From 797d6e1365d0d622873cd8e3426aad49675b0b93 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 11 Apr 2024 20:23:40 +0100 Subject: [PATCH] AP_HAL_ChibiOS: iFlight Blitz F745 --- .../AP_HAL_ChibiOS/hwdef/BlitzF745/README.md | 92 ++++++++++ .../hwdef/BlitzF745/blitz_f7_pinout.jpg | Bin 0 -> 113440 bytes .../hwdef/BlitzF745/defaults.parm | 4 + .../hwdef/BlitzF745/hwdef-bl.dat | 43 +++++ .../AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat | 163 ++++++++++++++++++ 5 files changed, 302 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/blitz_f7_pinout.jpg create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/README.md b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/README.md new file mode 100644 index 0000000000..94cffb226d --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/README.md @@ -0,0 +1,92 @@ +# iFlight BLITZ F745 Flight Controller + +https://shop.iflight.com/electronics-cat27/BLITZ-F745-Flight-Controller-Pro2141 + +The BLITZ F745 is a flight controller produced by [iFlight](https://shop.iflight-rc.com/). + +## Features + + - MCU: BGA-STM32F745, 216MHz + - Gyro: ICM42688 + - 32Mbytes Onboard Flash + - BEC output: 5V 2.5A + - Barometer: DPS310 + - OSD: AT7456E + - 6 UARTS: (UART1, UART2, UART3, UART4, UART5, UART6) + - I2C for external compass. + - 9 PWM outputs (8 motor outputs and 1 LED output) + +## Pinout + +![BLITZ F745 Board](blitz_f7_pinout.jpg "BLITZ F745") + +## 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)| +|SERIAL2|TX2/RX2|UART2 (RX, DMA-enabled)| +|SERIAL3|TX3/RX3|UART3 (GPS, DMA-enabled)| +|SERIAL4|TX4/RX4|UART4| +|SERIAL5|TX5/RX5|UART5| +|SERIAL6|RX6|UART6 (ESC telemetry)| + +Note:UART3 is used for GPS not UART4 as shown in typical wiring diagram + +## RC Input + +RC input is configured on the (UART2_RX/UART2_TX). It supports all serial RC protocols. + +## OSD Support + +The BLITZ F745 supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +The BLITZ F745 has 9 PWM outputs. The pads for motor output are M1 to M8 on the board and M1-M4 are also in the ESC connector housing. All 9 outputs support DShot and the first four outputs support bi-directional DShot as well as all PWM types. Output 9 is the "LED" pin and is configured for serial LED by default. + +The PWM are in three groups: + + - PWM 1-4 in group1 + - PWM 5-8 in group2 + - PWM 9 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. + +## 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 11 + - 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 F745 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. 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/dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/defaults.parm @@ -0,0 +1,4 @@ +# setup for LEDs on chan9 +SERVO9_FUNCTION 120 +NTF_LED_TYPES 257 +OSD_TYPE2 5 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef-bl.dat new file mode 100644 index 0000000000..4b0c876789 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef-bl.dat @@ -0,0 +1,43 @@ + +# 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 AP_HW_BlitzF7 + +# 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 + +# default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + + +# Chip select pins +PA15 FLASH1_CS CS +PE4 OSD1_CS CS +PA4 GYRO1_CS CS + +PC9 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat new file mode 100644 index 0000000000..88ddc95821 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat @@ -0,0 +1,163 @@ + +# 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 AP_HW_BlitzF7 + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 1024 + +# bootloader takes first sector +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 + +# 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 + +# Beeper +PD3 BUZZER OUTPUT GPIO(80) LOW +define HAL_BUZZER_PIN 80 + +# SERIAL ports +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 - VTX +PA10 USART1_RX USART1 NODMA +PA9 USART1_TX USART1 NODMA +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort + +# USART2 - RX +PA2 USART2_TX USART2 +PA3 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 - GPS +PB10 USART3_TX USART3 +PB11 USART3_RX USART3 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS + +# UART4 +PA0 UART4_TX UART4 NODMA +PA1 UART4_RX UART4 NODMA +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None + +# UART5 +PC12 UART5_TX UART5 NODMA +PD2 UART5_RX UART5 NODMA +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None + +# USART6 - ESC Telem +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry + +# I2C ports +I2C_ORDER I2C1 I2C4 +# I2C1 +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +# I2C4 +PD12 I2C4_SCL I2C4 +PD13 I2C4_SDA I2C4 + +# Servos + +# ADC ports + +# ADC1 +PC2 BATT_CURRENT_SENS ADC1 SCALE(1) +define HAL_BATT_CURR_PIN 12 +define HAL_BATT_CURR_SCALE 50.0 +PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) +define HAL_BATT_VOLT_PIN 13 +define HAL_BATT_VOLT_SCALE 11.0 +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 15 +define HAL_BATT_MONITOR_DEFAULT 4 + +# MOTORS +PB4 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # M1 +PB0 TIM3_CH3 TIM3 PWM(2) GPIO(51) # M2 +PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) # M3 +PB1 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4 +PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54) # M5 +PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55) # M6 +PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56) # M7 +PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57) # M8 + +# LEDs +PC9 TIM8_CH4 TIM8 PWM(9) GPIO(58) # M9 + +PD15 LED0 OUTPUT LOW GPIO(90) +define HAL_GPIO_A_LED_PIN 90 + +# Dataflash setup +SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*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 + +# IMU setup + +# IMU setup +SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ +DMA_NOSHARE TIM3_UP TIM1_UP SPI1* +DMA_PRIORITY TIM3_UP TIM1_UP SPI1* + +IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180 + +# Barometer setup +BARO DPS310 I2C:1:0x76 + +# no built-in compass, but probe the i2c bus for all possible +# external compass types +define ALLOW_ARM_NO_COMPASS +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 +define HAL_COMPASS_AUTO_ROT_DEFAULT 2 +define HAL_DEFAULT_INS_FAST_SAMPLE 3 +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12 + +# save some flash +include ../include/minimize_fpv_osd.inc