ardupilot/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2

SULILGH7P1/P2 Flight Controller

This firmware is compatible with SULILGH7-P1 and SULILGH7-P2.

This is the open-source hardware I have released, and you can find more details at the following link: https://oshwhub.com/shuyedeye/p1-flight-control.

Features:

• Separate flight control core design.
• MCU STM32H743IIK6 32-bit processor running at 480MHz 2MB Flash 1MB RAM
• IO MCU STM32F103
• Sensors
• IMU: P2:Internal Vibration Isolation for IMUs P2:IMU constant temperature heating(1 W heating power). With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant: IMU1-BMI088(With vibration isolation) IMU2-ICM42688-P(With vibration isolation) IMU3-ICM20689(No vibration isolation)
• Baro: Two barometers:Baro1-BMP581 , Baro2-ICP20100 Magnetometer: Builtin IST8310 magnetometer

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.

Name	Function	MCU PINS	DMA
SERIAL0	OTG1	USB
SERIAL1	Telem1	USART2	DMA Enabled
SERIAL2	Telem2	USART3	DMA Enabled
SERIAL3	GPS1	USART1	DMA Enabled
SERIAL4	GPS2	UART4	DMA Enabled
SERIAL5	RC	UART8	DMA Enabled
SERIAL7	FMU DEBUG	UART7	DMA Enabled
SERIAL8	OTG-SLCAN	USB

RC Input

The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.

• :ref:SERIAL5_PROTOCOL<SERIAL5_PROTOCOL> should be set to “23”.

• CRSF would require :ref:SERIAL5_OPTIONS<SERIAL5_OPTIONS> set to “0”.

• SRXL2 would require :ref:SERIAL5_OPTIONS<SERIAL5_OPTIONS> set to “4”. And only connect the TX pin.

• The SBUS_IN pin is internally tied to the RCIN pin.

Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See :ref:Radio Control Systems <common-rc-systems> for details.

PWM Output

The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs. First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller. The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller. All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.

The 8 IO PWM outputs are in 4 groups:

• Outputs 1 and 2 in group1
• Outputs 3 and 4 in group2
• Outputs 5, 6, 7 and 8 in group3

The 8 FMU PWM outputs are in 4 groups:

• Outputs 1, 2, 3 and 4 in group1
• Outputs 5 and 6 in group2
• Outputs 7 and 8 in group3

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.

GPIO

All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:

IO Pins				FMU Pins
Name	Value	Option		Name	Value	Option
M1	101	MainOut1		M9	50	AuxOut1
M2	102	MainOut2		M10	51	AuxOut2
M3	103	MainOut3		M11	52	AuxOut3
M4	104	MainOut4		M12	53	AuxOut4
M5	105	MainOut5		M13	54	AuxOut5
M6	106	MainOut6		M14	55	AuxOut6
M7	107	MainOut7		M15	56
M8	108	MainOut8		M16	57

Battery Monitoring

Two DroneCAN power monitor interfaces have been configured These are set by default in the firmware and shouldn't need to be adjusted.

Compass

The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer.

Analog inputs

The P1/P2 flight controller has 2 analog inputs.

• ADC Pin12 -> ADC 6.6V Sense
• ADC Pin13 -> ADC 3.3V Sense
• RSSI input pin = 103

Loading Firmware

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.

Firmware for these boards can be found here in sub-folders labeled “SULIGH7-P1-P2”.