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CBU-H7-Stamp HW Update #6412

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304 changes: 199 additions & 105 deletions common/source/docs/common-StampH743.rst
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.. _common-StampH743:

=====================
CBUnmanned H743 Stamp
=====================
=========================================
H743 Stamp Flight Controller (& Low Cost)
=========================================

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>`_.
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://cbunmanned.com/>`__, 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/>`__.

A “Low Cost” version is available with a limited feature set.

.. image:: ../../../images/H743StampFrontBack.png
:target: ../_images/H743StampFrontBack.png

+----------------------+----------------------+
| Full Featured Stamp | Low Cost Stamp |
+======================+======================+
| |image1| | |image2| |
+----------------------+----------------------+


Features
========

- Class leading H7 SOC.

- Direct solder mounting or optional 1.27mm header.

- All complicated/supporting circuitry is on-board, just power with 5v.

- From Just 22mm x 24.25mm


+----------------------+----------------------+----------------------+
| Item | Full Featured Stamp | Low Cost Stamp |
+======================+======================+======================+
| Dimensions | 22mm x 24mm | 23mm x 25mm |
+----------------------+----------------------+----------------------+
| Weight | 3g | 3g |
+----------------------+----------------------+----------------------+
| **Processor** | STM32H743IIK6 | STM32H743VIH6 |
+----------------------+----------------------+----------------------+
| | 480MHz | 480MHz |
+----------------------+----------------------+----------------------+
| | 2Mb Flash | 2Mb Flash |
+----------------------+----------------------+----------------------+
| | 1Mb RAM | 1Mb RAM |
+----------------------+----------------------+----------------------+
| **Sensors** | | |
+----------------------+----------------------+----------------------+
| IMU 1 | Ivensense ICM-42688 | Ivensense ICM-42670 |
+----------------------+----------------------+----------------------+
| IMU 2 | Ivensense ICM-42688 | Not Fitted |
+----------------------+----------------------+----------------------+
| IMU 3 | Ivensense ICM-42670 | Not Fitted |
+----------------------+----------------------+----------------------+
| Barometer | BMP280 | BMP280 |
+----------------------+----------------------+----------------------+
| Compass | BMM150 | Not Fitted |
+----------------------+----------------------+----------------------+
| Micro SD Card | Yes | Yes |
+----------------------+----------------------+----------------------+
| **IO** | | |
+----------------------+----------------------+----------------------+
| PWM | 10 | 10 |
+----------------------+----------------------+----------------------+
| CAN | 2 | 2 |
+----------------------+----------------------+----------------------+
| UART | 8 (3 with flow | 8 (None with flow |
| | control) | control) |
+----------------------+----------------------+----------------------+
| I2C | 2 | 2 |
+----------------------+----------------------+----------------------+
| External SPI | 1 (With custom FW | 1 (With custom FW |
| | build) | build) |
+----------------------+----------------------+----------------------+
| Ethernet | Yes | No |
+----------------------+----------------------+----------------------+
| Safety Button | Yes | Yes |
+----------------------+----------------------+----------------------+
| Analog | 2 | 2 |
+----------------------+----------------------+----------------------+
| Buzzer (PWM 11) | Yes | Yes |
+----------------------+----------------------+----------------------+
| USB | Yes | Yes |
+----------------------+----------------------+----------------------+
| **Power** | | |
+----------------------+----------------------+----------------------+
| Input Voltage | 5v | 5v |
+----------------------+----------------------+----------------------+
| Typical Current | 0.4 A | 0.4 A |
| Consumption | | |
+----------------------+----------------------+----------------------+
| Independent Power | 6 Separate Power | No |
| Domains | Domains | |
+----------------------+----------------------+----------------------+



UART Mapping
============

Ardupilot -> STM32

- SERIAL0 -> USB

- SERIAL1 -> USART1

- SERIAL2 -> USART2 (With RTS/CTS)\*

- SERIAL3 -> USART3

- SERIAL4 -> UART4

- SERIAL5 -> UART5 (With RTS/CTS)\*

- SERIAL6 -> USART6 (Sbus In / IO coprocessor if fitted)

- SERIAL7 -> UART7 (With RTS/CTS)\*

- SERIAL8 -> UART8

\*Serial 2, 5 & 7 have RTS/CTS pins (not available on the low cost
version), the other UARTs do not have RTS/CTS.

GPS 1 & 2 are on Serial 3 & 4 respectively.

* 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
RC Input
========

- **Sensors**
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, CRSF etc),
PPM is NOT supported.

USART 6 Tx is available for use with bi directional protocols.

* x2 Ivensense ICM-42688 IMU
* x1 Ivensense ICM-42670 IMU
* x1 Infineon DPS310 Barometer
* x1 Bosch BMM150 Magnetometer
An optional IOMCU can be connected to this serial port, a compatible
custom build of the firmware required.

- **Power**

CAN Ports
=========

* 5v Main Power in
* x6 Independent Power Regulators
* x2 ADC Inputs for Voltage and Current Sense
2 CAN buses are available, each with a built in 120 ohm termination
resistor.

- **Interfaces**

I2C
===

* 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
I2C 1 - Internal for BMM150 Compass (not available on the low cost
version)

Pinout
======
I2C 2 - Internal for BMP280 Barometer

.. image:: ../../../images/H743Pinout.png
:target: ../_images/H743Pinout.png
I2C 3 - External With internal 2.2k Pull Up

I2C 4 - External With internal 2.2k Pull Up

UART Mapping (Yellow Fade)
==========================

* 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
SPI
===

RC Input
========
SPI 4 is available for use with external sensors alongside a Chip Select
and Data Ready pin, compatible custom build of the firmware required.

RC input is configured on the USART 6 Rx Pin. This pin allows all unidirectional RC protocols supported by ArduPilot. PPM is NOT supported. USART 6 Tx is available for use with bi-directional protocols, such as CRSF/ELRS.

An optional IOMCU can be connected to this serial port, but a compatible custom build of the firmware would be required.
PWM Output
==========

CAN Ports (Light Green Fade)
============================
The Stamp supports up to 10 PWM outputs with D-Shot.

2 CAN buses are available, each with a built in 120 ohm termination resistors.
The PWM outputs are in 3 groups:

I2C (Maroon Fade)
=================
- PWM 1 - 4 in group 1

- I2C 3 - External With internal 2.2k Pull Up.
- I2C 4 - External With internal 2.2k Pull Up.
- PWM 5 - 8 in group 2

SPI (Cyan Fade)
===============
- PWM 9 & 10 in group 3

SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin using custom built firwmare.
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.

PWM Output (Blue Fade)
======================
BiDirectional DShot available on the first 8 outputs.

The Stamp supports up to 10 PWM outputs with D-Shot. The PWM outputs are in 3 groups:
A buzzer alarm signal is available on PWM 11.

* 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.
Analog Inputs
=============

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.

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
========

Ethernet (Green Fade)
=====================
Ethernet is available on 4 output pads and has internal magnetics
supporting direct connection to external equipment, without the need for
a large RJ45 connector. (Not available on the low cost version).

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.
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. (Not available on the low
cost version).


USB
===

USB Signals D+ & D- are available to route to a suitable connector for your project.
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).
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!
Power
=========

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.
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!

Battery Monitoring
==================
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.

The board has a built-in voltage sensor via the ``Voltage Sense`` pin, but no internal current sensor. An external current sensor can be connected to the ``Current Sense`` pin. Default parameters for both internal voltage and external current monitoring are set by default to the below :

- :ref:`BATT_MONITOR<BATT_MONITOR>` 4
- :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN>` 18
- :ref:`BATT_CURR_PIN<BATT_CURR_PIN>` 19
- :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT>` 11.1
- :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT>` 64

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

A built in button can be used to activate DFU Mode by pressing during
power up. The DFU Activate pin is broken out to allow remote mounting of
this button if required.

For the full featured please use firmware “CBU-H7-Stamp”

Firmware Taget = CBU-H7-Stamp
For the low cost please use “CBU-H7-Stamp-LC”

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.
.. |image1| image:: ../../../images/fc-cbu-h7-stamp.jpg
:target: ../images/fc-cbu-h7-stamp.jpg
.. |image2| image:: ../../../images/fc-cbu-h7-stamp-lc.jpg
:target: ../_images/fc-cbu-h7-stamp-lc.jpg

[copywiki destination="plane,copter,rover,blimp"]
2 changes: 1 addition & 1 deletion common/source/docs/common-autopilots.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ Closed Hardware
AtomRC F405-NAVI <common-atomrcf405-navi>
BetaFPV F4 1S 12A AIO V3 <common-betafpvf405>
brainFPV RADIX2 HD <common-radix2hd>
CBUnmanned H743 Stamp <common-StampH743>
CBUnmanned H743 Stamp & -LC <common-StampH743>
CSKY405 <common-CSKYF405>
Emlid NAVIO2 (Linux) <common-navio2-overview>
Flywoo F405 Pro <common-flywoof405pro>
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