AP_HAL_ChibiOS: FoxeerH743 GA release

libraries/AP_HAL_ChibiOS/hwdef/FoxeerH743v1/README.md

@@ -0,0 +1,100 @@
+# FoxeerH743 Flight Controller
+
+The FoxeerH743 is a flight controller produced by [Foxeer](https://www.foxeer.com/).
+
+## Features
+
+ - MCU - STM32H743 32-bit processor running at 480 MHz
+ - IMU - MPU6000
+ - Barometer - DPS310
+ - OSD - AT7456E
+ - Onboard Flash: 128Mbit
+ - 7x UARTs
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+ - Battery input voltage: 2S-8S
+ - BEC 3.3V 0.5A
+ - BEC 5V 2A
+ - BEC 10V 2A
+ - DJI Connector
+
+## Pinout
+
+![FoxeerH743 Board](FoxeerH743_Board.JPG "FoxeerH743")
+
+## 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 (RX/SBUS, DMA-enabled)
+ - SERIAL2 -> UART2 (VTX)
+ - SERIAL3 -> UART3 (DMA-enabled)
+ - SERIAL4 -> UART4 (DJI RX/SBUS, 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.
+

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