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DMA-enabled) + - SERIAL6 -> UART6 (GPS, DMA-enabled) + - SERIAL7 -> UART7 (DJI OSD, DMA-enabled) + - SERIAL8 -> UART8 (ESC Telemetry) + +## RC Input + +RC input is configured by default on the R4 (UART4_RX) pin in the DJI connector. It supports all serial RC +protocols. For protocols requiring separate half-duplex serial to transmit +telemetry (such as FPort) you should setup SERIAL1 as an RC input serial port, +with half-duplex, pin-swap and inversion enabled. You can also use the soldered pads on UART1 by setting SERIAL4_PROTOCOL to -1 and SERIAL1_PROTOCOL to 23. For PPM support on UART1_RX set BRD_ALT_CONFIG to 1. + +## FrSky Telemetry + +FrSky Telemetry can be supported using the T1 pin (UART1 transmit). You need to set the following parameters to enable support for FrSky S.PORT + + - SERIAL1_PROTOCOL 10 + - SERIAL1_OPTIONS 7 + +## OSD Support + +The FoxeerH743 supports OSD using OSD_TYPE 1 (MAX7456 driver) or OSD_TYPE 3 if using DJI OSD + +## PWM Output + +The FoxeerH743 supports up to 9 PWM outputs. The pads for motor output +M1 to M8 are provided on both the motor connectors and on separate pads, plus +M9 on a separate pad for LED strip or another PWM output. + +The PWM is in 4 groups: + + - PWM 1-4 in group1 + - PWM 5,6 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 8S +LiPo batteries. + +The correct battery setting parameters are: + + - BATT_MONITOR 4 + - BATT_VOLT_PIN 13 + - BATT_CURR_PIN 12 + - BATT_VOLT_MULT 11 + - BATT_AMP_PERVLT 35.4 + +## Compass + +The FoxeerH743 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. + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat index 2013ea3f48..423e2f944b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/hwdef.dat @@ -11,6 +11,7 @@ APJ_BOARD_ID 1089 # crystal frequency, setup to use external oscillator OSCILLATOR_HZ 8000000 +MCU_CLOCKRATE_MHZ 480 FLASH_SIZE_KB 2048 @@ -48,35 +49,45 @@ define HAL_BUZZER_PIN 80 define HAL_BUZZER_ON 1 define HAL_BUZZER_OFF 0 +# USART4 can also support PPM +PA1 TIM2_CH2 TIM2 RCININT PULLDOWN LOW ALT(1) + # SERIAL ports -SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7 UART8 +SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8 # PA10 IO-debug-console PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 -# USART1 +# USART1 (RX/SBUS) PA10 USART1_RX USART1 PA9 USART1_TX USART1 -define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN # USART2 (VTX) PA2 USART2_TX USART2 NODMA PA3 USART2_RX USART2 NODMA -define HAL_SERIAL2_PROTOCOL SerialProtocol_SmartAudio +define HAL_SERIAL2_PROTOCOL SerialProtocol_Tramp -# USART3 (GPS) +# USART3 PB10 USART3_TX USART3 PB11 USART3_RX USART3 -define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS +define HAL_SERIAL3_PROTOCOL SerialProtocol_None -# UART4 (DJI) -PA0 UART4_TX UART4 +# UART4 (DJI RX/SBUS) +PA0 UART4_TX UART4 NODMA PA1 UART4_RX UART4 -define HAL_SERIAL4_PROTOCOL SerialProtocol_DJI_FPV +define HAL_SERIAL4_PROTOCOL SerialProtocol_RCIN -# UART7 (DJI) +# USART6 (GPS) +PC6 USART6_TX USART6 +PC7 USART6_RX USART6 +define HAL_SERIAL6_PROTOCOL SerialProtocol_GPS +define HAL_SERIAL6_BAUD 115 + +# UART7 (DJI OSD) PE7 UART7_RX UART7 PE8 UART7_TX UART7 +define HAL_SERIAL7_PROTOCOL SerialProtocol_DJI_FPV +define HAL_SERIAL7_BAUD 115 # UART8 (ESC) PE0 UART8_RX UART8 NODMA @@ -107,8 +118,6 @@ define HAL_BATT_CURR_SCALE 35.4 PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) define HAL_BATT_VOLT_PIN 13 define HAL_BATT_VOLT_SCALE 11.0 -PC5 RSSI_ADC ADC1 -define BOARD_RSSI_ANA_PIN 8 define HAL_BATT_MONITOR_DEFAULT 4 # MOTORS @@ -141,7 +150,7 @@ define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # Barometer setup -BARO DPS280 I2C:0:0x76 +BARO DPS310 I2C:0:0x76 # IMU setup @@ -157,6 +166,6 @@ 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 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12