Browse Source
reduce DMA contention on BeastH7 and correct sharing add README's for BeastF7 and BeastH7zr-v5.1
Andy Piper
4 years ago
committed by
Andrew Tridgell
7 changed files with 365 additions and 3 deletions
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# iFlight Beast F7 45A AIO Flight Controller |
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|
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https://shop.iflight-rc.com/index.php?route=product/product&product_id=1377 |
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|
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The Beast F7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/). |
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|
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## Features |
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|
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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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|
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## Pinout |
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 |
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|
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## UART Mapping |
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|
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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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|
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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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|
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## RC Input |
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|
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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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|
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## OSD Support |
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|
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The Beast F7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver). |
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|
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## PWM Output |
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|
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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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|
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The PWM are in in two groups. |
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|
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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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|
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## Battery Monitoring |
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|
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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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|
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The correct battery setting parameters are: |
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|
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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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|
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These are set by default in the firmware and shouldn't need to be adjusted |
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|
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## Compass |
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|
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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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|
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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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@@ -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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# 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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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 @@
@@ -0,0 +1,87 @@
|
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# iFlight Beast H7 55A AIO Flight Controller |
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|
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https://shop.iflight-rc.com/index.php?route=product/product&product_id=1376 |
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|
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The Beast H7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/). |
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|
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## Features |
||||
|
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- MCU: BGA-STM32H743 |
||||
- 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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|
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## Pinout |
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|
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 |
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|
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## 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| |
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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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|
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All UARTS support DMA. |
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|
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## RC Input |
||||
|
||||
RC input is configured on the (UART3_RX) pin which forms part of the DJI connector. It supports all RC protocols. |
||||
For RC input/output use UART1 wih SERIAL1_PROTOCOL as 23 and set SERIAL3_PROTOCOL set to -1 |
||||
|
||||
## OSD Support |
||||
|
||||
The Beast H7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver). |
||||
|
||||
## PWM Output |
||||
|
||||
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. |
||||
|
||||
The PWM are in in two groups. |
||||
|
||||
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. 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 around 10.9 |
||||
- BATT_CURR_PIN 13 |
||||
- BATT_CURR_MULT around 28.5 |
||||
|
||||
These are set by default in the firmware and shouldn't need to be adjusted |
||||
|
||||
## Compass |
||||
|
||||
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. |
||||
|
||||
## 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. |
||||
|
After Width: | Height: | Size: 16 KiB |
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