ||
| # Sierra-F1 Autopilot by Sierra Aerospace | ||
| https://www.sierraaerospace.in/ | ||
|
|
||
| ## Features | ||
| # Main Board: | ||
| - STM32H743 microcontroller | ||
| - 32MB QSPI flash | ||
| - BMI088+ICM42688 IMUs | ||
| - DPS310 barometer on SPI | ||
| - SDMMC support | ||
| - 4 UARTs- 2 with HW flow control | ||
| - 6 PWM outputs with DSHOT capability | ||
| - Dual FDCAN | ||
| - RCIN port | ||
| - Dual power input with 2xI2C | ||
| - No co-processor | ||
|
|
||
| # Expansion board: | ||
| - Ethernet PHY | ||
| - ICM42688/ICM45686/ADIS16507 | ||
| - DPS310 | ||
| - More PWMs with ALT function | ||
|
|
||
| ## Physical spec: | ||
| - Weight: 15g, Dimension: 35x45mm | ||
|
|
||
| ## UART Mapping | ||
| - SERIAL0 -> USB | ||
| - SERIAL1 -> UART2 (Telem1, DMA-enabled) | ||
| - SERIAL2 -> UART8 (Telem2, DMA-enabled) | ||
| - SERIAL3 -> UART7 (GPS, NODMA) | ||
| - SERIAL4 -> UART6 (UART or RCIN, DMA-enabled) | ||
| - SERIAL7 -> USB2 (virtual port on same connector) | ||
|
|
||
| The Telem1 & Telem2 port has RTS/CTS pins, the other UARTs do not have RTS/CTS. | ||
|
|
||
| ## Connectors | ||
MallikarjunSE marked this conversation as resolved.
Show resolved
Hide resolved
|
||
|
|
||
| -All JST-GH 6 and 4 pin connectors with FMUv6 standard pinout | ||
| -USB-C | ||
|
|
||
| ### TELEM1 | ||
|
|
||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin </th> | ||
| <th>Signal </th> | ||
| <th>Volt </th> | ||
| </tr> | ||
| <tr> | ||
| <td>1 (red)</td> | ||
| <td>VCC</td> | ||
| <td>+5V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>2 (blk)</td> | ||
| <td>TX (OUT)</td> | ||
|
|
||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>3 (blk)</td> | ||
| <td>RX (IN)</td> | ||
|
|
||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>4 (blk)</td> | ||
| <td>CTS</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>5 (blk)</td> | ||
| <td>RTS</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>6 (blk)</td> | ||
| <td>GND</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
|
|
||
|
|
||
| ### GPS + RCIN(UART6) | ||
|
There was a problem hiding this comment. this is not correct, right? no I2C for compass, UART6 RX is not on the connector There was a problem hiding this comment. Hey Henry, just checked. We have I2C only on power ports. This connector has UART6 or RCIN. There was a problem hiding this comment. that's unfortunate....so external GPS/compass modules (the typical kind) cant connect to the GPS connector....so only CAN GPS/Compass can be used (using an internal compass is usually too prone to motor interference).... There was a problem hiding this comment. Yes. Most of our customers use CAN RM3100 for magnetometer. And I2C is there on Power ports for smart battery SMBus few our customers use. There was a problem hiding this comment. again, GPS is TX7/RX7 and RC is RX6....that is not what is listed below |
||
|
|
||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin</th> | ||
| <th>Signal</th> | ||
| <th>Volt</th> | ||
| </tr> | ||
| <tr> | ||
| <td>1 (red)</td> | ||
| <td>VCC</td> | ||
| <td>+5V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>2 (blk)</td> | ||
| <td>TX1 (OUT)</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>3 (blk)</td> | ||
| <td>RX1 (IN)</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>4 (blk)</td> | ||
| <td>TX2 (OUT)</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>5 (blk)</td> | ||
| <td>RX2 (IN)</td> | ||
| <td>+3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>6 (blk)</td> | ||
| <td>GND</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
|
|
||
| ### CAN1&2 | ||
|
|
||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin</th> | ||
| <th>Signal</th> | ||
| <th>Volt</th> | ||
| </tr> | ||
| <tr> | ||
| <td>1 (red)</td> | ||
| <td>VCC</td> | ||
| <td>+5V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>2 (blk)</td> | ||
| <td>CAN_H</td> | ||
| <td>+12V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>3 (blk)</td> | ||
| <td>CAN_L</td> | ||
| <td>+12V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>4 (blk)</td> | ||
| <td>GND</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
|
|
||
| ### POWER1&2 | ||
|
|
||
| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Pin</th> | ||
| <th>Signal</th> | ||
| <th>Volt</th> | ||
| </tr> | ||
| <tr> | ||
| <td>1 (red)</td> | ||
| <td>VCC</td> | ||
| <td>+5V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>2 (red)</td> | ||
| <td>VCC</td> | ||
| <td>+5V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>3 (blk)</td> | ||
| <td>SCL I2C</td> | ||
|
There was a problem hiding this comment. should note which I2C bus....3 or 4 on the SCL and SDA pins |
||
| <td>up to +3.3V</td> | ||
| </tr> | ||
| <tr> | ||
| <td>4 (blk)</td> | ||
| <td>SDA I2C</td> | ||
| <td>up to +3.3V</td> | ||
| </tr> | ||
| <td>5 (blk)</td> | ||
| <td>GND</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| <td>6 (blk)</td> | ||
| <td>GND</td> | ||
| <td>GND</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> | ||
|
|
||
| ## RC Input | ||
|
|
||
| RC input is configured on UART6 Rx pin. | ||
|
|
||
| ## PWM Output | ||
|
|
||
| The Sierra-F1 supports up to 6 PWM outputs and DSHOT. Additional PWMs can be accessed via daugter board with ALT function. | ||
| The 6 PWM outputs are in 2 groups: | ||
|
|
||
| - PWM 1, 2, 3 and 4 in group1 | ||
| - PWM 5, 6 in group2 | ||
|
|
||
| # PWM channels | ||
| - PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) | ||
| - PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) | ||
| - PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) | ||
| - PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) | ||
| - PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) | ||
| - PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) | ||
|
|
||
| Channels within the same group need to use the same output rate. If | ||
| any channel in a group uses DShot then all channels in the group need | ||
| to use DShot. | ||
|
|
||
| ## Battery Monitoring | ||
|
|
||
| The board has two dedicated power monitor ports on a 6 pin | ||
| connector. The pinout on PWR1 and PWR2 follows FMUv6 standard. | ||
| - Vcc, Vcc, I2Cx_SCL, I2Cx_SDA, GND, GND | ||
|
|
||
| ## Loading Firmware | ||
|
|
||
| The board comes pre-installed with an ArduPilot compatible bootloader, | ||
| allowing the loading of *.apj firmware files with any ArduPilot | ||
| compatible ground station. | ||
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| # Serial3 default to GPS | ||
|
There was a problem hiding this comment. my mistake....SERIAL3 already defaults to GPS....so not needed.....but need to fix UART order in hwdef so that UART7 is third and UART6 is forth, not the other way around... |
||
| SERIAL3_PROTOCOL 5 | ||
|
|
||
| # Enable CAN1 and CAN2 | ||
| CAN_P1_DRIVER 1 | ||
| CAN_P2_DRIVER 2 | ||
|
|
||
| # LED drivers | ||
| NTF_LED_TYPES 289 | ||
|
|
||
| # EKF setup | ||
|
There was a problem hiding this comment. these are not required.....already defaults |
||
| EK3_IMU_MASK 7 | ||
| EK3_PRIMARY 1 | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| # hw definition file for processing by chibios_hwdef.py | ||
| # for Sierra-F1 autopilot | ||
|
|
||
| # MCU class and specific type | ||
| MCU STM32H7xx STM32H743xx | ||
|
|
||
| # crystal frequency | ||
| OSCILLATOR_HZ 24000000 | ||
|
|
||
| # board ID for firmware load | ||
| APJ_BOARD_ID 1087 | ||
|
|
||
| # USB setup | ||
| USB_STRING_MANUFACTURER "Sierra Aerospace" | ||
| USB_STRING_PRODUCT "Sierra-F1-BL" | ||
|
|
||
| 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 | ||
|
|
||
| # LEDs | ||
| PE15 LED_BOOTLOADER OUTPUT | ||
| define HAL_LED_ON 0 | ||
|
|
||
| PD5 USART2_TX USART2 | ||
| PA3 USART2_RX USART2 | ||
|
|
||
| PA13 JTMS-SWDIO SWD | ||
| PA14 JTCK-SWCLK SWD | ||
|
|
||
| PA11 OTG_FS_DM OTG1 | ||
| PA12 OTG_FS_DP OTG1 | ||
| PA9 VBUS INPUT OPENDRAIN | ||
|
|
||
| # order of UARTs (and USB) | ||
| SERIAL_ORDER OTG1 USART2 | ||
|
|
||
| define STM32_SERIAL_USE_USART2 TRUE | ||
| define HAL_USE_SERIAL TRUE | ||
|
|
||
| define BOOTLOADER_DEBUG SD2 | ||
|
|
||
| # reserve 256 bytes for comms between app and bootloader | ||
| RAM_RESERVE_START 256 | ||
|
|
||
| # QSPI Flash | ||
| PD11 QUADSPI_BK1_IO0 QUADSPI1 | ||
| PD12 QUADSPI_BK1_IO1 QUADSPI1 | ||
| PE2 QUADSPI_BK1_IO2 QUADSPI1 | ||
| PD13 QUADSPI_BK1_IO3 QUADSPI1 | ||
| PB10 QUADSPI_BK1_NCS QUADSPI1 | ||
| PB2 QUADSPI_CLK QUADSPI1 | ||
|
|
||
| EXT_FLASH_SIZE_MB 32 | ||
| INT_FLASH_PRIMARY 1 | ||
|
|
||
| QSPIDEV w25q QUADSPI1 MODE1 100*MHZ 22 1 | ||
|
|
||
| # disable peripheral and sensor power in the bootloader | ||
| PC14 VDD_3V3_SENSORS_EN OUTPUT HIGH | ||
| PC15 EXT_LDO_EN OUTPUT LOW | ||
|
|
||
| PA4 ICM42688_CS CS | ||
| PC13 BMI088_A_CS CS | ||
| PE3 BMI088_G_CS CS | ||
| PA15 ICM42688ext_CS CS | ||
| PA10 DPS310ext_CS CS | ||
| PE4 DPS310_CS CS |
Oops, something went wrong.
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
this is not the order you defined them in in the hwdef!