mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: free space on ReaperF745
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Henry Wurzburg
Andrew Tridgell
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@ -146,6 +146,7 @@ define STM32_PWM_USE_ADVANCED TRUE
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# save some flash
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include ../include/save_some_flash.inc
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include ../include/minimal.inc
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define AP_GRIPPER_ENABLED 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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@ -1,88 +0,0 @@
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# Foxeer ReaperF745v2 Flight Controller
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The ReaperF745v2 is a flight controller produced by [Foxeer](https://www.foxeer.com/).
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## Features
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- MCU - STM32F745 32-bit processor
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- IMU - BMI270
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- OSD - AT7456E
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- Onboard Flash: 128MBit
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- 5x UARTs
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- 5x PWM Outputs (4 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- Integrated 45A BlueJay ESCs
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (DJI RCIN,but needs protocol changes to SERIAL1 and SERIAL 2)
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- SERIAL2 -> UART2 (RX Protocol by default, DMA-enabled)
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- SERIAL3 -> UART3 Telem/User
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- SERIAL4 -> UART4 Telem/User
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- SERIAL7 -> UART7 (GPS, DMA-enabled)
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## RC Input
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RC input is configured on the R2 (UART2_RX) pin by default. It supports all serial RC
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protocols. For FPort you should setup the TX PIN as an RC input serial port,
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with half-duplex and inversion enabled.
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## OSD Support
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The ReaperF745v2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The ReaperF745v2 supports up to 5 PWM outputs. There are no pads for motor output
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M1 to M4 as these are connected directly to the onboard ESCs. M5 is on a separate pad for LED strip or another PWM output.
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The PWM is in 2 groups:
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- PWM 1-4 in group1
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- PWM 5 in group2
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot. Channels 1-4 support bi-directional dshot and this is configured by
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default to take advantage of the BlueJay ESC firmware that is installed by default.
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## Battery Monitoring
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The board has a builtin voltage and current sensor. The current
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sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
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LiPo batteries.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 13
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- BATT_CURR_PIN 12
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- BATT_VOLT_MULT 10.9
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- BATT_AMP_PERVLT 100
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## Compass
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The ReaperF745v2 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Barometer
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The ReaperF745v2 does not have a builtin barometer, but you can attach an external barometer using I2C on the SDA and SCL pads or use GPS as the EKF3 Z source. The board will boot without either, but only non altitude information requiring modes can be used.
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## Loading Firmware
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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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Binary file not shown.
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Before Width: | Height: | Size: 65 KiB |
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@ -1,10 +0,0 @@
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# setup SERIAL7 for GPS
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SERIAL7_PROTOCOL 5
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SERIAL3_PROTOCOL 2
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SERIAL4_PROTOCOL 2
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# Board has BlueJay by default
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SERVO_BLH_BDMASK 15
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SERVO_BLH_AUTO 1
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SERVO_BLH_TRATE 0
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MOT_PWM_TYPE 6
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@ -1,41 +0,0 @@
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# hw definition file for processing by chibios_pins.py
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# for Foxeer Reaper AIO V2 F745
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1074
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 96
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# order of UARTs (and USB). Allow bootloading on USB and telem1
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SERIAL_ORDER OTG1 USART1
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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PC13 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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# Add CS pins to ensure they are high in bootloader
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PA4 AT7456E_CS CS
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PA15 BMI270_CS CS
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PE4 FLASH_CS CS
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@ -1,153 +0,0 @@
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# hw definition file for processing by chibios_pins.py
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# for Foxeer Reaper AIO V2 F745
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1074
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
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# Buzzer - DMA timer channel use by LEDs
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PD2 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# Debug
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for OSD
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PA4 AT7456E_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# SPI2
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#PA15 FLASH_CS CS
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#PB13 SPI2_SCK SPI2
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#PB14 SPI2_MISO SPI2
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#PB15 SPI2_MOSI SPI2
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# SPI3 for Gyro
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PA15 GYRO_CS CS
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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# SPI4 for Flash
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PE4 FLASH_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# I2C1 for baro
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PB8 I2C1_SCL I2C1 PULLUP
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PB9 I2C1_SDA I2C1 PULLUP
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 10.9
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define HAL_BATT_CURR_SCALE 100
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define HAL_BATT_MONITOR_DEFAULT 4
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PC5 RSSI_ADC ADC1
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# USART1 (DJI RCIN)
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PA10 USART1_RX USART1 NODMA
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# USART2 (RX)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3
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PB10 USART3_TX USART3 NODMA
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PB11 USART3_RX USART3 NODMA
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# UART4 (Camera)
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PA0 UART4_TX UART4 NODMA
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PA1 UART4_RX UART4 NODMA
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# UART7 (GPS)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# Motors
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PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # 1
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PB5 TIM3_CH2 TIM3 PWM(2) GPIO(51) # 2
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PB1 TIM3_CH4 TIM3 PWM(3) GPIO(52) BIDIR # 3
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) # 4
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# NeoPixel LED strip
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PA8 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
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DMA_PRIORITY USART2* TIM3* TIM1*
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define HAL_STORAGE_SIZE 16384
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STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# spi devices bmi270(v2) icm42688 (v3)
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SPIDEV bmi270 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42688 SPI3 DEVID1 GYRO_CS MODE3 2*MHZ 8*MHZ
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SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
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# no built-in compass and no external I2C so no compass
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define ALLOW_ARM_NO_COMPASS
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define HAL_I2C_INTERNAL_MASK 0
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# one IMU: bmi270 or icm42688
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# no BARO
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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# save some flash
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include ../include/save_some_flash.inc
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define AP_GRIPPER_ENABLED 0
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define HAL_PARACHUTE_ENABLED 0
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define HAL_SPRAYER_ENABLED 0
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define AP_BATTMON_SMBUS_ENABLE 0
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define AP_BATTMON_FUEL_ENABLE 0
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