Evgeniy
3 years ago
committed by
Andrew Tridgell
5 changed files with 140 additions and 0 deletions
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# iFlight Beast H7 v2 55A AIO Flight Controller |
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https://shop.iflight-rc.com/Beast-H7-V2-55A-AIO-MPU6000-25.5-25.5-pro1588 |
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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: BMI270 |
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- 16Mb Onboard Flash |
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- BEC output: 5V 2.5A |
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- No Barometer |
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- OSD: AT7456E |
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- 5 UARTS: (UART1, UART2, UART3, UART4, UART7) |
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- I2C for external compass. UART3 pins are used for I2C (BRD_ALT_CONFIG=1) |
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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 (DJI connector)| |
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|SERIAL2|TX2/RX2|UART2 (DJI connector, TX is on the back side of board)| |
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|SERIAL3|TX3/RX3|UART3| |
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|SERIAL4|TX4/RX4|UART4| |
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|SERIAL7|TX7/RX7|UART7 (GPS)| |
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All UARTS support DMA. |
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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 RC protocols. |
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## OSD Support |
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The Beast H7 v2 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 v2 AIO does not have a builtin compass, but you can attach an external compass to I2C pins. Default configuration does not have I2C bus enabled. You need to set BRD_ALT_CONFIG=1 to make I2C use RX3/TX3 pins. |
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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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After Width: | Height: | Size: 74 KiB |
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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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include ../BeastH7/hwdef-bl.dat |
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undef APJ_BOARD_ID |
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APJ_BOARD_ID 1056 |
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# hw definition file for processing by chibios_pins.py |
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# for iFlight Beast H7 v2 hardware, based on Beast H7 v1 |
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# thanks to betaflight for pin information |
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include ../BeastH7/hwdef.dat |
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undef APJ_BOARD_ID |
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undef HAL_SERIAL3_PROTOCOL |
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undef IMU |
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undef BARO |
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undef STM32_PWM_USE_ADVANCED |
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undef PD15 #Buzzer |
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undef PE9 PE11 # Motors |
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undef HAL_DEFAULT_INS_FAST_SAMPLE DMA_PRIORITY DMA_NOSHARE |
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undef I2C1 |
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# board ID for firmware load |
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APJ_BOARD_ID 1056 |
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# V2 has different motor mapping |
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PB4 TIM3_CH1 TIM3 PWM(2) GPIO(51) BIDIR # 2 |
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PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) BIDIR # 3 |
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# only one I2C bus |
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I2C_ORDER I2C2 |
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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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define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN |
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# Buzzer - DMA timer channel use by LEDs |
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PD2 BUZZER OUTPUT GPIO(80) LOW |
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# I2C2 for compass. These pins can also be used as USART3 |
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PB10 I2C2_SCL I2C2 ALT(1) |
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PB11 I2C2_SDA I2C2 ALT(1) |
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# spi devices |
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SPIDEV bmi270 SPI1 DEVID1 MPU6000_CS MODE3 10*MHZ 10*MHZ |
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# no built-in compass and no external I2C so no compass |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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# one IMU |
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225 |
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# v2 has no BARO |
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define HAL_BARO_ALLOW_INIT_NO_BARO 1 |
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