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AP_HAL_ChibiOS: Added support for JHEMCU H743 HD

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commit 7d01b9e3cb09e89afea4bcb903d54b9ce8cdb1be
Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
Date:   Fri Apr 19 07:06:45 2024 +0800

    AP_HAL_ChibiOS: Added support for JHEMCU H743 HD

    commit d1e4ba0ef307e3ab3cc0f4218dd08e2f5c8f6ad0
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 19 04:38:22 2024 +0800

        board_types.txt: Reverted change for seperate PR

        hwdef-bl.dat: revert flash size to 2mb

        hwdef.dat: flash size set to 2mb, corrected syntax, realigned imus

    commit ee465524a7c37509d89ae17ae277a42328cb1cfd
    Merge: b1a55e0e3d 0f0023e62d
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:59:31 2024 +0800

        Merge branch 'master' into master

    commit b1a55e0e3d10a1fc3eff7af14c837271d0a3d131
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:59:08 2024 +0800

        Create defaults.parm

        output 9 is setup as serial LED

    commit 8437b6277c9f1d00a333ebd4f96946f02bf2bfc1
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:56:44 2024 +0800

        Update JHEMCU-H743HD/README.md

        Changed default UART6 protocol to displayport

        Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

    commit 186740cbc038a0ed4dd3bfc9035504bdd165b5aa
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:56:28 2024 +0800

        Update JHEMCU-H743HD/hwdef.dat

        Changed default UART6 protocol to displayport

        Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

    commit 48cfc0daaf58fecfe75a9338c91f4543aed4b14c
    Merge: 789b71d709 5a21d0cb8a
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Mon Apr 15 10:25:49 2024 +0800

        Merge branch 'master' into master

    commit 789b71d709b2b01c2a5134f8293f785917a787fd
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 19:37:37 2024 +0800

        Update hwdef-bl.dat

        Corrected FLASH_SIZE_KB to 1024 as H743VGT6  have only 1M flash

    commit cfa26b8f014c1775aa0270168682deca8ae16e78
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 19:37:04 2024 +0800

        Update hwdef.dat

        Corrected FLASH_SIZE_KB to 1024 as H743VGT6  have only 1M flash

    commit 3ae8a2c6ca2b0e95c076b652622adfe53275575a
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:40:31 2024 +0800

        Update hwdef.dat

        Fixed BIDIR labels, they are now in pairs, only on M1, M3, M5 and M7

    commit 200e22d5f06f6a0aef30463f4d2702872fe6f063
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:20:42 2024 +0800

        Update hwdef.dat

        Included OTG2, default serial 3 protocol is set to None.

    commit 8f561c17efa9708acbd257759f12b056f44ea5f6
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:10:01 2024 +0800

        Update README.md

        Corrected title

    commit 404b49f399d756561727571132ec38f3f89188a3
    Merge: b1d353b185 77cccd08a3
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 09:56:53 2024 +0800

        Merge branch 'master' into master

    commit b1d353b185721c1e319f2b758f8e4ea1b1d30968
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:51:57 2024 +0800

        Added JHEMCU H743 HD support

    commit 299841b23628431dc1b0172bb5fc50968acf2fd1
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:25:01 2024 +0800

        Added JHEMCU-H743HD

    commit 39d10456894bbbc4f73dfba65ee7cace7659ae17
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:21:14 2024 +0800

        Update README.md

    commit 048780fe44aace829173b0e701bc5a2ff874ee49
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:18:23 2024 +0800

        Added initial hwdef for JHEMCU H743 HD board

commit d4021681ec6d47f81973e6b346a67b757f3908d2
Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
Date:   Fri Apr 19 07:06:46 2024 +0800

    Tools: Added support for JHEMCU H743 HD

    commit d1e4ba0ef307e3ab3cc0f4218dd08e2f5c8f6ad0
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 19 04:38:22 2024 +0800

        board_types.txt: Reverted change for seperate PR

        hwdef-bl.dat: revert flash size to 2mb

        hwdef.dat: flash size set to 2mb, corrected syntax, realigned imus

    commit ee465524a7c37509d89ae17ae277a42328cb1cfd
    Merge: b1a55e0e3d 0f0023e62d
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:59:31 2024 +0800

        Merge branch 'master' into master

    commit b1a55e0e3d10a1fc3eff7af14c837271d0a3d131
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:59:08 2024 +0800

        Create defaults.parm

        output 9 is setup as serial LED

    commit 8437b6277c9f1d00a333ebd4f96946f02bf2bfc1
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:56:44 2024 +0800

        Update JHEMCU-H743HD/README.md

        Changed default UART6 protocol to displayport

        Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

    commit 186740cbc038a0ed4dd3bfc9035504bdd165b5aa
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Tue Apr 16 10:56:28 2024 +0800

        Update JHEMCU-H743HD/hwdef.dat

        Changed default UART6 protocol to displayport

        Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

    commit 48cfc0daaf58fecfe75a9338c91f4543aed4b14c
    Merge: 789b71d709 5a21d0cb8a
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Mon Apr 15 10:25:49 2024 +0800

        Merge branch 'master' into master

    commit 789b71d709b2b01c2a5134f8293f785917a787fd
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 19:37:37 2024 +0800

        Update hwdef-bl.dat

        Corrected FLASH_SIZE_KB to 1024 as H743VGT6  have only 1M flash

    commit cfa26b8f014c1775aa0270168682deca8ae16e78
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 19:37:04 2024 +0800

        Update hwdef.dat

        Corrected FLASH_SIZE_KB to 1024 as H743VGT6  have only 1M flash

    commit 3ae8a2c6ca2b0e95c076b652622adfe53275575a
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:40:31 2024 +0800

        Update hwdef.dat

        Fixed BIDIR labels, they are now in pairs, only on M1, M3, M5 and M7

    commit 200e22d5f06f6a0aef30463f4d2702872fe6f063
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:20:42 2024 +0800

        Update hwdef.dat

        Included OTG2, default serial 3 protocol is set to None.

    commit 8f561c17efa9708acbd257759f12b056f44ea5f6
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 18:10:01 2024 +0800

        Update README.md

        Corrected title

    commit 404b49f399d756561727571132ec38f3f89188a3
    Merge: b1d353b185 77cccd08a3
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Sat Apr 13 09:56:53 2024 +0800

        Merge branch 'master' into master

    commit b1d353b185721c1e319f2b758f8e4ea1b1d30968
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:51:57 2024 +0800

        Added JHEMCU H743 HD support

    commit 299841b23628431dc1b0172bb5fc50968acf2fd1
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:25:01 2024 +0800

        Added JHEMCU-H743HD

    commit 39d10456894bbbc4f73dfba65ee7cace7659ae17
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:21:14 2024 +0800

        Update README.md

    commit 048780fe44aace829173b0e701bc5a2ff874ee49
    Author: SCRainbow <139575368+SCRainbow@users.noreply.github.com>
    Date:   Fri Apr 12 17:18:23 2024 +0800

        Added initial hwdef for JHEMCU H743 HD board
This commit is contained in:
SCRainbow 2024-04-19 07:30:54 +08:00 committed by Randy Mackay
parent 7003647eda
commit 0f011a4b61
6 changed files with 307 additions and 0 deletions
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# JHEMCU H743 HD Flight Controller
The JHEMCU H743 HD is a flight controller produced by [JHEMCU](https://jhemcu.com/).
## Features
- MCU - STM32H743 32-bit processor running at 480 MHz
- IMU - dual ICM42688P
- Barometer - DPS310
- Voltage & current sensor
- OSD - AT7456E
- Onboard Flash: 1 Gbits (W25N01G)
- 7x UARTs (1,2,3,4,5,6,7)
- 9x PWM Outputs (8 Motor Output, 1 LED)
- Battery input voltage: 3S-6S
- BEC 5V/2.5A, 10V/2.0A
## Pinout
![JHEMCU H743 Board](JHEMCU-H743HD_Board.jpg "JHEMCU H743HD")
## UART Mapping
The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the
receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
In addition to pinouts, the board also has SH6P 1mm connector for DJI FPV and SH8P 1mm connector for 4 in 1 ESC.
- SERIAL0 -> USB
- SERIAL1 -> USART1 (DMA-enabled)
- SERIAL2 -> USART2 (RX/SBUS, DMA-enabled)
- SERIAL3 -> USART3 (DMA-enabled)
- SERIAL4 -> UART4 (GPS, DMA-enabled)
- SERIAL5 -> UART5 (Pins labeled R5 T5)
- SERIAL6 -> USART6 (DisplayPort, DMA-enabled)
- SERIAL7 -> UART7 (ESC Telemetry)
- SERIAL8 -> UART8 (Unused, not tested, no pinout, need to solder direct on precessor pins to utilize if you need just one more UART)
## RC Input
RC input is configured on the RX2/TX2 (USART2_RX/USART2_TX) pins. It supports ELRS(CSRF), TBS(CSRF), SBUS, IBUS, DSM2, and DSMX.
## OSD Support
JHEMCU H743 supports OSD using OSD_TYPE 1 (MAX7456 driver).
## PWM Output
JHEMCU H743 supports up to 9 PWM outputs. 8 motors and 1 LED strip or another PWM output.
The PWM is in 4 groups:
- PWM 1 - 4 in group1
- PWM 5, 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. Channels 1-8 support bi-directional dshot.
## Battery Monitoring
The board has a built-in voltage and current sensor. The current
sensor's max Amps is not specified. The voltage sensor can handle up to 6S
LiPo batteries.
## Compass
JHEMCU H743 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
## 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.

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# setup for LEDs on chan9
SERVO9_FUNCTION 120

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# hw definition file for processing by chibios_hwdef.py
# for JHEH743_HD hardware.
# thanks to betaflight for pin information
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1411
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
MCU_CLOCKRATE_MHZ 480
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
PA15 FLASH1_CS CS
PB12 OSD1_CS CS
PA4 GYRO1_CS CS
PE11 GYRO2_CS CS
PA8 LED_BOOTLOADER OUTPUT LOW
define HAL_LED_ON 0

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# hw definition file for processing by chibios_hwdef.py
# for JHEH743_HD hardware.
# thanks to betaflight for pin information
# MCU class and specific type
MCU STM32H7xx STM32H743xx
# board ID for firmware load
APJ_BOARD_ID 1411
# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000
MCU_CLOCKRATE_MHZ 480
FLASH_SIZE_KB 2048
# bootloader takes first sector
FLASH_RESERVE_START_KB 384
define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1
STM32_ST_USE_TIMER 2
# SPI devices
# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI2
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2
# SPI3
PB2 SPI3_MOSI SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
# SPI4
PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4
# Chip select pins
PA15 FLASH1_CS CS
PB12 OSD1_CS CS
PA4 GYRO1_CS CS
PE11 GYRO2_CS CS
# Beeper
PE3 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# USART1
PA10 USART1_RX USART1
PA9 USART1_TX USART1
# USART2
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
PD0 UART4_RX UART4
PD1 UART4_TX UART4
define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS
# UART5
PC12 UART5_TX UART5 NODMA
PD2 UART5_RX UART5 NODMA
# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6
define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA
define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
# 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
# Servos
# ADC ports
# ADC1
PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 11
define HAL_BATT_VOLT_SCALE 11.0
PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 13
define HAL_BATT_CURR_SCALE 58.8
define HAL_BATT_MONITOR_DEFAULT 4
# MOTORS
PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51) # M2
PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53) # M4
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR # M5
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55) # M6
PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7
PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # M8
# LEDs
PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
PE5 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
# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV
define HAL_LOGGING_DATAFLASH_ENABLED 1
# 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:0:0x76
# IMU setup
# IMU setup
SPIDEV icm42688p SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ
IMU Invensensev3 SPI:icm42688p ROTATION_PITCH_180
SPIDEV icm42688p2 SPI4 DEVID2 GYRO2_CS MODE3 1*MHZ 8*MHZ
IMU Invensensev3 SPI:icm42688p2 ROTATION_ROLL_180
DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
# 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 3
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

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