diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/README.md b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/README.md new file mode 100644 index 0000000000..dfe9dd7810 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/README.md @@ -0,0 +1,89 @@ +# iFlight BLITZ Whoop F7 AIO Flight Controller + +https://shop.iflight-rc.com/BLITZ-Whoop-F7-AIO-Pro1927 + +The Blitz F7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/). + +## Features + + - MCU: BGA-STM32F745, 216MHz + - Gyro: DPS310 + - 16Mb Onboard Flash + - BEC output: 5V 2.5A + - Barometer: DPS310 or None + - OSD: AT7456E + - 5 UARTS: (UART1, UART2, UART3, UART4, UART7) + - I2C for external compass. + - 5 PWM outputs (4 motor outputs used internally for integrated 4-in-1 ESC and 1 integrated LED) + - Integrated 55A 4-in-1 BLHeli_S / BlueJay ESC + +## Pinout + +![BLITZ Whoop F7 AIO Board](blitz_f7_pinout.jpg "BLITZ Whoop F7 AIO") + +## 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|Pin|Function| +|:-|:-|:-| +|SERIAL0|COMPUTER|USB| +|SERIAL1|RX1/TX1|UART1 (DJI connector, DMA-enabled)| +|SERIAL2|TX2/RX2|UART2 (DJI connector RX, DMA-enabled, TX is on the back side of board)| +|SERIAL3|TX3/RX3|UART3 (Alt RX or GPS, DMA-enabled)| +|SERIAL4|TX4/RX4|UART4| +|SERIAL7|TX7/RX7|UART7| + +## RC Input + +RC input is configured on the (UART2_RX/UART2_TX) pins which forms part of the DJI connector. It supports all RC protocols. + +## OSD Support + +The BLITZ Whoop F7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The BLITZ Whoop F7 AIO has 4 PWM outputs internally connected to its 4-in-1 ESC. The pads for motor output are M1 to M4 on the board. All 4 outputs support bi-directional DShot and DShot, as well as all PWM types. The default configuration is for bi-directional DShot using the already installed BlueJay firmware. + +The PWM are in in two groups: + + - PWM 1-4 in group1 + - PWM 5 in group2 + +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 a builtin voltage sensor and a current sensor input tied to its 4 in 1 ESC current sensor. The voltage sensor can handle up to 6S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 12 + - BATT_VOLT_MULT 10.9 + - BATT_CURR_PIN 13 + - BATT_CURR_MULT 50 + +These are set by default in the firmware and shouldn't need to be adjusted + +## Compass + +The BLITZ Whoop F7 AIO does not have a builtin compass, but you can attach an external compass to I2C pins. + +## NeoPixel LED + +The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output. + +## Loading Firmware + +Initial firmware load can be done with DFU by plugging in USB with the +bootloader button pressed. Then you should load the "with_bl.hex" +firmware, using your favourite DFU loading tool. + +Once the initial firmware is loaded you can update the firmware using +any ArduPilot ground station software. Updates should be done with the +*.apj firmware files. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/blitz_f7_pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/blitz_f7_pinout.jpg new file mode 100644 index 0000000000..4302ab9a79 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/blitz_f7_pinout.jpg differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/defaults.parm new file mode 100644 index 0000000000..adfa560b76 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/defaults.parm @@ -0,0 +1,8 @@ +# setup for LEDs on chan5 +SERVO5_FUNCTION 120 +NTF_LED_TYPES 257 +# Bluejay installed by default +SERVO_BLH_AUTO 1 +SERVO_BLH_BDMASK 15 +SERVO_DSHOT_ESC 2 +MOT_PWM_TYPE 6 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef-bl.dat new file mode 100644 index 0000000000..7ee6400830 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef-bl.dat @@ -0,0 +1,42 @@ + +# hw definition file for processing by chibios_hwdef.py +# for IFLIGHT_BLITZ_F7_AIO hardware. +# thanks to betaflight for pin information + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +# MCU class and specific type +MCU STM32F7xx STM32F745xx + +# board ID for firmware load +APJ_BOARD_ID 1117 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 96 + +# order of UARTs (and USB) +SERIAL_ORDER OTG1 + +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +# Chip select pins +PA15 FLASH1_CS CS +PE4 OSD1_CS CS +PA4 GYRO1_CS CS + +PD15 LED0 OUTPUT LOW GPIO(90) # Blue LED +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef.dat new file mode 100644 index 0000000000..72e09554db --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef.dat @@ -0,0 +1,162 @@ + +# hw definition file for processing by chibios_hwdef.py +# for IFLIGHT_BLITZ_F7_AIO hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32F7xx STM32F745xx + +# board ID for firmware load +APJ_BOARD_ID 1117 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader takes first sector - and parameters come directly after that +FLASH_RESERVE_START_KB 96 + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +# STM32_ST_USE_TIMER 5 + +# SPI devices + +# SPI1 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +# SPI2 +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# SPI3 +PC10 SPI3_SCK SPI3 +PC11 SPI3_MISO SPI3 +PD6 SPI3_MOSI SPI3 + +# SPI4 +PE2 SPI4_SCK SPI4 +PE5 SPI4_MISO SPI4 +PE6 SPI4_MOSI SPI4 + +# Chip select pins +PA15 FLASH1_CS CS +PE4 OSD1_CS CS +PA4 GYRO1_CS CS + +PD3 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 +define HAL_BUZZER_ON 1 +define HAL_BUZZER_OFF 0 + +# SERIAL ports +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7 +# PA10 IO-debug-console + +# USB +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 (DJI) +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 +define HAL_SERIAL1_PROTOCOL SerialProtocol_DJI_FPV + +# USART2 (RX) +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 (Alt RX or GPS) +PB10 USART3_TX USART3 +PB11 USART3_RX USART3 +define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS +define HAL_SERIAL7_BAUD 38 + +# UART4 +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA +define HAL_SERIAL4_PROTOCOL SerialProtocol_None + +# UART7 +PE8 UART7_TX UART7 NODMA +PE7 UART7_RX UART7 NODMA +define HAL_SERIAL7_PROTOCOL SerialProtocol_None + +# I2C4 for baro +I2C_ORDER I2C1 I2C4 +PB8 I2C1_SCL I2C1 PULLUP +PB9 I2C1_SDA I2C1 PULLUP + +PD12 I2C4_SCL I2C4 PULLUP +PD13 I2C4_SDA I2C4 PULLUP + +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) + +# define default battery setup +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_VOLT_SCALE 10.9 +define HAL_BATT_CURR_SCALE 50 +define HAL_BATT_MONITOR_DEFAULT 4 + +PC5 RSSI_ADC ADC1 + +define BOARD_RSSI_ANA_PIN 15 + +# Motors +PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # 1 +PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51) BIDIR # 2 +PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) # 3 +PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) # 4 + +## NeoPixel LED strip +PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) +PD15 LED0 OUTPUT LOW GPIO(90) # Blue LED + +DMA_PRIORITY USART2* TIM3* + + +#DMA_NOSHARE SPI3* TIM3_UP +NODMA I2C* +define STM32_I2C_USE_DMA FALSE + +# Dataflash setup +SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ +SPIDEV bmi270 SPI1 DEVID1 GYRO1_CS MODE3 2*MHZ 10*MHZ + +define HAL_LOGGING_DATAFLASH_ENABLED 1 + +# OSD setup +# SPIDEV osd SPI4 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ +define OSD_ENABLED 1 +define HAL_OSD_TYPE_DEFAULT 1 +ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin + +# Barometer setup +BARO DPS310 I2C:1:0x76 + +# no built-in compass +define ALLOW_ARM_NO_COMPASS +define HAL_I2C_INTERNAL_MASK 0 + +define STM32_PWM_USE_ADVANCED TRUE + +# save some flash +include ../include/save_some_flash.inc + +# one IMU: bmi270 +IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_135 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12 + +# This is a whoop AIO board, not really suitable for anything other than copter +AUTOBUILD_TARGETS Copter