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hwdef: add YJUAV_A6SE_H743 board support
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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/README.md
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| # A6SE_H743 Flight Controller | ||
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| The A6SE_H743 flight controller is manufactured and sold by [YJUAV](http://www.yjuav.net). | ||
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| ## Features | ||
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| - STM32H743 microcontroller | ||
| - Onboard Flash: 2048Mbits | ||
| - Two IMUs: ICM42688, ICM42688 | ||
| - Internal ITS8310 I2C magnetometer | ||
| - Internal DPS310 SPI barometer | ||
| - Internal RGB LED | ||
| - microSD card slot port | ||
| - 1 analog power ports | ||
| - 5 UARTs and 1 USB ports | ||
| - 3 I2C and 2 CAN ports | ||
| - 11 PWM output ports | ||
| - Safety switch port | ||
| - External SPI port | ||
| - Buzzer port | ||
| - RC IN port | ||
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| ## Pinout | ||
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| ## Connectors | ||
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| **POWER ADC** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-------------: | :---: | | ||
| | 1 | VCC_IN | +5V | | ||
| | 2 | VCC_IN | +5V | | ||
| | 3 | BAT_CRRENT_ADC | +3.3V | | ||
| | 4 | BAT_VOLTAGE_ADC | +3.3V | | ||
| | 5 | GND | GND | | ||
| | 6 | GND | GND | | ||
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| **TELEM1** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | UART_TX2 | +3.3V | | ||
| | 3 | UART_RX2 | +3.3V | | ||
| | 4 | CTS | +3.3V | | ||
| | 5 | RTS | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **TELEM2** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | UART_TX6 | +3.3V | | ||
| | 3 | UART_RX6 | +3.3V | | ||
| | 4 | CTS | +3.3V | | ||
| | 5 | RTS | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **ADC** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | ADC_3V3 | +3.3V | | ||
| | 3 | ADC_6V6 | +6.6V | | ||
| | 4 | GND | GND | | ||
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| **SPI** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :------: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | SPI_SCK | +3.3V | | ||
| | 3 | SPI_MISO | +3.3V | | ||
| | 4 | SPI_MOSI | +3.3V | | ||
| | 5 | SPI_CS | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **I2C** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | I2C4_SCL | +3.3V | | ||
| | 3 | I2C4_SDA | +3.3V | | ||
| | 4 | GND | GND | | ||
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| **CAN1** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | CAN1_P | +3.3V | | ||
| | 3 | CAN1_N | +3.3V | | ||
| | 4 | GND | GND | | ||
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| **CAN2** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | CAN2_P | +3.3V | | ||
| | 3 | CAN2_N | +3.3V | | ||
| | 4 | GND | GND | | ||
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| **GPS1** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | UART_TX3 | +3.3V | | ||
| | 3 | UART_RX3 | +3.3V | | ||
| | 4 | I2C2_SCL | +3.3V | | ||
| | 5 | I2C2_SDA | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **GPS2&SAFETY** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----------: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | UART_TX1 | +3.3V | | ||
| | 3 | UART_RX1 | +3.3V | | ||
| | 4 | I2C3_SCL | +3.3V | | ||
| | 5 | I2C3_SDA | +3.3V | | ||
| | 6 | SAFETY_SW | +3.3V | | ||
| | 7 | SAFETY_SW_LED | +3.3V | | ||
| | 8 | 3V3_OUT | +3.3V | | ||
| | 9 | BUZZER | +3.3V | | ||
| | 10 | GND | GND | | ||
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| **DEBUG** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :----: | :---: | | ||
| | 1 | VCC | +5V | | ||
| | 2 | UART_TX7 | +3.3V | | ||
| | 3 | UART_RX7 | +3.3V | | ||
| | 4 | SWDIO | +3.3V | | ||
| | 5 | SWCLK | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **SAFETY** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :-----------: | :---: | | ||
| | 1 | 3V3_OUT | +3.3V | | ||
| | 2 | SAFETY_SW | +3.3V | | ||
| | 3 | SAFETY_SW_LED | +3.3V | | ||
| | 4 | SBUS_OUT | +3.3V | | ||
| | 5 | RSSI | +3.3V | | ||
| | 6 | GND | GND | | ||
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| **USB EX** | ||
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| | Pin | Signal | Volt | | ||
| | :--: | :----: | :---: | | ||
| | 1 | VCC_IN | +5V | | ||
| | 2 | DM | +3.3V | | ||
| | 3 | DP | +3.3V | | ||
| | 4 | GND | GND | | ||
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| ## UART Mapping | ||
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| - SERIAL0 -> USB (OTG1) | ||
| - SERIAL1 -> USART2 (Telem1) | ||
| - SERIAL2 -> USART6 (Telem2) | ||
| - SERIAL3 -> USART3 (GPS1), NODMA | ||
| - SERIAL4 -> USART1 (GPS2), NODMA | ||
| - SERIAL5 -> UART8 (USER) TX only, normally used for SBUS_OUT with protocol change | ||
| - SERIAL6 -> UART7 (USER/Debug), NODMA | ||
| - SERIAL7 -> USB2 (OTG2) | ||
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| ## RC Input | ||
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| The RCIN pin is mapped to a timer input instead of the UART, and 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, can provide RC without telemetry. | ||
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| To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART must be used. For example, UART1 can have its protocol changed from the default GPS protocol for GPS2 to RX input protocol: | ||
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| With this option, SERIAL4_PROTOCOL must be set to “23”, and: | ||
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| PPM is not supported. | ||
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| SBUS/DSM/SRXL connects to the RX1 pin. | ||
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| FPort requires connection to TX1 and RX1. See FPort Receivers. | ||
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| CRSF also requires a TX1 connection, in addition to RX1, and automatically provides telemetry. | ||
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| SRXL2 requires a connection to TX1 and automatically provides telemetry. Set SERIAL4_OPTIONS to “4”. | ||
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| Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details. | ||
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| ## PWM Output | ||
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| The A6SE_H743 supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row. | ||
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| The 11 PWM outputs are in 3 groups: | ||
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| - PWM 1, 2, 3 and 4 in group1 | ||
| - PWM 5, 6, 7 and 8 in group2 | ||
| - PWM 9, 10, 11 in group3 | ||
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| Channels 1-8 support bi-directional Dshot. | ||
| 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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| ## GPIOs | ||
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| All 11 PWM channels can be used for GPIO functions (relays, buttons, RPM etc). | ||
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| The pin numbers for these PWM channels in ArduPilot are shown below: | ||
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| | PWM Channels | Pin | PWM Channels | Pin | | ||
| | ------------ | ---- | ------------ | ---- | | ||
| | PWM1 | 50 | PWM8 | 57 | | ||
| | PWM2 | 51 | PWM9 | 58 | | ||
| | PWM3 | 52 | PWM10 | 59 | | ||
| | PWM4 | 53 | PWM11 | 60 | | ||
| | PWM5 | 54 | | | | ||
| | PWM6 | 55 | | | | ||
| | PWM7 | 56 | | | | ||
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| ## Analog inputs | ||
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| The A6SE_H743 flight controller has 5 analog inputs | ||
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| - ADC Pin4 -> Battery Current | ||
| - ADC Pin2 -> Battery Voltage | ||
| - ADC Pin8 -> ADC 3V3 Sense | ||
| - ADC Pin10 -> ADC 6V6 Sense | ||
| - ADC Pin11 -> RSSI voltage monitoring | ||
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| ## Battery Monitor Configuration | ||
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| The board has voltage and current sensor inputs on the POWER_ADC connector. | ||
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| The correct battery setting parameters are: | ||
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| Enable Battery monitor. | ||
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| BATT_MONITOR =4 | ||
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| Then reboot. | ||
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| BATT_VOLT_PIN 2 | ||
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| BATT_CURR_PIN 4 | ||
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| BATT_VOLT_MULT 21.0 (may need adjustment if supplied monitor is not used) | ||
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| BATT_AMP_PERVLT 34.0 (may need adjustment if supplied monitor is not used) | ||
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| ## Build the FC | ||
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| ./waf configure --board=YJUAV_A6SE_H743 | ||
| ./waf copter | ||
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| The compiled firmware is located in folder **"build/YJUAV_A6SE_H743/bin/arducopter.apj"**. | ||
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| ## Loading Firmware | ||
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| The A6SE_H743 flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station. | ||
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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/YJUAV_A6SE_H743-pinout.jpg
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| # setup the heater temperature to 45 degree | ||
| BRD_HEAT_TARG 45 | ||
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| CAN_P1_DRIVER 1 | ||
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libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE_H743/hwdef-bl.dat
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| # hw definition file for processing by chibios_hwdef.py | ||
| # for YJUAV_A6SE_H743 board | ||
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| # MCU class and specific type | ||
| MCU STM32H7xx STM32H743xx | ||
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| # crystal frequency | ||
| OSCILLATOR_HZ 16000000 | ||
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| # board ID for firmware load | ||
| APJ_BOARD_ID 1141 | ||
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| FLASH_SIZE_KB 2048 | ||
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| # bootloader is installed at zero offset | ||
| FLASH_RESERVE_START_KB 0 | ||
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| # the location where the bootloader will put the firmware | ||
| # the H743 has 128k sectors | ||
| FLASH_BOOTLOADER_LOAD_KB 128 | ||
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| # order of UARTs (and USB). Allow bootloading on USB and Debug | ||
| SERIAL_ORDER OTG1 UART7 | ||
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| # UART7 DEBUG | ||
| PE7 UART7_RX UART7 NODMA | ||
| PE8 UART7_TX UART7 NODMA | ||
| define BOOTLOADER_DEBUG SD7 | ||
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| # USB | ||
| PA11 OTG_FS_DM OTG1 | ||
| PA12 OTG_FS_DP OTG1 | ||
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| PA13 JTMS-SWDIO SWD | ||
| PA14 JTCK-SWCLK SWD | ||
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| PE15 LED_RED OUTPUT OPENDRAIN HIGH # red | ||
| PD10 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green | ||
| PG0 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue | ||
| define HAL_LED_ON 0 | ||
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| # Add CS pins to ensure they are high in bootloader | ||
| PE4 IMU1_CS CS | ||
| PA0 IMU2_CS CS | ||
| PE10 FRAM_CS CS | ||
| PE9 BAROMETER_CS CS | ||
| PE3 COMPASS_CS CS | ||
| PC15 RESERVE_CS CS | ||
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| # Extra SPI CS | ||
| PE5 EXT_CS CS |
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