hwdef: Add a new hwdef param for AEROFOX H7 flight control #28533

AEROFOXtech · 2024-11-05T16:09:22Z

Add a new flight control board hwdef for AEROFOX_H7
Create a new board ID for AEROFOX_H7 flight control board
Add AEROFOX_H7 bootloader to Tools

andyp1per

Some changes needed

andyp1per · 2024-11-05T21:18:59Z

Tools/AP_Bootloader/board_types.txt

@@ -404,6 +404,9 @@ AP_HW_CUAV-7-NANO                    7000
 # IDs 7100-7109 reserved for VIEWPRO
 AP_HW_VUAV-V7pro                     7100

+# IDs 7200-7209 reserved for AEROFOX
+AP_HW_AEROFOX_H7                     7200


This needs to be in a separate commit

Ditto the bootloader

I'll submit to modify it in the next commit

andyp1per · 2024-11-05T21:20:02Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/defaults.parm

+BATT_MONITOR	3
+CAN_P1_DRIVER	1
+
+SERIAL1_BAUD	115


You should not set parameters that are already the default as it consumes flash space. Ideally put these in the hwdef

Thank you for your advice

andyp1per · 2024-11-05T21:20:46Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat

+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 140


Use AP_HW_AEROFOX_H7

andyp1per · 2024-11-05T21:21:07Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 7200


Use AP_HW_AEROFOX_H7

andyp1per · 2024-11-05T21:21:59Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+IMU Invensensev3 SPI:42688_2  ROTATION_PITCH_180_YAW_270
+
+SPIDEV 16470           SPI1 DEVID1  16470_CS        MODE3  1*MHZ  2*MHZ
+SPIDEV 42688_1        SPI1 DEVID2  42688_1_CS     MODE3  2*MHZ  8*MHZ


Make these 16Mhz if you can

andyp1per · 2024-11-05T21:22:29Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+SPIDEV 42688_2        SPI4 DEVID3  42688_2_CS     MODE3  2*MHZ  8*MHZ
+
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS        MODE3  8*MHZ  8*MHZ
+SPIDEV sdcard          SPI2 DEVID2  FLASH_CS       MODE0   1*MHZ    8*MHZ


Ideally you would use SDMMC here

Thank you for your advice, but we don't have enough GPIO ports on our hardware to use SDMMC

andyp1per · 2024-11-05T21:22:52Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+
+# GPIO
+PA0    TIM2_CH1 TIM2 PWM(1)  GPIO(50)
+PA1    TIM2_CH2 TIM2 PWM(2)  GPIO(51)


Should make these bdshot, should be easy

Hwurzburg

needs readme ala https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7-Wing/README.md with all info and images

Hwurzburg · 2024-11-07T19:11:18Z

@AEROFOXtech I really need each connector's pinout to review...also views of any solder pads/thru holes with their pin labels

Hwurzburg

you should add SD card I/O to bootloader code to allow firmware update from SD card
also I have several other review comments requiring changes

Hwurzburg · 2024-11-09T02:03:24Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

+        4x ADC input
+
+    FPC connector
+        The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware


Suggested change

The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware

This connector includes an SPI, an I2C, an PWM IMU heating control pin. Firmware

Hwurzburg · 2024-11-09T02:04:23Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

+
+    FPC connector
+        The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware
+        already includes drivers for ADIS16470, ICM45686, IMU heating, RM3100. It is


Suggested change

already includes drivers for ADIS16470, ICM45686, IMU heating, RM3100. It is

Hwurzburg · 2024-11-09T02:04:33Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

+    FPC connector
+        The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware
+        already includes drivers for ADIS16470, ICM45686, IMU heating, RM3100. It is
+        automatically identify after installation。


Suggested change

automatically identify after installation。

Hwurzburg · 2024-11-09T02:09:31Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

+
+## UART Mapping
+
+- SERIAL0 -> USB


Suggested change

- SERIAL0 -> USB

- SERIAL0 -> USB (MAVLink2)

Hwurzburg · 2024-11-09T02:09:59Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

+<img src="AEROFOX-H7_pinout.png" alt="" width="800">
+
+## UART Mapping
+


Suggested change

All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:

Hwurzburg · 2024-11-09T03:42:22Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+define DEFAULT_SERIAL4_BAUD 115200


remove, not needed

Hwurzburg · 2024-11-09T03:42:48Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL6_BAUD 115200


remove, most telemi s 64K, the default

Hwurzburg · 2024-11-09T03:43:09Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL7_BAUD 115200


remove, not needed for RCIN protocols

Hwurzburg · 2024-11-09T03:44:12Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+define DEFAULT_SERIAL7_BAUD 115200
+
+# default the 2nd interface to SLCAN
+define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN


we prefer that the second OTG use MAVLINK2 (the default) to avoid user confusion...using MAVLink SLCAN s better access to CAN

Hwurzburg · 2024-11-09T03:45:12Z

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+#include sdcard.inc


remove....does not exist

…ters

Hwurzburg · 2024-11-12T16:00:16Z

@AEROFOXtech is this ready for final re-review?you can request in the reviewers box upper right

Hwurzburg requested review from andyp1per and Hwurzburg November 5, 2024 20:13

Hwurzburg added WikiNeeded needs wiki update NewBoardSupport labels Nov 5, 2024

andyp1per requested changes Nov 5, 2024

View reviewed changes

peterbarker added DevCallEU and removed DevCallEU labels Nov 6, 2024

Hwurzburg requested changes Nov 6, 2024

View reviewed changes

AEROFOXtech force-pushed the add_AEROFOX_H7_hwdef branch from d92f58a to ccb7ef8 Compare November 7, 2024 14:55

AEROFOXtech force-pushed the add_AEROFOX_H7_hwdef branch from ccb7ef8 to 7c4b6e5 Compare November 8, 2024 13:37

Hwurzburg requested changes Nov 9, 2024

View reviewed changes

laoshen14789 added 6 commits November 9, 2024 16:38

hwdef: Add a new hwdef param for AEROFOX H7 Flight Control

af6fe79

Tools: add AEROFOX_H7 flight control board id and add bootloader

cbd9f88

hwdef: Modify the hwdef file for AEROFOX_H7 and add readme

5c02f41

hwdef: add AEROFOX-H7 flight control pinout img

9665a29

hwdef: correct errors in the pinout img

f6bd15b

hwdef: Modify the contents of the README section and the hwdef parame…

a2b00da

…ters

AEROFOXtech force-pushed the add_AEROFOX_H7_hwdef branch from 4913a70 to a2b00da Compare November 9, 2024 15:02

AEROFOXtech requested a review from andyp1per November 13, 2024 05:34

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hwdef: Add a new hwdef param for AEROFOX H7 flight control #28533

hwdef: Add a new hwdef param for AEROFOX H7 flight control #28533

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Hwurzburg commented Nov 12, 2024

	The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware
	This connector includes an SPI, an I2C, an PWM IMU heating control pin. Firmware

		<img src="AEROFOX-H7_pinout.png" alt="" width="800">

		## UART Mapping



	All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:

hwdef: Add a new hwdef param for AEROFOX H7 flight control #28533

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hwdef: Add a new hwdef param for AEROFOX H7 flight control #28533

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AEROFOXtech commented Nov 5, 2024

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Hwurzburg commented Nov 7, 2024

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Hwurzburg commented Nov 12, 2024