Andy Piper
3 years ago
committed by
Andrew Tridgell
5 changed files with 181 additions and 12 deletions
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# KakuteH7 v2 Flight Controller |
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The KakuteH7 v2 is a flight controller produced by [Holybro](http://www.holybro.com/). |
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## Features |
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- STM32H743 microcontroller |
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- BMI270 IMU |
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- BMP280 barometer |
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- Onboard Flash: 1GBit |
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- AT7456E OSD |
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- 6 UARTs |
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- 9 PWM outputs |
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## Pinout |
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 |
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 |
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## UART Mapping |
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the |
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn. |
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- SERIAL0 -> USB |
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- SERIAL1 -> UART1 (DJI-RX, DMA-enabled) |
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- SERIAL2 -> UART2 (Telem2, DMA-enabled) (connected to internal BT module) |
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- SERIAL3 -> UART3 (VTX) |
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- SERIAL4 -> UART4 (GPS, DMA-enabled) |
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- SERIAL5 -> not available |
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- SERIAL6 -> UART6 (RX, DMA-enabled) |
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- SERIAL7 -> UART7 (ESC Telemetry) |
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## RC Input |
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RC input is configured on the R6 (UART6_RX) pin. It supports all RC |
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protocols except PPM. For protocols requiring half-duplex serial to transmit |
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telemetry (such as FPort) you should configure SERIAL6 with half-duplex, pin-swap |
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and inversion enabled. |
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## FrSky Telemetry |
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FrSky Telemetry is supported using the Tx pin of any UART including SERIAL6/UART6 . You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL6). |
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- SERIAL6_PROTOCOL 10 |
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- SERIAL6_OPTIONS 7 |
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## OSD Support |
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The KakuteH7 v2 supports OSD using OSD_TYPE 1 (MAX7456 driver). |
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## VTX Support |
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The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect |
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this to a peripheral requiring 5v. The 9v supply is controlled by RELAY_PIN2 and is on by default. It can be configured to be operated by an RC switch by selecting the function RELAY2. |
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## PWM Output |
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The KakuteH7 supports up to 9 PWM outputs. The pads for motor output |
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M1 to M8 on the two motor connectors, plus M9 for LED strip or another |
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PWM output. |
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The PWM is in 5 groups: |
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- PWM 1, 2 in group1 |
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- PWM 3, 4 in group2 |
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- PWM 5, 6 in group3 |
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- PWM 7, 8 in group4 |
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- PWM 9 in group5 |
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Channels within the same group need to use the same output rate. If |
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any channel in a group uses DShot then all channels in the group need |
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to use DShot. Channels 1-8 support bi-directional DShot. |
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## Battery Monitoring |
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The board has a builtin voltage and current sensor. The current |
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sensor can read up to 130 Amps. The voltage sensor can handle up to 6S |
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LiPo batteries. |
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The correct battery setting parameters are: |
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- BATT_MONITOR 4 |
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- BATT_VOLT_PIN 10 |
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- BATT_CURR_PIN 11 |
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- BATT_VOLT_MULT 10.1 |
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- BATT_AMP_PERVLT 17.0 |
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## Compass |
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The KakuteH7 v2 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads. |
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## Loading Firmware |
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Initial firmware load can be done with DFU by plugging in USB with the |
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bootloader button pressed. Then you should load the "with_bl.hex" |
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firmware, using your favourite DFU loading tool. |
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Once the initial firmware is loaded you can update the firmware using |
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any ArduPilot ground station software. Updates should be done with the |
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*.apj firmware files. |
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# setup for LEDs on chan9 |
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SERVO9_FUNCTION 120 |
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NTF_LED_TYPES 257 |
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# Default VTX power to on |
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RELAY_DEFAULT 1 |
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SERIAL7_PROTOCOL 16 |
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include ../KakuteH7-bdshot/hwdef-bl.dat |
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## pull up VTX power |
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PB11 VTX_PWR OUTPUT HIGH GPIO(81) |
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# KakuteH7 v2 with flash chip for logging |
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include ../KakuteH7-bdshot/hwdef.dat |
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undef sdcard |
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undef icm20689 |
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undef IMU |
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undef HAL_OS_FATFS_IO |
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undef HAL_BOARD_LOG_DIRECTORY |
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undef HAL_BOARD_TERRAIN_DIRECTORY |
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undef PA3 PA0 PA2 PC8 PC9 PD8 PD9 PD0 PD1 PC6 PC7 PE7 PE8 |
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MCU_CLOCKRATE_MHZ 480 |
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# Holybro documentation: |
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# UART6 - RX |
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# UART1 - DJI RX |
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# UART4 - GPS |
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# UART3 - VTX |
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# USART3 (VTX) |
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PD8 USART3_TX USART3 NODMA |
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PD9 USART3_RX USART3 NODMA |
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# UART4 (GPS) |
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PD0 UART4_RX UART4 |
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PD1 UART4_TX UART4 |
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# UART6 (RX) |
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PC7 USART6_RX USART6 |
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PC6 USART6_TX USART6 |
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# UART7 (ESC Telemetry) |
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PE7 UART7_RX UART7 NODMA |
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PE8 UART7_TX UART7 NODMA |
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PA0 TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR |
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PA2 TIM5_CH3 TIM5 PWM(6) GPIO(55) BIDIR |
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR |
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57) |
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# VTX Power control - should be high at startup to ensure power |
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PB11 VTX_PWR OUTPUT HIGH GPIO(81) |
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define RELAY2_PIN_DEFAULT 81 |
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SPIDEV dataflash SPI1 DEVID1 SDCARD_CS MODE3 104*MHZ 104*MHZ |
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SPIDEV bmi270 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ |
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IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 |
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DMA_PRIORITY TIM3* TIM2* TIM5* TIM8* |
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DMA_NOSHARE *UP |
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# Motor order implies Betaflight/X for standard ESCs |
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define HAL_FRAME_TYPE_DEFAULT 12 |
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define HAL_LOGGING_DATAFLASH_ENABLED 1 |
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define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV |
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