AP_HAL_ChibiOS: iFlight Blitz F745

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/README.md

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+# 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. Updates should be done with the
+*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/defaults.parm

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+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+OSD_TYPE2 5

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef-bl.dat

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+
+# 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

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745/hwdef.dat

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+
+# 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