AP_HAL_ChibiOS: T-Motor H743 Mini

libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/README.md

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+# T-Motor H7 Mini Flight Controller
+
+The T-Motor H7 Mini is a flight controller produced by [T-Motor](https://store.tmotor.com/goods-1295-H7+MINI.html).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - ICM42688/BMI270
+ - Barometer - DPS310
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbits
+ - 6x UARTs (1,5,6,7,9)
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+ - Battery input voltage: 2S-6S
+ - BEC 5V/2A, 10V/1.5A
+
+## Pinout
+
+![T-Motor H7 Mini Board](TMotorH7Mini_Board.JPG "T-Motor H7 Mini")
+
+## 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 (ESC Telemetry)
+ - SERIAL3 -> UART3
+ - SERIAL5 -> UART5 (GPS, DMA-enabled)
+ - SERIAL6 -> UART6 (RX, DMA-enabled)
+ - SERIAL7 -> UART7 (DJI VTX, DMA-enabled)
+ - SERIAL8 -> UART8 (SBUS, DMA-enabled)
+
+## RC Input
+
+RC input is configured on the R6/TX6 (UART6_RX/UART6_TX) pins. It supports all serial RC
+protocols. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL6 with half-duplex, pin-swap and inversion enabled.
+
+## OSD Support
+
+The T-Motor H7 Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The T-Motor H7 Mini supports up to 5 PWM outputs. The pads for motor output
+M1 to M4 on the motor connectors and separate pads, plus
+M5 for LED strip or another PWM output.
+
+The PWM is in 2 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5 in group2
+
+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 1-4 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 11.0
+ - BATT_AMP_PERVLT 50.0
+
+## Compass
+
+The T-Motor H7 Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## 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/TMotorH743/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for TMH7 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1138
+
+# 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
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+PE11 GYRO2_CS CS
+
+PA8 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for TMH7 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1138
+
+# 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
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3
+PB2 SPI3_MOSI SPI3
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+
+# SPI4
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# Chip select pins
+PA15 FLASH1_CS CS
+PB12 OSD1_CS CS
+PA4 GYRO1_CS CS
+PE11 GYRO2_CS CS
+
+# Beeper
+PE3 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 EMPTY USART3 EMPTY UART5 USART6 UART7 UART8
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 (ESC Telemetry)
+PA10 USART1_RX USART1 NODMA
+DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART3
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART5 (GPS)
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
+
+# USART6 (RX)
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+# UART7 (DJI)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV
+
+# UART8 (SBUS/SmartAudio)
+PE0 UART8_RX UART8  # no suitable timer for RCININT
+PE1 UART8_TX UART8
+
+# I2C ports
+I2C_ORDER I2C1
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# One baro
+BARO DPS310 I2C:0:0x76
+
+# Servos
+PB8 CAMERA1 OUTPUT GPIO(70) LOW
+define RELAY2_PIN_DEFAULT 70
+
+# ADC ports
+
+# ADC1
+PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 11
+define HAL_BATT_VOLT_SCALE 11.0
+PC2 RSSI_ADC ADC1
+define BOARD_RSSI_ANA_PIN 12
+PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 13
+define HAL_BATT_CURR_SCALE 50.0
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR # M1
+PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)       # M2
+PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR # M3
+PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)       # M4
+
+# LEDs
+PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58) # M9
+
+PE5 LED1 OUTPUT LOW GPIO(91)
+define HAL_GPIO_A_LED_PIN 91
+
+PE4 LED2 OUTPUT LOW GPIO(92)
+define HAL_GPIO_B_LED_PIN 92
+define HAL_GPIO_LED_OFF 1
+
+# Dataflash setup
+SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+
+# OSD setup
+SPIDEV osd SPI2 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# IMU setup
+SPIDEV icm42688 SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   16*MHZ
+SPIDEV bmi270   SPI4 DEVID1 GYRO2_CS   MODE3   1*MHZ   8*MHZ
+
+IMU BMI270 SPI:bmi270 ROTATION_PITCH_180_YAW_90
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
+
+DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
+DMA_PRIORITY TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*
+
+# 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 3
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+define AP_SCRIPTING_ENABLED 0