mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: CB Unmanned Stamp H743
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
b7330c3238
commit
75978f9d6f
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# CBUnmanned H743 Stamp
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The [CBUnmanned H743 Stamp](https://cbunmanned.com/store) is a flight controller loosely based on the FMUv6 standards & is designed for low volume OEMs as a drop in way to add ArduPilot to their custom hardware builds. It is a part of CBUnmanned's wider ["Stamp" Eco-System](https://wiki.cbunmanned.com/wiki/cbunmanned-stamp-eco-system), which brings together all the typical avionics hardware into a neat custom carrier PCB. Mounting footprints and symbols are available along with examples of basic usage on the [Wiki](https://wiki.cbunmanned.com/wiki/cbunmanned-stamp-eco-system/h743-flight-controller).
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## Features
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- Class leading H7 SOC.
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- Triple IMU sensors for extra redundancy.
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- Based on the FMU-V6 standards.
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- Micro SD Card for Logging/LUA Scripting.
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- Direct solder mounting or optional 1.27mm header.
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- x1 Ethernet and x2 CAN for easy integration with the next generation of UAV accessories.
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- All complicated/supporting circuitry is on-board, just power with 5v.
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- Just 22mm x 24.25mm & 1.9g.
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## Specifications
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- Processor
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- STM32H743IIK6 microcontroller
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- 480MHz
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- 2Mb Flash
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- 1Mb RAM
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- Sensors
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- x2 Ivensense ICM-42688 IMU
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- x1 Ivensense ICM-42670 IMU
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- x1 Infineon DPS310 Barometer
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- x1 Bosch BMM150 Magnetometer
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- Power
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- 5v Main Power in
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- x6 Independent Power Regulators
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- x2 ADC Inputs for Voltage and Current Sense
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- Interfaces
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- x1 MicroSD card slot
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- x8 UARTs inc RC, x3 with flow control
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- x10 PWM outputs
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- x2 I2C
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- x2 CAN
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- x1 External SPI
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- x1 Ethernet
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- External Buzzer
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- External Safety Switch
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- External USB connectors
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## Pinout
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### UART Mapping (Yellow Fade)
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Ardupilot -> STM32
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- SERIAL0 -> USB
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- SERIAL1 -> USART1
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- SERIAL2 -> USART2 (With RTS/CTS, DMA-enabled)
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- SERIAL3 -> USART3 (GPS1, DMA-enabled)
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- SERIAL4 -> UART4 (GPS2, DMA-enabled)
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- SERIAL5 -> UART5 (With RTS/CTS, DMA-enabled)
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- SERIAL6 -> USART6 (RCIN / IO coprocessor if fitted, DMA-enabled)
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- SERIAL7 -> UART7 (With RTS/CTS, DMA-enabled)
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- SERIAL8 -> UART8
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Serial 2, 5 & 7 have RTS/CTS pins, the other UARTs do not have RTS/CTS.
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GPS 1 & 2 are on Serial 3 & 4 respectively.
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### RC Input
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RC input is configured on the USART 6 Rx Pin. This pin allows all RC protocols compatible with direct connection to a H7 IC (SBus requires setting the bitmask for hardware inversion, CRSF etc), PPM is NOT supported.
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USART 6 Tx is available for use with bi directional protocols.
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An optional IOMCU can be connected to this serial port, a compatible custom build of the firmware required.
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### CAN Ports (Light Green Fade)
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2 CAN buses are available, each with a built in 120 ohm termination resistor.
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### I2C (Maroon Fade)
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I2C 1 - Internal for BMM150 Compass.
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I2C 2 - Internal for DPS310 Barometer.
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I2C 3 - External With internal 2.2k Pull Up.
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I2C 4 - External With internal 2.2k Pull Up.
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### SPI (Cyan Fade)
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SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin, compatible custom build of the firmware required.
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### PWM Output (Blue Fade)
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The Stamp supports up to 10 PWM outputs with D-Shot.
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The PWM outputs are in 3 groups:
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- PWM 1 - 4 in group 1 (Timer 5)
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- PWM 5 - 8 in group 2 (Timer 4)
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- PWM 9 & 10 in group 3 (Timer 2)
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Channels within the same group need to use the same output rate. If any channel in a group uses D-Shot then all channels in the group need to use D-Shot.
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BiDirectional DShot available on the first 8 outputs.
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A buzzer alarm signal is available on Timer 14.
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### Analog Inputs (Purple Fade)
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The board has two ADC input channels for Voltage (0-3.3v) and Current (0-3.3v) measurement. Settings are dependent on the external hardware used.
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### Ethernet (Green Fade)
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Ethernet is available on 4 output pads and has internal magnetics supporting direct connection to external equipment, no need for a large RJ45 connector.
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### Compass
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The H743 Stamp has a built in compass, the BMM150. Due to potential interference the board is usually used with an external I2C or CAN compass as part of a GPS/Compass combination.
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### USB
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USB Signals D+ & D- are available to route to a suitable connector for your project.
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### Safety Button
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Optional, if it is not fitted remove the check from arming mask. To activate short this pad to 3.3v with a momentary push button (Press & Hold).
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### Power
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A regulated 3.3v output is available from the stamp for use with the safety button. WARNING! This is shared with the main IC - Do NOT use for accessories. Keep current draw under 0.1A!
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The Stamp requires a stable 5v supply input of at least 1.5A. This directly powers the 5v components and supplies the 3.3v LDOs with power. Typical idle usage is 0.35A @ 5v.
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
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Firmware Taget = CBU-H7-Stamp
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A built in button can be used to activate DFU Mode by being pressed during power up. The DFU Activate pin is broken out to allow remote mounting of this button if required.
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@ -0,0 +1,93 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp hardware
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# default to all pins low to avoid ESD issues
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#DEFAULTGPIO OUTPUT LOW PULLDOWN
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_CBU_StampH743
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# bootloader is installed 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 128
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART1 UART2
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# CS pins
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PI9 IMU1_CS CS
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PH5 IMU2_CS CS
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PI4 IMU3_CS CS
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PE4 SP4_CS1 CS
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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PE3 LED_ACTIVITY OUTPUT HIGH
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define HAL_LED_ON 1
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# enable DFU by default
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ENABLE_DFU_BOOT 1
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# support flashing from SD card:
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 IMU1_PWR_EN OUTPUT HIGH
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PF4 IMU2_PWR_EN OUTPUT HIGH
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PE7 IMU3_PWR_EN OUTPUT HIGH
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PG8 MAG_PWR_EN OUTPUT HIGH
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PG15 Ethernet_PWR_EN OUTPUT HIGH
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# FATFS support:
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define CH_CFG_USE_MEMCORE 1
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define CH_CFG_USE_HEAP 1
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define CH_CFG_USE_SEMAPHORES 0
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define CH_CFG_USE_MUTEXES 1
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define CH_CFG_USE_DYNAMIC 1
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define CH_CFG_USE_WAITEXIT 1
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define CH_CFG_USE_REGISTRY 1
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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DMA_PRIORITY SDMMC* ADC* UART* USART* SPI* TIM*
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
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@ -0,0 +1,232 @@
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp hardware
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# default to all pins low to avoid ESD issues
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#DEFAULTGPIO OUTPUT LOW PULLDOWN
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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MCU_CLOCKRATE_MHZ 480
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_CBU_StampH743
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FLASH_RESERVE_START_KB 128
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1 NODMA
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# GPS 1
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# GPS 2
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# RCIN
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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_RCIN
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define DEFAULT_SERIAL6_BAUD 115
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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PE1 UART8_TX UART8 NODMA
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PE0 UART8_RX UART8 NODMA
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PG13 ETH_RMII_TXD0 ETH1
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PG12 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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# PHY DP83825IRMQR
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define BOARD_PHY_ID MII_DP83825I_ID
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define BOARD_PHY_RMII
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# ADC
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PA0 BATT_CURRENT_SENS ADC1 SCALE(1) # Current
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PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1) # Voltage
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PB1 SPARE_SENS ADC1 SCALE(1) # Spare
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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 18
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define HAL_BATT_CURR_PIN 16
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 64
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# IMU1 ICM-42760-P
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PI9 IMU1_CS CS
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PF2 IMU1_DRDY INPUT
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# IMU2 ICM-42688-P
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PH5 IMU2_CS CS
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PA10 IMU2_DRDY INPUT
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# IMU3 ICM-42688-P
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PI4 IMU3_CS CS
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PI6 IMU3_DRDY INPUT
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# SPI4 - External
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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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PI7 SP4_DRDY INPUT
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PE4 SP4_CS1 CS
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# SPI6 - IMUs
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PA5 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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# PWM output pins
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PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
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PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
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PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) BIDIR
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PA15 TIM2_CH1 TIM2 PWM(9) GPIO(58)
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PB3 TIM2_CH2 TIM2 PWM(10) GPIO(59)
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PF9 TIM14_CH1 TIM14 GPIO(61) ALARM
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# I2C buses
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# I2C1 - BMM150
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2 - DPS310
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C3 - GPS1 external compass
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 - GPS2 external compass
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C1 I2C2 I2C3 I2C4
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define HAL_I2C_INTERNAL_MASK 3
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# power enable pins
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PI11 IMU1_PWR_EN OUTPUT HIGH
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PF4 IMU2_PWR_EN OUTPUT HIGH
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PE7 IMU3_PWR_EN OUTPUT HIGH
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PG8 MAG_PWR_EN OUTPUT HIGH
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PC13 SD_PWR_EN OUTPUT HIGH
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PG15 Ethernet_PWR_EN OUTPUT HIGH
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# safety
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PF5 SAFETY_IN INPUT PULLDOWN
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# LED
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PE3 LED_RED OUTPUT HIGH GPIO(90)
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_LED_ON 1
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# barometers
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BARO DPS310 I2C:1:0x77
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# compass
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COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# IMUs
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SPIDEV icm42688 SPI6 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ
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SPIDEV icm42688_2 SPI6 DEVID2 IMU3_CS MODE3 2*MHZ 16*MHZ
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SPIDEV icm42670 SPI6 DEVID3 IMU1_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
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IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180
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IMU Invensensev3 SPI:icm42670 ROTATION_PITCH_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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DMA_PRIORITY SDMMC* TIM* SPI6*
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DMA_NOSHARE TIM2* TIM4* TIM5*
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# enable DFU reboot for installing bootloader
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||||
# note that if firmware is build with --secure-bl then DFU is
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||||
# disabled
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ENABLE_DFU_BOOT 1
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|
||||
# build ABIN for flash-from-bootloader support:
|
||||
env BUILD_ABIN True
|
||||
|
||||
# ethernet consumes a big chunk of flash
|
||||
define AP_BATTERY_SCRIPTING_ENABLED 1
|
||||
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Reference in New Issue