AIRBRAIN H743

Tools/AP_Bootloader/board_types.txt

@@ -324,6 +324,7 @@ AP_HW_X-MAV-AP-H743R1                1203
 AP_HW_ORQAH7QUADCORE                 1204
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206
+AP_HW_AIRBRAIN_H743                  1207
 
 AP_HW_CSKY-PMU                       1212
 

libraries/AP_HAL_ChibiOS/hwdef/AIRBRAINH743/README.md

@@ -0,0 +1,95 @@
+
+# AIRBRAINH743 Flight Controller
+
+The AIRBRAINH743 is a flight controller designed and produced by [Gear Up](https://takeyourgear.com/).
+
+## Features
+
+ - MCU - STM32H743xx 32-bit processor running at 480 MHz
+ - IMU - Invensense ICM-42688-P
+ - Barometer - DPS368
+ - Magnetometer - LIS2MDL
+ - 128 Mbytes flash-based logging
+ - Battery input voltage: 3S-10S
+ - BEC 5V 2A
+ - BEC 10V 2.5A
+ - 7x UARTs
+ - 9x PWM Outputs (8 Motor Output, 1 LED)
+
+ ## Pinout
+
+ ![AIRBRAINH743 Board Top](pinoutTop.png "AIRBRAINH743 Top")
+ ![AIRBRAINH743 Board Bottom](pinoutBottom.png "AIRBRAINH743 Bottom")
+
+## UART Mapping
+
+The UARTs are marked RX and TX in the above pinouts. The RX pin is the
+receive pin. The TX pin is the transmit pin .
+
+ - SERIAL0 -> USB (MAVLink2)
+ - SERIAL1 -> USART1 (None)
+ - SERIAL2 -> USART2 (RCIN, DMA-enabled)
+ - SERIAL3 -> USART3 (MSP DisplayPort, DMA-enabled)
+ - SERIAL4 -> UART4 (GPS, DMA-enabled)
+ - SERIAL5 -> UART5 (None, DMA-enabled)
+ - SERIAL7 -> UART7 (ESCTelemetry)
+ - SERIAL8 -> UART8 (GPS2, DMA-enabled)
+
+## RC Input
+
+The default RC input is configured on USART2. RC could  be applied instead to a different UART port,  and set
+the protocol to receive RC data ``SERIALn_PROTOCOL`` = 23 and change :ref:`SERIAL2 _PROTOCOL <SERIAL2 _PROTOCOL>`
+to something other than '23'. For rc protocols other than unidirectional, the USART2_TX pin will need to be used:
+
+ - FPort would require :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` be set to "15".
+ - CRSF would require :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` be set to "0".
+ - SRXL2 would require :ref:`SERIAL2_OPTIONS<SERIAL2_OPTIONS>` be set to "4" and connects only the TX pin.
+
+The HD VTX connector contains UART5 RX for SBUS. To use this connector for SBUS set :ref:`SERIAL2 _PROTOCOL <SERIAL2 _PROTOCOL>`
+to something other than '23' and set :ref:`SERIAL5 _PROTOCOL <SERIAL5 _PROTOCOL>` to '23'
+
+## PWM Output
+
+The AIRBRAINH743 supports up to 9 PWM or DShot outputs. The pads for motor output
+M1 to M9 are provided on both the motor connectors and on separate pads, plus
+separate pads for LED strip and other PWM outputs.
+
+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 (defaulted to Serial LED protocol)
+
+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 internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S LiPo batteries.
+
+The default battery parameters are:
+
+ - :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
+ - :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 4
+ - :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 8 (CURRENT pin)
+ - :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` = 15.0
+ - :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` = 101.0
+
+## Compass
+
+The AIRBRAINH743 has builtin compass. You can also attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Firmware for these boards can be found `here <https://firmware.ardupilot.org>`__ in sub-folders labeled "AIRBRAINH743".
+
+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/AIRBRAINH743/defaults.parm

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+SERVO9_FUNCTION 120
+
+OSD_TYPE1 5

libraries/AP_HAL_ChibiOS/hwdef/AIRBRAINH743/hwdef-bl.dat

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+
+# hw definition file for processing by chibios_hwdef.py
+# for AIRBRAINH743 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AIRBRAIN_H743
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 384
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+
+# Chip select pins
+PD4 FLASH1_CS CS
+PA3 GYRO1_CS CS
+
+PD11 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/AIRBRAINH743/hwdef.dat

@@ -0,0 +1,162 @@
+
+# hw definition file for processing by chibios_hwdef.py
+# for AIRBRAINH743 hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AIRBRAIN_H743
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 384
+
+define HAL_STORAGE_SIZE 16384
+define STORAGE_FLASH_PAGE 1
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# SPI devices
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2
+PB14 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+PD3 SPI2_SCK SPI2
+
+# SPI4 AUX
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+PE12 SPI4_SCK SPI4
+
+# Chip select pins
+PD4 FLASH1_CS CS
+PA3 GYRO1_CS CS
+
+# Beeper
+PA15 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+
+# SERIAL ports
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 EMPTY UART7 UART8
+
+PD0 VBUS INPUT OPENDRAIN
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# USART1 - Debug
+PA10 USART1_RX USART1 NODMA
+PA9 USART1_TX USART1 NODMA
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_None
+
+# USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# USART3 - DJI
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART4
+PB8 UART4_RX UART4
+PB9 UART4_TX UART4
+
+# UART5 - PX4 companion
+PB12 UART5_RX UART5
+PB13 UART5_TX UART5
+
+# UART7 - ESC
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART8 - GPS
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_GPS
+
+# I2C ports
+I2C_ORDER I2C1
+# I2C1
+PB6 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+
+# I2C2
+#PD12 I2C2_SCL I2C2
+#PD13 I2C2_SDA I2C2
+
+# ADC1
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+define HAL_BATT_VOLT_PIN 4
+define HAL_BATT_VOLT_SCALE 15.0
+PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_CURR_PIN 8
+define HAL_BATT_CURR_SCALE 101.0
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# MOTORS
+PE9  TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR # M1
+PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)       # M2
+PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR # M3
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)       # M4
+PB0  TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR # M5
+PB1  TIM3_CH4 TIM3 PWM(6) GPIO(55)       # M6
+PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56) BIDIR # M7
+PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)       # M8
+
+# LEDs
+define DEFAULT_NTF_LED_TYPES 455
+PA2 TIM5_CH3 TIM5 PWM(9) GPIO(58) # M9
+
+PB15 LED0 OUTPUT LOW GPIO(90)
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
+
+PD11 LED1 OUTPUT LOW GPIO(91)
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
+
+PD15 LED2 OUTPUT LOW GPIO(92)
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# Dataflash setup
+SPIDEV dataflash SPI2 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
+
+DATAFLASH littlefs:w25nxx
+
+# Baro
+BARO DPS310 I2C:0:0x76
+
+# Compass
+COMPASS LIS2MDL I2C:0:0x1E false ROTATION_YAW_270
+
+# IMU setup
+SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   16*MHZ
+
+IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_90
+DMA_NOSHARE TIM1_UP TIM3_UP TIM2_UP SPI1*
+DMA_PRIORITY TIM1_UP TIM3_UP TIM2_UP SPI1*
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define AP_COMPASS_PROBING_ENABLED 1
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+define HAL_DEFAULT_INS_FAST_SAMPLE 3