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Merge pull request #167 from Firmament-Autopilot/staging/x1
Staging/x1
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‎.vscode/launch.json‎

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"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
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"svdFile": "target/amov/icf5/GD32F4xx.svd",
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"runToMain": true
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}
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},
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{
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"name": "X1 Debug J-Link",
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"type": "cortex-debug",
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"request": "launch",
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"cwd": "${workspaceRoot}",
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"executable": "target/yundrone/x1/build/fmt_yundrone-x1.elf",
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"serverpath": "${env:JLINK_SERVER}",
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"servertype": "jlink",
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"device": "STM32H743II",
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"interface": "swd",
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"armToolchainPath": "${env:RTT_EXEC_PATH}",
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"serialNumber": "", //If you have more than one J-Link probe, add the serial number here.
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"svdFile": "target/yundrone/x1/STM32H7x3.svd",
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"runToMain": true
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},
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]
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}

‎target/yundrone/x1/BuildLists.py‎

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# FMT Build Lists
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from config.driver import *
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from config.hal import *
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from config.module import *
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from config.protocol import *
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from config.library import *
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from config.model import *
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from config.task import *

‎target/yundrone/x1/README.md‎

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SIEON S1 Flight Controller
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============================
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The SIEON S1 is an advanced STM32H743 autopilot designed and made by FMT team.
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<div align=center><img src="https://docs.sieon.net/product/figures/s1.jpg" width="50%"></div>
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## Feature
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Main FMU Processor: STM32F743◦32 Bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 512KB RAM
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- **On-board sensors:**
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- Accel/Gyro: BMI088
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- Accel/Gyro: ICM-42688
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- Magnetometer: BMM150
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- Barometer: SPL06
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- **Interfaces:**
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- Up to 16 PWM outputs(12 standard pwm output + 4 Optional pwm output )
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- R/C input for S.Bus/PPM
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- analog / PWM RSSI input
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- 6 general purpose serial ports
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- 2 GPS ports
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- 3 I2C ports
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- 1 SPI buses (3 chip select pins)
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- 2 CAN Buses
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- 1 ETH port
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- Analog inputs for voltage / current of battery
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- 1 Debug port (Jlink-SWD)
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- **Power System:**
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- Power Brick Input: 4.75~5.5V
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- USB Power Input: 4.75~5.25V
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- Servo Rail Input: 0~36V
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- **Weight and Dimensions:**
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- Dimensions: 56mm * 37mm * 13mm
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- Weight: 40.5g
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- **Other Characteristics:**
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- Operating temperature: -20 ~ 65°c（Measured value）
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## Wiki
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https://docs.sieon.net/product
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## Where to Buy
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[taobao](https://e.tb.cn/h.6wnwfCVJ03YmIe2?tk=n1T1VmRQHeK)
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## Build
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Build fmu firmware for quadcopter
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```
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cd FMT-Firmware/taget/sieon/s1
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scons -j4
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```
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> -jN allows N jobs at once which makes your build process quicker.
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For other vehicle, such as fixwing, using
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```
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scons -j4 --vehicle=Fixwing
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```
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## Download
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### Download FMU Firmware
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Currently there are 3 ways to download fmu firmware to hardware.
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1. **Donwload Script**: Enter `python3 uploader.py` in the Cubeorange directory. Then connect your hardware via usb.
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```
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(fmt) E:\GitRepository\FMT-Firmware\target\cubepilot\cubeorange>python uploader.py
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waiting for the bootloader...
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Attempting reboot on COM30 with baudrate=57600...
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If the board does not respond, unplug and re-plug the USB connector.
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Not found fmt_fmu,please connect fmt_fmu!
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Not found fmt_fmu,please connect fmt_fmu!
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Attempting reboot on COM3 with baudrate=57600...
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If the board does not respond, unplug and re-plug the USB connector.
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Not found fmt_fmu,please connect fmt_fmu!
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Found board id: 140,0 bootloader version: 5 on COM29
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sn: 002700493430511030383637
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chip: 20036450
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family: b'STM32H743/753'
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revision: b'V'
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flash: 1966080 bytes
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Windowed mode: False
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Erase : [====================] 100.0%
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Program: [====================] 100.0%
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Verify : [====================] 100.0%
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Rebooting. Elapsed Time 12.231
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```
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> If the `"ModuleNotFoundError: No module named 'serial'"` error occurs, indicating that the **pyserial** component is missing, enter `pip3 install pyserial` to install.
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2. **QGC**: Go to *Firmware Setup* page，then connect your hardware to PC with a usb cable. In pop-up diaglog，select *Advanced Settings->Custom firmware file* with FMT firmware to download.
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![qgc_download](https://firmament-autopilot.github.io/FMT-DOCS/figures/qgc_download.png)
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3. **J-Link**: If you have a JLink, you can connect it to board debug port download the firmware. For more information, please check the [Debug](https://firmament-autopilot.github.io/FMT-DOCS/#/introduction/debug) section.
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> Be careful do not override the bootloader!
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When system is up and running, the system banner is output via serial0 or you can view it by entering `boot_log` in QGC Mavlink Console.
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```
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_____ __
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/ __(_)_____ _ ___ ___ _ ___ ___ / /_
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/ _// / __/ ' \/ _ `/ ' \/ -_) _ \/ __/
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/_/ /_/_/ /_/_/_/\_,_/_/_/_/\__/_//_/\__/
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Firmware.....................FMT FW v1.1.0
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Kernel....................RT-Thread v4.0.3
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RAM.................................512 KB
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Target............................SIEON S1
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Vehicle........................Multicopter
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Airframe.................................1
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INS Model..................Base INS v1.0.0
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FMS Model..................Base FMS v1.0.0
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Control Model.......Base Controller v1.0.0
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Task Initialize:
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mavobc................................OK
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mavgcs................................OK
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logger................................OK
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status................................OK
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vehicle...............................OK
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```
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## Port Mapping
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| UART | Device | Port |
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| ----- | ------- | -------- |
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| UART1 | serial0 | DEBUG |
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| UART6 | serial1 | TELEM1 |
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| UART2 | serial2 | TELEM2 |
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| UART3 | serial3 | GPS1 |
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| UART4 | serial4 | GPS2 |
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| UART7 | serial5 | UART/I2C |
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| SPI | Device | Port |
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| ---- | --------- | ------- |
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| SPI2 | spi2_dev1 | SPI CS1 |
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| SPI2 | spi2_dev2 | SPI CS2 |
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| SPI2 | spi2_dev3 | SPI CS3 |
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| I2C | Device | Port |
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| ---- | ------ | -------- |
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| I2C1 | i2c1 | GPS1 |
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| I2C2 | i2c2 | GPS2 |
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| I2C3 | i2c3 | UART/I2C |
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| CAN | Device | Port |
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| ---- | ------ | ---- |
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| CAN1 | can1 | CAN1 |
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| CAN2 | can2 | CAN2 |
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| PWM | Device | Port |
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| -------- | -------- | ---------- |
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| MAIN OUT | main_out | M1-M12 |
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| AUX OUT | aux_out | PWM(A1-A4) |
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‎target/yundrone/x1/SConscript‎

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# for module compiling
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import os
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from building import *
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cwd = GetCurrentDir()
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objs = []
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list = os.listdir(cwd)
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for d in list:
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path = os.path.join(cwd, d)
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if os.path.isfile(os.path.join(path, 'SConscript')):
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objs = objs + SConscript(os.path.join(d, 'SConscript'))
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Return('objs')

‎target/yundrone/x1/SConstruct‎

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import os
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import sys
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import rtconfig
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# FMT path
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FMU_ROOT = os.path.normpath(os.getcwd() + '/../../..')
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# RTOS path
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RTT_ROOT = FMU_ROOT + '/rtos/rt-thread'
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sys.path = sys.path + [os.path.join(RTT_ROOT, 'tools')]
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try:
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from building import *
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except:
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print('Cannot found RT-Thread root directory, please check RTT_ROOT')
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print(RTT_ROOT)
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exit(-1)
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TARGET = 'build/fmt_' + rtconfig.BOARD + '.' + rtconfig.TARGET_EXT
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# ===== Add option to SCons =====
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AddOption('--vehicle',
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dest = 'vehicle',
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type = 'string',
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default = 'Multicopter',
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help = 'Specify the vehicle type')
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AddOption('--airframe',
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dest='airframe',
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type='int',
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nargs=1,
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default = 1,
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action='store',
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help='Specify the airframe value')
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AddOption('--sim',
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dest = 'sim',
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type = 'string',
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default = 'None',
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help = 'Specify the simulation mode')
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env = Environment(tools=['mingw'],
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AS=rtconfig.AS, ASFLAGS=rtconfig.AFLAGS,
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CC=rtconfig.CC, CFLAGS=rtconfig.CFLAGS,
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AR=rtconfig.AR, ARFLAGS='-rc',
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CXX=rtconfig.CXX, CXXFLAGS=rtconfig.CXXFLAGS,
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LINK=rtconfig.LINK, LINKFLAGS=rtconfig.LFLAGS)
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# set VEHICLE_TYPE macro for low-level usage
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env.Append(CPPDEFINES = [('VEHICLE_TYPE', GetOption('vehicle'))])
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env.Append(CPPDEFINES = [('AIRFRAME', GetOption('airframe'))])
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sim_mode = GetOption('sim')
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if sim_mode == 'SIH':
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print("Build in SIH mode")
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env.Append(CPPDEFINES = 'FMT_USING_SIH')
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elif sim_mode == 'HIL':
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print("Build in HIL mode")
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env.Append(CPPDEFINES = 'FMT_USING_HIL')
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# Add sys execute PATH to env PATH
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env.PrependENVPath('PATH', os.getenv('PATH'))
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env.PrependENVPath('PATH', rtconfig.EXEC_PATH)
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if rtconfig.PLATFORM == 'iar':
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env.Replace(
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CCCOM=['$CC $CCFLAGS $CPPFLAGS $_CPPDEFFLAGS $_CPPINCFLAGS -o $TARGET $SOURCES'])
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env.Replace(ARFLAGS=[''])
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env.Replace(
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LINKCOM=['$LINK $SOURCES $LINKFLAGS -o $TARGET --map project.map'])
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Export('RTT_ROOT')
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Export('rtconfig')
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# prepare building environment
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objs = PrepareBuilding(env, RTT_ROOT, has_libcpu=False)
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cwd = str(Dir('#'))
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list = os.listdir(FMU_ROOT)
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vdir = 'build/fmt'
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for d in list:
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path = os.path.join(FMU_ROOT, d)
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if os.path.isfile(os.path.join(path, 'SConscript')):
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objs.extend(SConscript(os.path.join(path, 'SConscript'),
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variant_dir=vdir + '/' + d, duplicate=0))
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# print env.get('CPPPATH', [''])
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# make a building
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DoBuilding(TARGET, objs)

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