AP_HAL_ChibiOS: CB Unmanned Stamp H743

libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/README.md

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+
+
+# CBUnmanned H743 Stamp
+
+The [CBUnmanned H743 Stamp](https://cbunmanned.com/store) is a flight controller loosely based on the FMUv6 standards & is designed for low volume OEMs as a drop in way to add ArduPilot to their custom hardware builds. It is a part of CBUnmanned's wider ["Stamp" Eco-System](https://wiki.cbunmanned.com/wiki/cbunmanned-stamp-eco-system), which brings together all the typical avionics hardware into a neat custom carrier PCB. Mounting footprints and symbols are available along with examples of basic usage on the  [Wiki](https://wiki.cbunmanned.com/wiki/cbunmanned-stamp-eco-system/h743-flight-controller).
+
+![H743StampFront&Back](H743StampFront&Back.png "H743FB")
+
+## Features
+- Class leading H7 SOC.
+- Triple IMU sensors for extra redundancy.
+- Based on the FMU-V6 standards.
+- Micro SD Card for Logging/LUA Scripting.
+- Direct solder mounting or optional 1.27mm header.
+- x1 Ethernet and x2 CAN for easy integration with the next generation of UAV accessories.
+- All complicated/supporting circuitry is on-board, just power with 5v.
+- Just 22mm x 24.25mm & 1.9g.
+
+## Specifications
+- Processor
+  - STM32H743IIK6 microcontroller
+  - 480MHz
+  - 2Mb Flash
+  - 1Mb RAM
+
+- Sensors
+  - x2 Ivensense ICM-42688 IMU
+  - x1 Ivensense ICM-42670 IMU
+  - x1 Infineon DPS310 Barometer
+  - x1 Bosch BMM150 Magnetometer
+
+- Power
+  - 5v Main Power in
+  - x6 Independent Power Regulators
+  - x2 ADC Inputs for Voltage and Current Sense
+
+- Interfaces
+  - x1 MicroSD card slot
+  - x8 UARTs inc RC, x3 with flow control
+  - x10 PWM outputs
+  - x2 I2C 
+  - x2 CAN
+  - x1 External SPI
+  - x1 Ethernet
+  - External Buzzer
+  - External Safety Switch 
+  - External USB connectors 
+
+## Pinout
+
+![H743 Stamp Pinout](H743Pinout.png "H743")
+
+### UART Mapping (Yellow Fade)
+
+ Ardupilot -> STM32
+ - SERIAL0 -> USB
+ - SERIAL1 -> USART1
+ - SERIAL2 -> USART2	(With RTS/CTS, DMA-enabled)
+ - SERIAL3 -> USART3  (GPS1, DMA-enabled)
+ - SERIAL4 -> UART4   (GPS2, DMA-enabled)
+ - SERIAL5 -> UART5		(With RTS/CTS, DMA-enabled)
+ - SERIAL6 -> USART6	(RCIN / IO coprocessor if fitted, DMA-enabled)
+ - SERIAL7 -> UART7		(With RTS/CTS, DMA-enabled) 
+ - SERIAL8 -> UART8
+
+Serial 2, 5 & 7 have RTS/CTS pins, the other UARTs do not have RTS/CTS.
+
+GPS 1 & 2 are on Serial 3 & 4 respectively.
+
+### RC Input
+
+RC input is configured on the USART 6 Rx Pin. This pin allows all RC protocols compatible with direct connection to a H7 IC (SBus requires setting the bitmask for hardware inversion, CRSF etc), PPM is NOT supported.
+
+USART 6 Tx is available for use with bi directional protocols.
+
+An optional IOMCU can be connected to this serial port, a compatible custom build of the firmware required.
+
+### CAN Ports (Light Green Fade)
+2 CAN buses are available, each with a built in 120 ohm termination resistor.
+
+### I2C (Maroon Fade)
+I2C 1 - Internal for BMM150 Compass.
+
+I2C 2 - Internal for DPS310 Barometer.
+
+I2C 3 - External With internal 2.2k Pull Up.
+
+I2C 4 - External With internal 2.2k Pull Up.
+
+### SPI (Cyan Fade)
+SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin, compatible custom build of the firmware required.
+
+### PWM Output (Blue Fade)
+The Stamp supports up to 10 PWM outputs with D-Shot. 
+
+The PWM outputs are in 3 groups:
+
+ - PWM 1 - 4 in group 1 (Timer 5)
+ - PWM 5 - 8 in group 2 (Timer 4)
+ - PWM 9 & 10 in group 3 (Timer 2)
+
+Channels within the same group need to use the same output rate. If any channel in a group uses D-Shot then all channels in the group need to use D-Shot.
+
+BiDirectional DShot available on the first 8 outputs.
+
+A buzzer alarm signal is available on Timer 14.
+
+### Analog Inputs (Purple Fade)
+
+The board has two ADC input channels for Voltage (0-3.3v) and Current (0-3.3v) measurement. Settings are dependent on the external hardware used. 
+
+### Ethernet (Green Fade)
+Ethernet is available on 4 output pads and has internal magnetics supporting direct connection to external equipment, no need for a large RJ45 connector.
+
+### Compass
+
+The H743 Stamp has a built in compass, the BMM150. Due to potential interference the board is usually used with an external I2C or CAN compass as part of a GPS/Compass combination.
+
+### USB
+
+USB Signals D+ & D- are available to route to a suitable connector for your project.
+
+### Safety Button
+
+Optional, if it is not fitted remove the check from arming mask. To activate short this pad to 3.3v with a momentary push button (Press & Hold).
+
+### Power
+
+A regulated 3.3v output is available from the stamp for use with the safety button. WARNING! This is shared with the main IC - Do NOT use for accessories. Keep current draw under 0.1A!
+
+The Stamp requires a stable 5v supply input of at least 1.5A. This directly powers the 5v components and supplies the 3.3v LDOs with power. Typical idle usage is 0.35A @ 5v.
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station. 
+
+Firmware Taget = CBU-H7-Stamp
+
+A built in button can be used to activate DFU Mode by being pressed during power up. The DFU Activate pin is broken out to allow remote mounting of this button if required. 

libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the CBUnmanned H743 Stamp hardware
+
+# default to all pins low to avoid ESD issues
+#DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_CBU_StampH743
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART1 UART2
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PI9 IMU1_CS CS
+PH5 IMU2_CS CS
+PI4 IMU3_CS CS
+PE4 SP4_CS1 CS
+
+PA3 USART2_RX USART2
+PD5 USART2_TX USART2
+
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+PE3 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+PI11 IMU1_PWR_EN OUTPUT HIGH
+PF4 IMU2_PWR_EN OUTPUT HIGH
+PE7 IMU3_PWR_EN OUTPUT HIGH
+PG8 MAG_PWR_EN OUTPUT HIGH
+PG15 Ethernet_PWR_EN OUTPUT HIGH
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1