AP_HAL_ChibiOS: iFlight Blitz H7 Pro

libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/README.md

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+# iFlight BLITZ H7 Pro Flight Controller
+
+https://shop.iflight-rc.com/BLITZ-Whoop-F7-AIO-Pro1927
+
+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
+ - SDCard for logging
+ - BEC output: 5V 2.5A
+ - Barometer: DPS310
+ - OSD: AT7456E
+ - 7x UARTs
+ - 13x PWM Outputs (12 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - I2C for external compass.
+
+## Pinout
+
+![BLITZ H7 Pro Board](blitz_f7_pinout.jpg "BLITZ H7 Pro")
+
+## 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 12 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.
+
+The PWM are in in two groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-6 in group2
+ - PWM 7-8 in group3
+ - PWM 9   in group4
+
+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 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.

libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/defaults.parm

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

libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef-bl.dat

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+
+# 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

libraries/AP_HAL_ChibiOS/hwdef/BlitzH743Pro/hwdef.dat

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+
+# 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
+
+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
+# 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
+
+# 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)
+
+# Servos
+PD10  PINIO1 OUTPUT GPIO(81) LOW
+define RELAY2_PIN_DEFAULT 81
+PD11  PINIO2 OUTPUT GPIO(82) LOW
+define RELAY3_PIN_DEFAULT 82
+
+# 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
+
+# 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
+
+# LEDs
+PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # 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