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AP_HAL_ChibiOS: betafpv F450 AIO hwdef
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# BETAFPV F405 AIO Flight Controller | ||
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https://shop.iflight-rc.com/BLITZ-Whoop-F7-AIO-Pro1927 | ||
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The BETAFPV F405 AIO is a flight controller produced by [BETAFPV](https://pyrodrone.com/products/betafpv-toothpick-f405-1s-12a-aio-brushless-flight-controller-v3-elrs-2-4g-spi). | ||
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## Features | ||
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- MCU: STM32F405RGT6, 168MHz | ||
- Gyro: ICM42688-P | ||
- 16Mb Onboard Flash | ||
- BEC output: 5V 2.5A | ||
- Barometer: BMP280 | ||
- OSD: AT7456E | ||
- 5 UARTS: (UART1, UART3, UART4, UART5, UART6) | ||
- I2C for external compass. | ||
- 7 PWM outputs (6 motor outputs used internally for integrated 4-in-1 ESC and 1 integrated LED) | ||
- Integrated 4-in-1 BlueJay ESC | ||
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## Pinout | ||
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![BETAFPV F405 AIO Board](betafpv_f405_pinout.jpg "BETAFPV F405 AIO") | ||
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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 | ||
receive pin for UARTn. The Tn pin is the transmit pin for UARTn. | ||
|Name|Pin|Function| | ||
|:-|:-|:-| | ||
|SERIAL0|COMPUTER|USB| | ||
|SERIAL1|RX1/TX1|UART1 (GPS, DMA-enabled)| | ||
|SERIAL3|TX3/RX3|UART3 | ||
|SERIAL4|TX4/RX4|UART4 (DJI, DMA-enabled)| | ||
|SERIAL5|TX5/RX5|UART5| | ||
|SERIAL6|TX6/RX6|UART6 (SBUS)| | ||
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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 BETAFPV F405 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver). | ||
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## PWM Output | ||
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The BETAFPV F405 AIO has 4 PWM outputs internally connected to its 4-in-1 ESC. The pads for motor output are M1 to M4 on the board. All 4 outputs support bi-directional DShot and DShot, as well as all PWM types. The default configuration is for bi-directional DShot using the already installed BlueJay firmware. | ||
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The PWM are in in two groups: | ||
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- PWM 1-2 in group1 | ||
- PWM 3-4 in group2 | ||
- PWM 5 in group3 | ||
- PWM 6 in group4 | ||
- PWM 7 in group5 | ||
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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. | ||
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## Battery Monitoring | ||
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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. | ||
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The correct battery setting parameters are: | ||
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- BATT_MONITOR 4 | ||
- BATT_VOLT_PIN 12 | ||
- BATT_VOLT_MULT 10.9 | ||
- BATT_CURR_PIN 13 | ||
- BATT_CURR_MULT 50 | ||
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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 BETAFPV F405 AIO does not have a builtin compass, but you can attach an external compass to I2C 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 | ||
bootloader button pressed. Then you should load the "with_bl.hex" | ||
firmware, using your favourite DFU loading tool. | ||
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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. |
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# hw definition file for processing by chibios_hwdef.py | ||
# for BETAFPVF405 hardware. | ||
# thanks to betaflight for pin information | ||
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# MCU class and specific type | ||
MCU STM32F4xx STM32F405xx | ||
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# board ID for firmware load | ||
APJ_BOARD_ID 1125 | ||
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# crystal frequency, setup to use external oscillator | ||
OSCILLATOR_HZ 8000000 | ||
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FLASH_SIZE_KB 1024 | ||
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# bootloader starts at zero offset | ||
FLASH_RESERVE_START_KB 0 | ||
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# the location where the bootloader will put the firmware | ||
FLASH_BOOTLOADER_LOAD_KB 48 | ||
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# order of UARTs (and USB) | ||
SERIAL_ORDER OTG1 | ||
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# PA10 IO-debug-console | ||
PA11 OTG_FS_DM OTG1 | ||
PA12 OTG_FS_DP OTG1 | ||
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PA13 JTMS-SWDIO SWD | ||
PA14 JTCK-SWCLK SWD | ||
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# default to all pins low to avoid ESD issues | ||
DEFAULTGPIO OUTPUT LOW PULLDOWN | ||
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# Chip select pins | ||
PB3 BARO1_CS CS | ||
PB12 FLASH1_CS CS | ||
PA15 OSD1_CS CS | ||
PA4 GYRO1_CS CS | ||
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PB5 LED_BOOTLOADER OUTPUT LOW | ||
define HAL_LED_ON 0 |
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# hw definition file for processing by chibios_hwdef.py | ||
# for BETAFPVF405 hardware. | ||
# thanks to betaflight for pin information | ||
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# MCU class and specific type | ||
MCU STM32F4xx STM32F405xx | ||
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# board ID for firmware load | ||
APJ_BOARD_ID 1125 | ||
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# crystal frequency, setup to use external oscillator | ||
OSCILLATOR_HZ 8000000 | ||
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FLASH_SIZE_KB 1024 | ||
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# bootloader takes first sector | ||
FLASH_RESERVE_START_KB 48 | ||
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define HAL_STORAGE_SIZE 16384 | ||
define STORAGE_FLASH_PAGE 1 | ||
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STM32_ST_USE_TIMER 5 | ||
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# SPI devices | ||
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# SPI1 | ||
PA5 SPI1_SCK SPI1 | ||
PA6 SPI1_MISO SPI1 | ||
PA7 SPI1_MOSI SPI1 | ||
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# SPI2 | ||
PB13 SPI2_SCK SPI2 | ||
PB14 SPI2_MISO SPI2 | ||
PB15 SPI2_MOSI SPI2 | ||
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# SPI3 | ||
PC10 SPI3_SCK SPI3 | ||
PC11 SPI3_MISO SPI3 | ||
PC12 SPI3_MOSI SPI3 | ||
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# Chip select pins | ||
PB3 BARO1_CS CS | ||
PB12 FLASH1_CS CS | ||
PA15 OSD1_CS CS | ||
PA4 GYRO1_CS CS | ||
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# Beeper | ||
PB4 BUZZER OUTPUT GPIO(80) LOW | ||
define HAL_BUZZER_PIN 80 | ||
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# SERIAL ports | ||
SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 UART5 USART6 | ||
# PA10 IO-debug-console | ||
PA11 OTG_FS_DM OTG1 | ||
PA12 OTG_FS_DP OTG1 | ||
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# USART1 | ||
PA10 USART1_RX USART1 | ||
PA9 USART1_TX USART1 | ||
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# USART3 (ELRS) | ||
PB10 USART3_TX USART3 | ||
PB11 USART3_RX USART3 | ||
DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN | ||
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# UART4 (DJI) | ||
PA0 UART4_TX UART4 NODMA | ||
PA1 UART4_RX UART4 NODMA | ||
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# UART5 (RX only) | ||
PD2 UART5_RX UART5 NODMA | ||
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# USART6 (SBUS) | ||
PC6 USART6_TX USART6 | ||
PC7 USART6_RX USART6 | ||
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# I2C ports | ||
I2C_ORDER | ||
# Servos | ||
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# ADC ports | ||
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# ADC1 | ||
PC0 RSSI_ADC ADC1 | ||
define BOARD_RSSI_ANA_PIN 10 | ||
PC1 BATT_CURRENT_SENS ADC1 SCALE(1) | ||
define HAL_BATT_CURR_PIN 11 | ||
define HAL_BATT_CURR_SCALE 70.8 | ||
PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1) | ||
define HAL_BATT_VOLT_PIN 12 | ||
define HAL_BATT_VOLT_SCALE 11.0 | ||
define HAL_BATT_MONITOR_DEFAULT 4 | ||
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# MOTORS | ||
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) # M1 | ||
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2 | ||
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3 | ||
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) # M4 | ||
PC8 TIM8_CH3 TIM8 PWM(5) GPIO(54) NODMA # M5 | ||
PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) NODMA # M6 | ||
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# LEDs | ||
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PB5 LED0 OUTPUT LOW GPIO(90) | ||
define HAL_GPIO_A_LED_PIN 90 | ||
# LED strip | ||
PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56) # M7 | ||
define HAL_GPIO_LED_OFF 1 | ||
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# Dataflash setup | ||
SPIDEV dataflash SPI2 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ | ||
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define HAL_LOGGING_DATAFLASH_ENABLED 1 | ||
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# OSD setup | ||
SPIDEV osd SPI3 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ | ||
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define OSD_ENABLED 1 | ||
define HAL_OSD_TYPE_DEFAULT 1 | ||
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin | ||
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# BARO setup | ||
SPIDEV baro SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ | ||
BARO BMP280 SPI:baro | ||
define HAL_BARO_ALLOW_INIT_NO_BARO 1 | ||
define AP_BARO_BACKEND_DEFAULT_ENABLED 0 | ||
define AP_BARO_BMP280_ENABLED 1 | ||
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# IMU setup | ||
SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ | ||
IMU Invensensev3 SPI:imu1 ROTATION_YAW_180 | ||
DMA_NOSHARE SPI1* | ||
DMA_PRIORITY TIM3* TIM2* SPI1* | ||
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# 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 | ||
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# This is a whoop AIO board, not really suitable for anything other than copter | ||
AUTOBUILD_TARGETS Copter |