hwdef: add FlyingRCH7DPro board support

2026-10-02 10:23:25 +08:00 · 2026-09-26 08:03:40 +10:00
parent ae887b3124
commit e031a6db39
11 changed files with 624 additions and 0 deletions
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+# FlyingRCH7DPro-bdshot
+
+This is the bi-directional DShot variant of the FlyingRC H7D Pro target.
+
+For board hardware details, pinout, and images, see the main
+[FlyingRCH7DPro README](../FlyingRCH7DPro/README.md).
+
+This target uses USART6 (`SERIAL7`, connector `UART6 RCIN`) as the receiver
+UART and defaults `SERIAL7_PROTOCOL` to RCIN. USART6 RX/TX both have DMA, so
+CRSF/ELRS can use `R6` and `T6` for bidirectional telemetry. Unidirectional
+serial protocols such as SBUS remain supported on `R6`, but PPM is not
+available because the timer is used by the BDShot motor outputs.
+
+The DJI digital VTX connector's `R8` pin is UART8 RX (`SERIAL5`) and can be
+used as an alternate SBUS input by first setting `SERIAL7_PROTOCOL=-1` and then
+setting `SERIAL5_PROTOCOL=23`. SBUS inversion is handled automatically, so no
+`SERIAL5_OPTIONS` change is required. UART8 is RX-only and interrupt-driven.
+
+The Digital VTX connector uses UART4 (`SERIAL6`) and defaults to MSP
+DisplayPort with `OSD_TYPE2=5`. UART4 TX has DMA; RX is interrupt-driven to
+preserve the exclusive DMA allocations required by the IMU SPI buses and the
+BDShot motor timer groups.
+
+The `LED&BZ` connector's `BZ-` pad differs from the standard target. TIM2 is
+repurposed for bi-directional motor output, so PA15 is driven as a plain GPIO
+through `HAL_BUZZER_PIN` and can only switch the buzzer on or off. It therefore
+produces a single tone instead of the standard target's normal ArduPilot alarm
+tone patterns.
+
+![FlyingRC H7D Pro Front](../FlyingRCH7DPro/FlyingRCH7DPro_front.jpg)
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+# setup for WS2812 LED on channel 13
+SERVO13_FUNCTION 120
+
+# VTX BEC is active-low and defaults to on
+RELAY1_INVERTED 1
+
+# enable MSP DisplayPort on the digital VTX connector
+OSD_TYPE2 5
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+# Bi-directional DShot version of FlyingRCH7DPro.
+# RC input and buzzer timers need to be used so UART is used for RCIN
+# and the buzzer becomes single tone.
+
+include ../FlyingRCH7DPro/hwdef.dat
+
+USE_BOOTLOADER_FROM_BOARD FlyingRCH7DPro
+
+# undefine the pins we are going to change
+undef PC7 PC6 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6 PA2 PA3 PD12 PD13 PB9 PB8
+
+# UART4 (digital VTX), SERIAL6. Keep TX on DMA for DisplayPort.
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4 NODMA
+
+# USART6 (RC input), SERIAL7
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+
+# Motors
+PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50) BIDIR
+PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51)
+PA0  TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
+PA1  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54) BIDIR
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
+
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58)
+PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+
+# Beeper
+PA15 BUZZER OUTPUT GPIO(32) LOW
+define HAL_BUZZER_PIN 32
+
+DMA_PRIORITY SPI1* SPI4*
+DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*
@@ -0,0 +1,8 @@
+# setup for WS2812 LED on channel 13
+SERVO13_FUNCTION 120
+
+# VTX BEC is active-low and defaults to on
+RELAY1_INVERTED 1
+
+# enable MSP DisplayPort on the digital VTX connector
+OSD_TYPE2 5
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+# hw definition file for processing by chibios_pins.py
+# for FlyingRC H7D Pro bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_FLYINGRCH7DPRO
+
+# 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
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Keep the switched 9 V VTX/camera BEC enabled during bootloading
+PD10 PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 AT7456E_CS CS
+PC13 IMU2_CS CS
+
+# support flashing from SD card:
+
+# 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
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
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+# hw definition file for processing by chibios_pins.py
+# for FlyingRC H7D Pro
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_FLYINGRCH7DPRO
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for AT7456E OSD
+PB12 AT7456E_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI4 for IMU2
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+PC13 IMU2_CS CS
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 21.0
+define HAL_BATT_CURR_SCALE 100.0
+define HAL_BATT2_CURR_SCALE 100.0
+
+# onboard status LEDs
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+PE3 LED0 OUTPUT LOW GPIO(90) # blue status LED
+PE4 LED1 OUTPUT LOW GPIO(91) # green status LED
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define DEFAULT_NTF_LED_TYPES 257
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (ESC telemetry input R3), SERIAL4
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART4 (digital VTX), SERIAL6
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# USART6 (RC input), SERIAL7. Default to the full UART for CRSF/ELRS.
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# UART8 (DJI digital VTX SBUS input R8), SERIAL5. RX is interrupt-driven to
+# leave DMA available for USART6. UART8 TX is not exposed by the board.
+PE0 UART8_RX UART8 NODMA
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# GPIOs
+PD10 PINIO1 OUTPUT GPIO(81) LOW # active-low VTX BEC power control
+define RELAY1_PIN_DEFAULT 81
+define RELAY1_DEFAULT 1
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# spi devices
+SPIDEV icm42688_1  SPI1 DEVID1 IMU1_CS       MODE3  2*MHZ 16*MHZ   # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
+SPIDEV icm42688_2  SPI4 DEVID1 IMU2_CS       MODE3  2*MHZ 16*MHZ
+SPIDEV osd         SPI2 DEVID1 AT7456E_CS    MODE0 10*MHZ 10*MHZ
+
+
+DMA_NOSHARE SPI1* SPI4*
+
+# 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
+
+# IMU orientations
+IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_270
+IMU Invensensev3 SPI:icm42688_2 ROTATION_YAW_180
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+define HAL_INS_HIGHRES_SAMPLE 3
+
+# DPS310/SPL06 integrated on I2C2 bus
+BARO DPS310 I2C:0:0x76
+BARO SPL06 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True