4.7:SULIGH7

common/source/docs/common-autopilots.rst

@@ -71,6 +71,7 @@ Open Hardware
     mRo X2.1 <https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm>
     mRo X2.1-777 <https://store.mrobotics.io/mRo-X2-1-777-p/m10022a.htm>
     OpenPilot Revolution <common-openpilot-revo-mini>
+    SULIGH7 <common-suligh7>
     TauLabs Sparky2 <common-taulabs-sparky2>
     ZeroOneX6 <common-zeroonex6>
 

common/source/docs/common-suligh7.rst

@@ -0,0 +1,131 @@
+.. _common-suligh7:
+[copywiki destination="plane,copter,rover,blimp"]
+
+=============
+SULILGH7P1/P2
+=============
+
+Design information for these open-source autopilots is available from  https://oshwhub.com/shuyedeye/p1-flight-control.
+
+Features
+========
+
+* MCU
+   * STM32H743IIK6 32-bit processor running at 480MHz
+   * 2MB Flash
+   * 1MB RAM
+* IO MCU
+   * STM32F103
+* IMU:
+   * P2:Internal Vibration Isolation for IMUs
+   * P2:IMU constant temperature heating(1 W heating power).
+   * IMU1-BMI088(With vibration isolation)
+   * IMU2-ICM42688-P(With vibration isolation)
+   * IMU3-ICM20689(No vibration isolation)
+* Baro:
+   * Two barometers:Baro1-BMP581 , Baro2-ICP20100
+   * Magnetometer: IST8310
+
+UART Mapping
+============
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+  =======   =========  ========  ===========
+  Name      Function   MCU PINS     DMA
+  =======   =========  ========  ===========
+  SERIAL0   OTG1       USB
+  SERIAL1   Telem1     USART2    DMA Enabled
+  SERIAL2   Telem2     USART3    DMA Enabled
+  SERIAL3   GPS1       USART1    DMA Enabled
+  SERIAL4   GPS2       UART4     DMA Enabled
+  SERIAL5   RC         UART8     DMA Enabled
+  SERIAL7   FMU DEBUG  UART7     DMA Enabled
+  SERIAL8   OTG-SLCAN  USB
+  =======   =========  ========  ===========
+
+RC Input
+========
+The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.
+
+
+* :ref:`SERIAL5_PROTOCOL<SERIAL5_PROTOCOL>`  should be set to “23”.
+* CRSF would require  :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>`  set to “0”.
+* SRXL2 would require :ref:`SERIAL5_OPTIONS<SERIAL5_OPTIONS>` set to “4”. And only connect the TX pin.
+
+* The SBUS_IN pin is internally tied to the RCIN pin.
+
+Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details.
+
+PWM Output
+==========
+The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs.
+First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
+The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
+All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
+
+The 8 IO PWM outputs are in 4 groups:
+
+
+* Outputs 1 and 2 in group1
+* Outputs 3 and 4 in group2
+* Outputs 5, 6, 7 and 8 in group3
+
+The 8 FMU PWM outputs are in 4 groups:
+
+
+* Outputs 1, 2, 3 and 4 in group1
+* Outputs 5 and 6 in group2
+* Outputs 7 and 8 in group3
+
+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.
+
+GPIO
+====
+All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+.. raw:: html
+
+   <table>
+     <tr>
+       <th colspan="3">IO Pins</th>
+       <th colspan="1"> </th>
+       <th colspan="3">FMU Pins</th>
+     </tr>
+     <tr><td> Name </td><td> Value </td><td> Option </td><td>  </td><td> Name </td><td> Value </td><td> Option </td></tr>
+     <tr><td> M1 </td><td> 101 </td> <td> MainOut1 </td><td>  </td><td> M9 </td><td> 50 </td><td> AuxOut1 </td></tr>
+     <tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td>  </td><td> M10 </td><td> 51 </td><td> AuxOut2 </td></tr>
+     <tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td>  </td><td> M11 </td><td> 52 </td><td> AuxOut3 </td></tr>
+     <tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td>  </td><td> M12 </td><td> 53 </td><td> AuxOut4 </td></tr>
+     <tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td>  </td><td> M13 </td><td> 54 </td><td> AuxOut5 </td></tr>
+     <tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td>  </td><td> M14 </td><td> 55 </td><td> AuxOut6 </td></tr>
+     <tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td>  </td><td> M15 </td><td> 56 </td><td>  </td></tr>
+     <tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td>  </td><td> M16 </td><td> 57 </td><td>  </td></tr>
+   </table>
+
+
+Battery Monitoring
+==================
+Two DroneCAN power monitor interfaces have been configured by default.
+These shouldn't need to be adjusted.
+
+Compass
+=======
+The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer. Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
+
+Analog inputs
+=============
+The P1/P2 flight controller has 2 analog inputs.
+
+* ADC Pin12 -> ADC 6.6V Sense
+* ADC Pin13 -> ADC 3.3V Sense
+* RSSI input pin = 103
+
+Loading Firmware
+================
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
+
+Firmware for these boards can be found `here <https://firmware.ardupilot.org/>`_ in sub-folders labeled “SULIGH7-P1-P2”.