AP_HAL_ChibiOS: iFlight 2RAWH743

libraries/AP_HAL_ChibiOS/hwdef/2RAWH743/README.md

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+# iFlight 2RAW H743 Flight Controller
+
+The iFlight 2RAW H743 is a flight controller produced by [iFlight](https://shop.iflight.com/Thunder-H7-Flight-Controller-Pro2200).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - ICM42688P
+ - Barometer - SPL06-001
+ - Onboard Flash: 1GBit (not useable by ArduPilot)
+ - 6x UARTs
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 5V 1.5A
+ - BEC 10V 1.5A
+
+## Pinout
+
+![iFlight 2RAW H743 Board Top](Thunder-H7-1.png "iFlight 2RAW H743 Top")
+![iFlight 2RAW H743 Board Bottom](Thunder-H7-2.png "iFlight 2RAW H743 Bottom")
+
+## 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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (VTX HD, DMA-enabled)
+ - SERIAL2 -> UART2 (RX, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART4 (GPS, DMA-enabled)
+ - SERIAL6 -> UART6 (ESC Telemetry)
+
+## RC Input
+
+RC input is configured on the R2 (UART2_RX) pin. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL3 as an RC input serial port,
+with half-duplex, pin-swap and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the T3 pin (UART3 transmit). You need to set the following parameters to enable support for FrSky S.PORT
+ 
+  - SERIAL3_PROTOCOL 10
+  - SERIAL3_OPTIONS 7
+  
+## OSD Support
+
+The iFlight 2RAW H743 supports MSP DisplayPort OSD using OSD_TYPE 5
+
+## PWM Output
+
+The iFlight 2RAW H743 supports up to 9 PWM outputs. The pads for motor output
+M1 to M8 are provided in the motor connector, plus M9 on a separate pad for LED strip
+or another PWM output.
+
+The PWM is in 5 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. Channels 1-8 support bi-directional dshot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 11
+ - BATT_CURR_PIN 13
+ - BATT_VOLT_MULT 11.1
+ - BATT_AMP_PERVLT 64
+
+## Compass
+
+The iFlight 2RAW H743 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## VTX power control
+GPIO 81 controls the VTX BEC output to pins marked "10V". Setting this GPIO low removes voltage supply to pins.
+By default RELAY2 is configured to control this pin and sets the GPIO high.
+
+## 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/2RAWH743/defaults.parm

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+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+# Default VTX power to on
+RELAY2_DEFAULT 1

libraries/AP_HAL_ChibiOS/hwdef/2RAWH743/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for IFLIGHT_2RAW_H743 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_2RAWH743
+
+# 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
+
+PD11 CAM_SW OUTPUT LOW
+PD10 VTX_PWR OUTPUT HIGH
+
+# Chip select pins
+PA15 SDCARD1_CS CS
+PB12 OSD1_CS CS
+PC15 GYRO1_CS CS
+
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/2RAWH743/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for IFLIGHT_2RAW_H743 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_2RAWH743
+
+# 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
+PD7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# Chip select pins
+PA15 SDCARD1_CS CS
+PB12 OSD1_CS CS
+PC15 GYRO1_CS CS
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 OTG2
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 (VTX HD)
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 5
+
+# USART2 (RX)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 (GPS)
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_GPS
+
+# 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_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
+
+# I2C ports
+I2C_ORDER I2C1 I2C2
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# 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 40.0
+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
+
+# VTX power switch
+PD10 VTX_PWR OUTPUT LOW GPIO(81)
+define RELAY2_PIN_DEFAULT 81
+
+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
+
+BARO SPL06 I2C:1:0x76
+
+# IMU setup
+
+# 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