mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: support iFlight BeastF7
reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
fdbf2d369a
commit
e781572d53
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# iFlight Beast F7 45A AIO Flight Controller
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https://shop.iflight-rc.com/index.php?route=product/product&product_id=1377
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The Beast F7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
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## Features
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- MCU: BGA-STM32F745
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- Gyro: MPU6000
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- 8Mb Onboard Flash
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- BEC output: 5V 2.5A
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- Barometer: BMP280
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- OSD: AT7456E
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- 5 UARTS: (UART1, UART2, UART3, UART4, UART7)
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- 5 PWM outputs (4 motors and 1 LED)
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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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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|RX1/TX1|UART1 (Telem1 / Alt RC Input/Output)|
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|SERIAL2|TX2/RX2|UART2 (DJI)|
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|SERIAL3|RX3|UART3 (DJI RC Input)|
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|SERIAL4|TX4/RX4|UART4 (GPS)|
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|SERIAL7|TX7/RX7|UART7|
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UART1 supports RX and TX DMA. UART2, UART3 and UART4 support RX DMA. UART7 supports TX DMA
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## RC Input
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RC input is configured on the (UART3_RX) pin which forms part of the DJI connector. It supports all RC protocols.
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For RC input/output use UART1 wih SERIAL1_PROTOCOL as 23 and set SERIAL3_PROTOCOL set to -1
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## OSD Support
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The Beast F7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The Beast F7 AIO supports up to 4 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types.
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The PWM are in in two groups.
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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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## Battery Monitoring
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The board has a builtin voltage 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 12
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- BATT_VOLT_MULT around 10.9
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- BATT_CURR_PIN 13
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- BATT_CURR_MULT around 28.5
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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 Beast F7 AIO does not have a builtin compass and you cannot attach an external compass due to the lack of an external I2C connector.
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## NeoPixel LED
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The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
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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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@ -0,0 +1,9 @@
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# setup for LEDs on chan5
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SERVO5_FUNCTION 120
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NTF_LED_TYPES 257
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# disable compass
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COMPASS_USE 0
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COMPASS_USE2 0
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COMPASS_USE3 0
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# setup SERIAL3 for RCIN
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SERIAL3_BAUD 115
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@ -0,0 +1,44 @@
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# hw definition file for processing by chibios_pins.py
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# for iFlight Beast H7 hardware.
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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 1026
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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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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# Add CS pins to ensure they are high in bootloader
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PA4 MPU6000_CS CS
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PA15 FLASH_CS CS
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PE4 AT7456E_CS CS
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@ -0,0 +1,136 @@
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# hw definition file for processing by chibios_pins.py
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# for iFlight Beast F7 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 STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1026
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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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#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
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PD15 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 MPU6000
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PA4 MPU6000_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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# SPI3 for Flash Storage 16mb
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PA15 FLASH_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 OSD
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PE4 AT7456E_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 28.5
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define HAL_BATT_MONITOR_DEFAULT 4
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PC5 RSSI_ADC ADC1
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# USART1 - RCIN
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 (DJI)
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2 NODMA
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# USART3 (DJI RCIN)
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PB11 USART3_RX USART3
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define HAL_SERIAL3_PROTOCOL SerialProtocol_RCIN
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# UART4
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4 NODMA
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# UART7
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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# Motors
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PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) # 1
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PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) # 2
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR # 3
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) BIDIR # 4
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# NeoPixel LED strip
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
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PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
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DMA_PRIORITY USART1* TIM1* TIM3*
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DMA_NOSHARE SPI3_TX TIM1_CH2 TIM3_CH3
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI4 DEVID4 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_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_I2C_INTERNAL_MASK 0
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# one BARO
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BARO BMP280 I2C:0:0x76
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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/font*.bin
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define BOARD_PWM_COUNT_DEFAULT 5
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define STM32_PWM_USE_ADVANCED TRUE
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@ -0,0 +1,87 @@
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# iFlight Beast H7 55A AIO Flight Controller
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https://shop.iflight-rc.com/index.php?route=product/product&product_id=1376
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The Beast H7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
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## Features
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- MCU: BGA-STM32H743
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- Gyro: MPU6000
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- 16Mb Onboard Flash
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- BEC output: 5V 2.5A
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- Barometer: DPS310
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- OSD: AT7456E
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- 5 UARTS: (UART1, UART2, UART3, UART4, UART7)
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- 5 PWM outputs (4 motors and 1 LED)
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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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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|RX1/TX1|UART1 (Telem1 / Alt RC Input/Output)|
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|SERIAL2|TX2/RX2|UART2 (DJI)|
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|SERIAL3|RX3|UART3 (DJI RC Input)|
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|SERIAL4|TX4/RX4|UART4 (GPS)|
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|SERIAL7|TX7/RX7|UART7|
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All UARTS support DMA.
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## RC Input
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RC input is configured on the (UART3_RX) pin which forms part of the DJI connector. It supports all RC protocols.
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For RC input/output use UART1 wih SERIAL1_PROTOCOL as 23 and set SERIAL3_PROTOCOL set to -1
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## OSD Support
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The Beast H7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The Beast H7 AIO supports up to 4 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types.
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The PWM are in in two groups.
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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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## Battery Monitoring
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The board has a builtin voltage 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 12
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- BATT_VOLT_MULT around 10.9
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- BATT_CURR_PIN 13
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- BATT_CURR_MULT around 28.5
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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 Beast H7 AIO does not have a builtin compass and you cannot attach an external compass due to the lack of an external I2C connector.
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||||
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## NeoPixel LED
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||||
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||||
The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
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||||
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||||
## Loading Firmware
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||||
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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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||||
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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: 16 KiB |
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@ -103,7 +103,7 @@ PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
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PC13 LED0 OUTPUT LOW GPIO(90) # Blue LED
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DMA_PRIORITY TIM1* TIM3*
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DMA_NOSHARE TIM1_UP TIM3_UP
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DMA_NOSHARE SPI1_RX SPI3_TX TIM1* TIM3* TIM4_UP USART1_TX
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define HAL_STORAGE_SIZE 16384
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# use last 2 pages for flash storage
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@ -114,11 +114,10 @@ define STORAGE_FLASH_PAGE 14
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define HAL_LOGGING_DATAFLASH
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 2*MHZ
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ
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DMA_NOSHARE SPI1_RX SPI3_TX TIM1* TIM3*
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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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