mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add GEPRC_TAKER_H743
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YI-BOYANG
Andrew Tridgell
parent
7759bc7662
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122eb21b45
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# GEPRC TAKER H743 BT Flight Controller
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The TAKER H743 BT is a flight controller produced by [GEPRC](https://geprc.com/).
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## Features
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- STM32H743 microcontroller
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- MPU6000+ICM42688 dual IMU
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- SPL06-001 barometer
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- microSD based 512MB flash logging
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- AT7456E OSD
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- 7 UARTs
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- 8 PWM outputs
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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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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (DisplayPort, DMA-enabled)
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- SERIAL2 -> UART2 (RCIN, DMA-enabled)
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- SERIAL3 -> UART3 (connected to internal BT module, not currently usable by ArduPilot)
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- SERIAL4 -> UART4 (GPS)
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- SERIAL6 -> UART6 (User)
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- SERIAL7 -> UART7 (User)
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- SERIAL8 -> UART8 (ESC Telemetry)
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## RC Input
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RC input is configured by default via the USAR2 RX input. It supports all unidirectional RC protocols except PPM. FPort and full duplex protocols, like CRSF/ELRS, will need to use TX2 also.
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Note:
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If the receiver is FPort or a full duplex protocol, then the receiver must be tied to the USART2 TX pin and [SERIAL2_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial2-options) = 7 (invert TX/RX, half duplex), and [RSSI_TYPE](https://ardupilot.org/copter/docs/parameters.html#rssi-type) =3.
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## FrSky Telemetry
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FrSky Telemetry is supported using the Tx pin of any UART excluding SERIAL3UART3. To enable support for FrSky S.PORT (the example shows SERIAL6), you need to set the following parameters.
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- SERIAL6_PROTOCOL 10
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- SERIAL6_OPTIONS 7
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## OSD Support
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The TAKER H743 BT supports analog OSD using its internal OSD chip and simultaneously HD goggle DisplayPort OSDs via the HD VTX connector.
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## VTX Support
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The SH1.0-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 12v (or VBAT by solder pad selection) so be careful not to connect to devices expecting 5v.
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## PWM Output
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The TAKER H743 BT supports up to 9 PWM/DShot outputs. The pads for motor output
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M1 to M4 are on the esc connector, M5-M8 are solder pads, plus M9 is defaulted for serial LED strip or can be used as another PWM output.
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The PWM is in 4 groups:
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- PWM 1-4 in group1
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- PWM 5-6 in group2
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- PWM 7-8 in group3
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- PWM 9 in group4
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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. Channels 1-8 support bi-directional DShot.
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## Battery Monitoring
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The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
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The voltage sensor can handle up to 6S.
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LiPo batteries.
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The default battery parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 13
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- BATT_VOLT_SCALE 11.1
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- BATT_CURR_PIN 12
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- BATT_CURR_SCALE 28.5
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## Compass
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The TAKER H743 BT does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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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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Binary file not shown.
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After Width: | Height: | Size: 203 KiB |
Binary file not shown.
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After Width: | Height: | Size: 148 KiB |
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# setup for LEDs on chan9
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SERVO9_FUNCTION 120
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OSD_TYPE2 5
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@ -0,0 +1,54 @@
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# hw definition file for processing by chibios_pins.py
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# for GEPRFH743-BT-HD bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_GEPRC_TAKER_H743
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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define STM32_LSECLK 32768U
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define STM32_LSEDRV (3U << 3U)
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FLASH_SIZE_KB 2048
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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 384
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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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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PD2 BUZZER OUTPUT LOW PULLDOWN
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PC13 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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# Motors for esc init
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PB0 PWMOUT1 OUTPUT LOW
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PB1 PWMOUT2 OUTPUT LOW
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PB5 PWMOUT3 OUTPUT LOW
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PB4 PWMOUT4 OUTPUT LOW
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PD12 PWMOUT5 OUTPUT LOW
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PD13 PWMOUT6 OUTPUT LOW
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PC8 PWMOUT7 OUTPUT LOW
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PC9 PWMOUT8 OUTPUT LOW
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# Add CS pins to ensure they are high in bootloader
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PA15 SDCARD_CS CS
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PE4 MAX7456_CS CS
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PA4 MPU6000_CS CS
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PB12 ICM42605_CS CS
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# hw definition file for processing by chibios_pins.py
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# for TAKER H743 BT 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 STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_GEPRC_TAKER_H743
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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FLASH_SIZE_KB 2048
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# leave 2 sectors free
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FLASH_RESERVE_START_KB 384
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# only one I2C bus
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I2C_ORDER I2C1
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# I2C1 for baro
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# order of UARTs (and USB),
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
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# buzzer
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#define HAL_BUZZER_PIN 80
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# PA10 IO-debug-console
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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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# 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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# SPI2 for ICM42688
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PB12 ICM42605_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3 for SDCard
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PA15 SDCARD_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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# SPI4 for MAX7456 OSD
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PE4 MAX7456_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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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_MONITOR_DEFAULT 4
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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 11.13
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define HAL_BATT_CURR_SCALE 28.5
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PC13 LED0 OUTPUT LOW GPIO(90) # LED
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define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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define AP_NOTIFY_GPIO_LED_1_PIN 90
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# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
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# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
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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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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
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# USART2
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# RC input defaults to UART to allow for bi-dir dshot
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PA2 USART2_TX USART2
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PA3 USART2_RX USART2
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# USART3 (BT)
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PB11 USART3_RX USART3 NODMA
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PB10 USART3_TX USART3 NODMA
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# UART4 (GPS)
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# UART6
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None
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# UART7
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None
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# UART8
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
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# Motors, bi-directional dshot capable
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # M1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # M2
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PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) # M3
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PB4 TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR # M4
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR # M5
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55) # M6
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR # M7
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) # M8
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# extra PWM outs
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # led pin
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PD2 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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DMA_PRIORITY TIM3* TIM4* USART2*
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DMA_NOSHARE SPI1* SPI2*
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define HAL_STORAGE_SIZE 16384
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STORAGE_FLASH_PAGE 1
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
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SPIDEV icm42688 SPI2 DEVID1 ICM42605_CS MODE3 2*MHZ 16*MHZ
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SPIDEV sdcard SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
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SPIDEV osd SPI4 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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# IMU setup
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
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IMU Invensense SPI:mpu6000 ROTATION_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# one BARO
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#BARO BMP280 I2C:0:0x76
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#BARO DPS310 I2C:0:0x76
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BARO SPL06 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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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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#only enable BMP280 Baro
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#define AP_BARO_BACKEND_DEFAULT_ENABLED 0
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#undef define AP_BARO_BMP280_ENABLED
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#define AP_BARO_BMP280_ENABLED 1
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define AP_BARO_SPL06_ENABLED 1
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define AP_BARO_MS56XX_ENABLED 1
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# need to probe external baros even 'though we're minimised to allow custom build options:
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undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES
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define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1
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