mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: iFlight Blitz H7 Pro
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Andy Piper
Andrew Tridgell
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# iFlight BLITZ H7 Pro Flight Controller
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The Blitz H7 Pro is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
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## Features
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- MCU - STM32H743 32-bit processor running at 480 MHz
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- Gyro: ICM42688
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- 32Gb SDCard for logging
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- BEC output: 5V 2.5A, switch controlled 12v 2A
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- Barometer: DPS310
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- OSD: AT7456E
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- 7x UARTs
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- 13x PWM Outputs (12 Motor Output, 1 LED)
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- Battery input voltage: 2S-8S
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- 2x I2C for external compass, airspeed, etc.
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- CAN port
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## Pinout
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back side pinout image pending from iFlight
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The expansion connector provides access to the following pins:
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- CAN+/CAN-
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- M9 through M12
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- TX7/RX7
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- SCL2/SDA2
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- RSSI
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- 5V/12V/GND
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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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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|RX1/TX1|UART1 (DJI connector, DMA-enabled)|
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|SERIAL2|TX2/RX2|UART2 (RX, DMA-enabled)|
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|SERIAL3|TX3/RX3|UART3 (DMA-enabled)|
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|SERIAL4|TX4/RX4|UART4 (GPS, DMA-enabled)|
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|SERIAL5|RX5|UART5 (ESC Telemetry)|
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|SERIAL6|TX6/RX6|UART6|
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|SERIAL7|TX7/RX7|UART7|
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## RC Input
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RC input is configured on the (UART2_RX/UART2_TX) pins which forms part of the DJI connector. It supports all serial RC protocols.
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## OSD Support
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The BLITZ H7 Pro supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The BLITZ H7 Pro has 13 PWM outputs. The pads for motor output M1-M4 are in one ESC connector and M5-M8 in the second ESC connector. The remaining outputs are on the pads on the daughterboard. The first 8 outputs support bi-directional DShot and DShot, as well as all PWM types. Outputs 9-10 support DShot, as well as all PWM types and outputs 11-12 only support PWM.
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The PWM are in in five groups:
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- PWM 1-2 in group1
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- PWM 3-6 in group2
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- PWM 7-10 in group3
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- PWM 11-12 in group4
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- PWM 13 in group5
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.. note:: for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:
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- :ref:`FRAME_CLASS<FRAME_CLASS>` = 1 (Quad)
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- :ref:`FRAME_TYPE<FRAME_TYPE>` = 12 (BetaFlightX)
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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.
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Video Power Control
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================
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The 12V video power can be turned off/on using GPIO 81 which is already assigned by default to RELAY2. This relay can be controlled either from the GCS or using a transmitter channel (See :ref:`common-auxiliary-functions`)
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RSSI
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====
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Analog RSSI pin is "4"
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## Battery Monitoring
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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
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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 10
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- BATT_VOLT_MULT 11
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- BATT_CURR_PIN 11
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- BATT_CURR_MULT 50
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These are set by default in the firmware and shouldn't need to be adjusted
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## Compass
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The BLITZ H7 Pro does not have a builtin compass, but you can attach an external compass to I2C pins.
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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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After Width: | Height: | Size: 541 KiB |
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@ -0,0 +1,3 @@
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# setup for LEDs on chan9
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SERVO13_FUNCTION 120
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NTF_LED_TYPES 257
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@ -0,0 +1,45 @@
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# hw definition file for processing by chibios_hwdef.py
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# for IFLIGHT_BLITZ_H7_PRO hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_BlitzH7Pro
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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 2048
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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 384
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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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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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# Chip select pins
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PB12 OSD1_CS CS
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PC15 GYRO1_CS CS
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PE11 GYRO2_CS CS
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PA8 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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PD10 VTX_PWR OUTPUT GPIO(81) HIGH
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@ -0,0 +1,184 @@
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# hw definition file for processing by chibios_hwdef.py
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# for IFLIGHT_BLITZ_H7_PRO hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_BlitzH7Pro
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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FLASH_SIZE_KB 2048
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FLASH_RESERVE_START_KB 384
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# SPI devices
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# SPI1
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2
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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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# Chip select pins
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PB12 OSD1_CS CS
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PC15 GYRO1_CS CS
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PE11 GYRO2_CS CS
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# Beeper
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PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
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# SERIAL ports
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8 OTG2
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# USART1 - VTX
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
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# USART2 - RX
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
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# USART3
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 - GPS
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PB8 UART4_RX UART4
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PB9 UART4_TX UART4
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
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# USART6
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
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# UART7
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# Not pinned out
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PE9 UART7_RTS UART7
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PE10 UART7_CTS UART7
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# UART8
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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# I2C ports
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I2C_ORDER I2C1 I2C2
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# microSD support
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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define HAL_OS_FATFS_IO 1
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# CAN
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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# VTX power
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PD10 VTX_PWR OUTPUT GPIO(81) HIGH
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define RELAY2_PIN_DEFAULT 81
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# ADC ports
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# ADC1
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_VOLT_SCALE 11.0
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_CURR_SCALE 50.0
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PC5 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 8
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define HAL_BATT_MONITOR_DEFAULT 4
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PC4 PRESSURE_SENS ADC1 SCALE(2)
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define HAL_DEFAULT_AIRSPEED_PIN 4
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# MOTORS
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
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PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) BIDIR # M3
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PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) # M4
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR # M5
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR # M7
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # M8
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# Motor outputs on daughterboard
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10
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PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA # M11
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA # M12
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# LEDs
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # M9
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PE3 LED0 OUTPUT LOW GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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PE4 LED1 OUTPUT LOW GPIO(91)
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define HAL_GPIO_B_LED_PIN 91
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# OSD setup
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SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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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/font*.bin
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# Barometer setup
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BARO DPS310 I2C:1:0x76
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# IMU setup
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SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ
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IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180
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DMA_NOSHARE TIM3_UP TIM5_UP TIM4_UP SPI1*
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DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1*
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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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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