diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/README.md b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/README.md new file mode 100644 index 0000000000..64c4321d82 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/README.md @@ -0,0 +1,113 @@ +# iFlight BLITZ H7 Pro Flight Controller + +The Blitz H7 Pro is a flight controller produced by [iFlight](https://shop.iflight-rc.com/). + +## Features + + - MCU - STM32H743 32-bit processor running at 480 MHz + - Gyro: ICM42688 + - 32Gb SDCard for logging + - BEC output: 5V 2.5A, switch controlled 12v 2A + - Barometer: DPS310 + - OSD: AT7456E + - 7x UARTs + - 13x PWM Outputs (12 Motor Output, 1 LED) + - Battery input voltage: 2S-8S + - 2x I2C for external compass, airspeed, etc. + - CAN port + +## Pinout + +![BLITZ H7 Pro Board](blitz_h7_pro.png "BLITZ H7 Pro") + +back side pinout image pending from iFlight + +The expansion connector provides access to the following pins: + - CAN+/CAN- + - M9 through M12 + - TX7/RX7 + - SCL2/SDA2 + - RSSI + - 5V/12V/GND + +## 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, DMA-enabled)| +|SERIAL2|TX2/RX2|UART2 (RX, DMA-enabled)| +|SERIAL3|TX3/RX3|UART3 (DMA-enabled)| +|SERIAL4|TX4/RX4|UART4 (GPS, DMA-enabled)| +|SERIAL5|RX5|UART5 (ESC Telemetry)| +|SERIAL6|TX6/RX6|UART6| +|SERIAL7|TX7/RX7|UART7| + +## RC Input + +RC input is configured on the (UART2_RX/UART2_TX) pins which forms part of the DJI connector. It supports all serial RC protocols. + +## OSD Support + +The BLITZ H7 Pro supports OSD using OSD_TYPE 1 (MAX7456 driver). + +## PWM Output + +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. + +The PWM are in in five groups: + + - PWM 1-2 in group1 + - PWM 3-6 in group2 + - PWM 7-10 in group3 + - PWM 11-12 in group4 + - PWM 13 in group5 +.. 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: + +- :ref:`FRAME_CLASS` = 1 (Quad) +- :ref:`FRAME_TYPE` = 12 (BetaFlightX) + + +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. + +Video Power Control +================ + +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`) +RSSI +==== + +Analog RSSI pin is "4" + +## 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 10 + - BATT_VOLT_MULT 11 + - BATT_CURR_PIN 11 + - BATT_CURR_MULT 50 + +These are set by default in the firmware and shouldn't need to be adjusted + +## Compass + +The BLITZ H7 Pro does not have a builtin compass, but you can attach an external compass to I2C pins. + +## 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. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/blitz_h7_pro.png b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/blitz_h7_pro.png new file mode 100644 index 0000000000..b1a6e0e177 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/blitz_h7_pro.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/defaults.parm new file mode 100644 index 0000000000..362a17f38f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/defaults.parm @@ -0,0 +1,3 @@ +# setup for LEDs on chan9 +SERVO13_FUNCTION 120 +NTF_LED_TYPES 257 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef-bl.dat new file mode 100644 index 0000000000..22afd74789 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef-bl.dat @@ -0,0 +1,45 @@ + +# hw definition file for processing by chibios_hwdef.py +# for IFLIGHT_BLITZ_H7_PRO hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_BlitzH7Pro + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +FLASH_SIZE_KB 2048 + +# bootloader starts at zero offset +FLASH_RESERVE_START_KB 0 + +# the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 384 + +# 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 +PB12 OSD1_CS CS +PC15 GYRO1_CS CS +PE11 GYRO2_CS CS + +PA8 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 0 + +PD10 VTX_PWR OUTPUT GPIO(81) HIGH diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef.dat new file mode 100644 index 0000000000..966e60c17c --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef.dat @@ -0,0 +1,184 @@ + +# hw definition file for processing by chibios_hwdef.py +# for IFLIGHT_BLITZ_H7_PRO hardware. +# thanks to betaflight for pin information + +# MCU class and specific type +MCU STM32H7xx STM32H743xx + +# board ID for firmware load +APJ_BOARD_ID AP_HW_BlitzH7Pro + +# crystal frequency, setup to use external oscillator +OSCILLATOR_HZ 8000000 + +MCU_CLOCKRATE_MHZ 480 + +FLASH_SIZE_KB 2048 + +FLASH_RESERVE_START_KB 384 + +define HAL_STORAGE_SIZE 16384 +define STORAGE_FLASH_PAGE 1 + +# ChibiOS system timer +STM32_ST_USE_TIMER 12 +define CH_CFG_ST_RESOLUTION 16 + +# SPI devices + +# SPI1 +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PD7 SPI1_MOSI SPI1 + +# SPI2 +PB13 SPI2_SCK SPI2 +PB14 SPI2_MISO SPI2 +PB15 SPI2_MOSI SPI2 + +# Chip select pins +PB12 OSD1_CS CS +PC15 GYRO1_CS CS +PE11 GYRO2_CS CS + +# Beeper +PA15 TIM2_CH1 TIM2 GPIO(32) ALARM + +# SERIAL ports +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8 OTG2 +# PA10 IO-debug-console +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +# USART1 - VTX +PA10 USART1_RX USART1 +PA9 USART1_TX USART1 +define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort + +# USART2 - RX +PD5 USART2_TX USART2 +PD6 USART2_RX USART2 +define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN + +# USART3 +PD8 USART3_TX USART3 +PD9 USART3_RX USART3 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None + +# UART4 - GPS +PB8 UART4_RX UART4 +PB9 UART4_TX UART4 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS + +# USART6 +PC6 USART6_TX USART6 NODMA +PC7 USART6_RX USART6 NODMA +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry + +# UART7 +PE7 UART7_RX UART7 NODMA +PE8 UART7_TX UART7 NODMA +# Not pinned out +PE9 UART7_RTS UART7 +PE10 UART7_CTS UART7 + +# UART8 +PE0 UART8_RX UART8 NODMA +PE1 UART8_TX UART8 NODMA + +# I2C ports +I2C_ORDER I2C1 I2C2 +# I2C1 +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +# I2C2 +PB10 I2C2_SCL I2C2 +PB11 I2C2_SDA I2C2 + +# microSD support +PC8 SDMMC1_D0 SDMMC1 +PC9 SDMMC1_D1 SDMMC1 +PC10 SDMMC1_D2 SDMMC1 +PC11 SDMMC1_D3 SDMMC1 +PC12 SDMMC1_CK SDMMC1 +PD2 SDMMC1_CMD SDMMC1 + +define HAL_OS_FATFS_IO 1 + +# CAN +PD0 CAN1_RX CAN1 +PD1 CAN1_TX CAN1 +PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) + +# VTX power +PD10 VTX_PWR OUTPUT GPIO(81) HIGH +define RELAY2_PIN_DEFAULT 81 + +# ADC ports + +# ADC1 +PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) +define HAL_BATT_VOLT_PIN 10 +define HAL_BATT_VOLT_SCALE 11.0 +PC1 BATT_CURRENT_SENS ADC1 SCALE(1) +define HAL_BATT_CURR_PIN 11 +define HAL_BATT_CURR_SCALE 50.0 +PC5 RSSI_ADC ADC1 +define BOARD_RSSI_ANA_PIN 8 +define HAL_BATT_MONITOR_DEFAULT 4 +PC4 PRESSURE_SENS ADC1 SCALE(2) +define HAL_DEFAULT_AIRSPEED_PIN 4 + +# MOTORS +PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1 +PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2 +PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) BIDIR # M3 +PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) # M4 +PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR # M5 +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # M6 +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR # M7 +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # M8 +# Motor outputs on daughterboard +PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) # M9 +PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) # M10 +PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA # M11 +PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA # M12 + +# LEDs +PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # M9 + +PE3 LED0 OUTPUT LOW GPIO(90) +define HAL_GPIO_A_LED_PIN 90 + +PE4 LED1 OUTPUT LOW GPIO(91) +define HAL_GPIO_B_LED_PIN 91 + +# OSD setup +SPIDEV osd SPI2 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 + +# Barometer setup +BARO DPS310 I2C:1:0x76 + +# IMU setup +SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ + +IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180 + +DMA_NOSHARE TIM3_UP TIM5_UP TIM4_UP SPI1* +DMA_PRIORITY TIM3_UP TIM5_UP TIM4_UP SPI1* + +# 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 1 +# Motor order implies Betaflight/X for standard ESCs +define HAL_FRAME_TYPE_DEFAULT 12