mirror of https://github.com/ArduPilot/ardupilot
hwdef: add hwdef for SDMODELH7V1
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Peter Barker
Andrew Tridgell
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## SDMODEL SDH7 V1
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above image and some content courtesy of SDMODEL
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## Specifications¶
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Processor
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STM32H743 32-bit processor
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AT7456E OSD
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128 MByte flash for logging
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Sensors
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BMI270 IMU (accel and gyro only, no compass)
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BMP280 barometer
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Power
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2S - 8S Lipo input voltage with voltage monitoring
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9V, 1.5A BEC for powering Video Transmitter
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Interfaces
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9x PWM outputs (9th pwm output is for NeoPixel LED string via the LED pad)
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1x RC input
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6x UARTs/serial for GPS and other peripherals
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1x I2C port for external compass
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USB-C port
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Switchable VTX power
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All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without "uninvert hack"
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External current monitor input
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## Pinout
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PADS
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========= ===================
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Pin Function
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========= ===================
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VTX 9v 9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2. See Relay Switch Can be controlled by RELAY2
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SDA, SCL I2C connection (for peripherals)
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5V 5v output (1.5A max)
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3v3 3.3v output (0.25A max)
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Vi Video input from FPV camera
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Vo Video output to video transmitter
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CAM To camera OSD control
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G or GND Ground
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RSI Analog RSSI (0-3.3v) input from receiver
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R3, T3 UART3 RX and TX
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R4, T4 UART4 RX and TX
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R6, T6 UART6 RX and TX (UART6 RX is also located in the SH plug)
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LED WS2182 addressable LED signal wire
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Z- Piezo buzzer negative leg
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========= ===================
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Connectors
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ESC PORT1 (JST-SH-8P-1)
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========= ===================
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Pin Function
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========= ===================
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B+ Battery positive voltage (2S-8S)
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R7 UART7 RX
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GND Ground
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CURRENT CURRENT
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M1 Motor signal output 1
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M2 Motor signal output 2
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M3 Motor signal output 3
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M4 Motor signal output 4
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========= ===================
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ESC PORT2 (JST-SH-8P-2)
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========= ===================
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Pin Function
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========= ===================
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B+ Battery positive voltage (2S-8S)
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R7 UART7 RX
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GND Ground
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CURRENT CURRENT
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M5 Motor signal output 5
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M6 Motor signal output 6
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M7 Motor signal output 7
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M8 Motor signal output 8
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========= ===================
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DJI Connector JST-SH-6P-3
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========= ===================
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Pin Function
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========= ===================
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Vtx+ 9V for HD System or other VTX, by default ON/OFF is controlled by RELAY2. See Relay Switch
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G Ground
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T1 UART1 TX
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R1 UART1 RX
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G Ground
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R6 UART6 RX
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========= ===================
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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.
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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (Telem1) DMA-enabled
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- SERIAL2 -> not available externally, internally connected to currently unsupported BT-LE module
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- SERIAL3 -> UART3 (SmartAudio VTX protocol by default)
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- SERIAL4 -> UART4 (GPS) DMA-enabled
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- SERIAL5 -> not available
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- SERIAL6 -> UART6 (Setup for serial RX Protocol SBUS by default) DMA-enabled
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- SERIAL7 -> UART7 (RX7 only available, normally used for ESC telemetry protocol by default)
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The SERIAL7 port (UART7) is normally for ESC telemetry, and has an R7 pin on both of the ESC connectors.
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Any UART may be re-tasked by changing its protocol parameter.
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## Copter Default Frame Type¶
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For Copter firmware the FRAME_TYPE is already defaulted to type "12" (BetaFlight X) allowing existing BetaFlight configurations with ESCs attached to have the correct motor ordering without changes to the FRAME_TYPE and FRAME_CLASS parameters or ESC wiring.
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## RC Input¶
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RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols except PPM. See Radio Control Systems for details for a specific RC system. SERIAL6_PROTOCOL is set to "23", by default, to enable this.
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- SBUS/DSM/SRXL connects to the R6 pin.
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- FPort requires connection to T6 and SERIAL6_OPTIONS be set to "7".
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- CRSF also requires a T6 connection, in addition to R6, and automatically provides telemetry. Set SERIAL6_OPTIONS to "0".
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- SRXL2 requires a connecton to T6 and automatically provides telemetry. Set SERIAL6_OPTIONS to "4".
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Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
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FrSky Telemetry¶
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FrSky Telemetry is supported using the Tx pin of any UART. You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL2).
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- SERIAL2_PROTOCOL 10
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- SERIAL2_OPTIONS 7
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## OSD Support¶
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The SDH7V1 supports OSD using OSD_TYPE 1 (MAX7456 driver). The defaults are also setup to allow DJI Goggle OSD support on UART1.
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PWM Output¶
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The KakuteH7 supports up to 8 PWM outputs. Outputs are available via two JST-SH connectors. All 8 outputs support DShot and bi-directional DShot, as well as all PWM types.
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The PWM is in 3 groups:
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- PWM 1, 2 in group1
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- PWM 3, 4 in group2
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- PWM 5, 6 in group3
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- PWM 7, 8 in group4
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- PWM 9 (LED) in group5
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Channels within the same group need to use the same output rate, whether PWM or Dshot. If any channel in a group uses DShot then all channels in the group need to use DShot.
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## LED Output¶
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The LED output is configured by default to support NeoPixel LED strings.
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Battery Monitoring¶
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The board has a built-in voltage sensor via the B+ pin, but no internal current sensor. An external current sensor can be connected to the CUR pin.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 10.1
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- BATT_AMP_PERVLT varies depending on external current sensor
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## Compass¶
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The SDMODEL SDH7V1 does not have a built-in compass, however you can attach an external compass using I2C on the SDA and SCL pads.
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Firmware¶
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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. Later updates should be done with the *.apj firmware files.
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## Connection Diagram
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@include ../KakuteH7v2/defaults.parm
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include ../KakuteH7v2/hwdef-bl.dat
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# board ID for firmware load
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APJ_BOARD_ID 1111
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include ../KakuteH7v2/hwdef.dat
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# board ID for firmware load
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APJ_BOARD_ID 1111
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