mirror of https://github.com/ArduPilot/ardupilot
hwdef: Add AEROFOX H7
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shen
Peter Barker
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# AEROFOX-H7 Flight Controller
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The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn)
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<img src="AEROFOX-H7_IMG.png" alt="" width="400">
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## Features
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Processor
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STM32H743
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Sensors
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ADIS16470 (appears in the advanced version)
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ICM45686 (appears in the advanced version)
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ICM42688
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QMC5883L
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SPL06-001
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Power
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2S-12S (MAX60V) Lipo input voltage
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5V BEC for system power supply( 5V peripheral current limit 1.2A)
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5V/12V BEC for VTX( Current limit 2.5A, need strong heat dissipation)
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Dual power automatic switching and condition monitoring
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Interfaces
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16x PWM output
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7x UARTs for RC, TELEM, GPS and other peripherals
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2x I2C ports for external compass, airspeed, baro
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2x CAN port
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4x Relay output
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4x ADC input
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FPC connector
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The connector includes an SPI, an I2C, an PWM IMU heating control pin.
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## Pinout
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<img src="AEROFOX-H7_pinout.png" alt="" width="800">
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## UART Mapping
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All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:
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- SERIAL0 -> USB (MAVLink2)
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- SERIAL1 -> UART7 (ESC Telemetry)
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- SERIAL2 -> UART4 (User configured)
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- SERIAL3 -> UART5 (User configured)
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- SERIAL4 -> USART2 (User configured)
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- SERIAL5 -> USART1 (GPS)
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- SERIAL6 -> UART8 (RCIN)
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- SERIAL7 -> USART3 (MAVLink2)
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## RC Input
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SERIAL 6 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL6_OPTIONS = 4 (Half-Duplex)
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## PWM Output
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The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot.
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The 16 PWM outputs are in 9 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 9,10 in group5
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- PWM 11 in group6
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- PWM 12 in group7
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- PWM 13,14 in group8
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- PWM 15,16 in group9
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Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
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## Battery Monitoring
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The board has a builting voltage and current sensor. The voltage sensor can handle up
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to 12S LiPo batteries.
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### The power A is onboard voltage sensor
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It is enabled by default and has the following parameters set by default:s
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 19
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- BATT_CURR_PIN 9
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- BATT_VOLT_MULT 21
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- BATT_AMP_PERVL 40
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### The power B is external PMU input
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An additional power monitor input is provided and can be enabled by setting:
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- BATT_MONITOR 4, then reboot and set the following:
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- BATT_VOLT_PIN 10
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- BATT_CURR_PIN 11
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- BATT_VOLT_MULT 34
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- BATT_AMP_PERVLT should be set as required by the specific monitor used
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## Compass
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A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects.
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## Loading Firmware
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The board comes pre-installed with an ArduPilot compatible bootloader, allowing the
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loading of *.apj firmware files with any ArduPilot compatible ground station. The
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hardware also supports the PX4 Betaflight INAV firmware, which needs to be changed with STlink.
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@ -0,0 +1,53 @@
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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 24000000
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_AEROFOX_H7
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FLASH_SIZE_KB 2048
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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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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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#define LED pins
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PE14 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red
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PE12 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
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PE13 LED_RED OUTPUT OPENDRAIN HIGH # blue
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1
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# UART1 is debug
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PA9 USART1_TX USART1 NODMA
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PA10 USART1_RX USART1 NODMA
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PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN
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PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH OPENDRAIN
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PE8 nVDD_12V_PERIPH_EN OUTPUT LOW OPENDRAIN
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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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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 32768
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define HAL_LED_ON 1
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# define BOOTLOADER_DEBUG SD7
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# Add CS pins to ensure they are high in bootloader
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PD7 16470_CS CS
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PD4 42688_1_CS CS
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PC15 42688_2_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW
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PC14 FLASH_CS CS
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@ -0,0 +1,238 @@
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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 24000000
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_AEROFOX_H7
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 128
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# supports upto 8MBits/s
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CANFD_SUPPORTED 8
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# system timer
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STM32_ST_USE_TIMER 5
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# UART
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SERIAL_ORDER OTG1 UART7 UART4 UART5 USART2 USART1 UART8 USART3 OTG2
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#serial1
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PA15 UART7_TX UART7
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PA8 UART7_RX UART7
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry
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# serial2
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PC10 UART4_TX UART4
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PC11 UART4_RX UART4
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define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
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# serial3
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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# serial4
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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# serial5
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PA9 USART1_TX USART1 NODMA
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PA10 USART1_RX USART1 NODMA
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define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
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# serial6
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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# serial7
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
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# default the 2nd interface to MAVLink2
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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# CAN
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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
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I2C_ORDER I2C1 I2C2
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# SPI
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PB3 SPI1_SCK SPI1
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PB4 SPI1_MISO SPI1
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PB5 SPI1_MOSI SPI1
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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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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# IMU
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IMU ADIS1647x SPI:16470 ROTATION_PITCH_180 ADIS_DRDY_PIN
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IMU Invensensev3 SPI:42688_1 ROTATION_NONE
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IMU Invensensev3 SPI:42688_2 ROTATION_PITCH_180_YAW_270
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SPIDEV 16470 SPI1 DEVID1 16470_CS MODE3 1*MHZ 2*MHZ
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SPIDEV 42688_1 SPI1 DEVID2 42688_1_CS MODE3 2*MHZ 16*MHZ
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SPIDEV 42688_2 SPI4 DEVID3 42688_2_CS MODE3 2*MHZ 16*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ
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PD7 16470_CS CS
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PD4 42688_1_CS CS
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PC15 42688_2_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW
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PC14 FLASH_CS CS
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PE7 DRDY1_ADIS16470 INPUT GPIO(90)
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define ADIS_DRDY_PIN 90
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# ADC
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PA5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PB0 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT2_CURRENT_SENS ADC1 SCALE(1)
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PB1 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# GPIO
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PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) BIDIR
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PE11 TIM1_CH2 TIM1 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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PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56) BIDIR
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PC7 TIM3_CH2 TIM3 PWM(8) GPIO(57)
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PA2 TIM15_CH1 TIM15 PWM(9) GPIO(58)
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PA3 TIM15_CH2 TIM15 PWM(10) GPIO(59)
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PA7 TIM14_CH1 TIM14 PWM(11) GPIO(60)
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PA6 TIM13_CH1 TIM13 PWM(12) GPIO(61)
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PC9 TIM8_CH4 TIM8 PWM(13) GPIO(62)
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PC8 TIM8_CH3 TIM8 PWM(14) GPIO(63)
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PB15 TIM12_CH2 TIM12 PWM(15) GPIO(64)
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PB14 TIM12_CH1 TIM12 PWM(16) GPIO(65)
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PB9 TIM17_CH1 TIM17 ALARM
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PE3 EXTERN_GPIO1 OUTPUT GPIO(1)
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PE4 EXTERN_GPIO2 OUTPUT GPIO(2)
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PD11 EXTERN_GPIO3 OUTPUT GPIO(3)
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#PD14 EXTERN_GPIO4 OUTPUT GPIO(4)
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PD14 LED_SAFETY OUTPUT
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PD15 SAFETY_IN INPUT PULLDOWN
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PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN
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PC4 nVDD_5V_PERIPH_EN OUTPUT LOW OPENDRAIN
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PE8 nVDD_12V_PERIPH_EN OUTPUT HIGH OPENDRAIN
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PE10 VDD_5V_HIPOWER_oOC INPUT PULLUP
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PC5 VDD_BRICK_nVALID INPUT PULLUP
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# I2C BMP280 or SPL06
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BARO SPL06 I2C:0:0x76
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BARO BMP280 I2C:0:0x76
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# COMPASS
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COMPASS QMC5883L I2C:0:0x0D false ROTATION_NONE
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# LED setup is similar to PixRacer
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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PE14 LED_RED OUTPUT GPIO(10)
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PE12 LED_GREEN OUTPUT GPIO(11)
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PE13 LED_BLUE OUTPUT GPIO(12)
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12
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# IMU heater
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PB8 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 40
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 40
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
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define HAL_I2C_INTERNAL_MASK 1
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# SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define HAL_CHIBIOS_ARCH_FMUV3 1
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define BOARD_TYPE_DEFAULT 3
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# safety switch
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define HAL_HAVE_SAFETY_SWITCH 1
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# FRAM
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define HAL_WITH_RAMTRON 1
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define HAL_STORAGE_SIZE 32768
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# open all IMUs
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define HAL_EKF_IMU_MASK_DEFAULT 7
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# IMU fast sample
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# Enable FAT
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define HAL_OS_FATFS_IO 1
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# DMA
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DMA_NOSHARE SPI2* UART2* UART4* UART5*
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ENABLE_DFU_BOOT 1
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define HAL_BATT_MONITOR 4
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define HAL_BATT_VOLT_PIN 19
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define HAL_BATT_CURR_PIN 9
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define HAL_BATT_VOLT_SCALE 21
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define HAL_BATT_CURR_SCALE 40
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define HAL_BATT2_VOLT_PIN 10
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define HAL_BATT2_CURR_PIN 11
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define HAL_BATT2_VOLT_SCALE 34
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define HAL_BATT2_CURR_SCALE 40
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