Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS

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  • PM-6202
  • Matek Systems
  • H743-WLITE
  • 4250902361020
Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS STM32H743VIH6,... mehr
Produktinformationen "Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS"

Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS

STM32H743VIH6, ICM42688-P, DPS310, OSD, 7x UARTs, 1x CAN, 2x I2C, 12x PWM outputs, 3x BEC

 

 

FC Specifications

  • MCU: STM32H743VIH6, 480MHz , 512KB RAM, 2MB Flash
  • IMU: ICM42688-P
  • Baro: DPS310 (I2C2)
  • OSD: AT7456E
  • Blackbox: MicroSD card slot (SDIO)
  • 7x Uarts (1,2,3,4,6,7,8) with built-in inversion.
  • 13x PWM outputs(12+LED)
  • 6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2)
  • 3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
  • 2x I2C
  • 1x CAN
  • USB/Beep Extender with Type-C(USB2.0)
  •  
  • Dual Camera Inputs switch
  • 9V(12V) for VTX power switch
  •  
  • High-precision Current Sense, 220A range
  • ADC VB2 voltage divider: 1K:20K
  • ADC AirSpeed voltage divider: 20K:20K

FC Firmware

  • INAV: MATEKH743
  • ArduPilot: MATEKH743

PDB

  • Input voltage range: 6.8~30V (2~6S LiPo)
  • 1x ESC power pads
  • Battery Voltage divider 1K:20K (Scale 2100 in INAV, BATT_VOLT_MULT 21.0 in ArduPilot)
  • Current Senor: 220A, 3.3V ADC (Scale 150 in INAV, 66.7 A/V in ArduPilot)
  • Sense resistor: 90A continuous, 220A peak

BEC 5V output

  • Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
  • Continuous current: 2 Amps, Max.3A

BEC 9V /12V output

  • Designed for Video Transmitter, Camera, Gimbal ect.
  • Continuous current: 2 Amps, Max.3A
  • 12V option with Jumper pad
  • for stable 9V/12V output, input voltage should > output voltage +1V

BEC Vx output

  • Designed for Servos
  • Voltage adjustable, 5V Default, 6V or 7.2V via jumper
  • Continuous current: 8 Amps, Max.10A
  • for stable Vx output, input voltage should > Vx voltage +1V

BEC 3.3V output

  • Designed for Baro / Compass module and external 3.3V peripherals
  • Linear Regulator
  • Continuous current: 200mA

Physical

  • Mounting: 25 x 25mm, Φ2mm
  • Dimensions: 44 x 29 x 14.5 mm
  • Weight: 22g w/ USB/buzzer adapter

Including

  • 1x H743-WLITE
  • 1x USB(Type-C)/Beep (Passive buzzer) Extender
  • 1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
  • 2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port
  • 1x Rubycon ZLH 35V 470uF capacitor
  • Dupont 2.54 pins (Board is shipped unsoldered)
Layout

Wiring

INAV mapping
INAV
PWM S1 PB0 5 V tolerant I/O TIM3_CH3 Fixed Wing
Motor
S2 PB1 3.3 V tolerant I/O TIM3_CH4
S3 PA0 5 V tolerant I/O TIM5_CH1 Fixed Wing
Servo
S4 PA1 5 V tolerant I/O TIM5_CH2
S5 PA2 5 V tolerant I/O TIM5_CH3
S6 PA3 5 V tolerant I/O TIM5_CH4
S7 PD12 5 V tolerant I/O TIM4_CH1
S8 PD13 5 V tolerant I/O TIM4_CH2
S9 PD14 5 V tolerant I/O TIM4_CH3
S10 PD15 5 V tolerant I/O TIM4_CH4
S11 PE5 5 V tolerant I/O TIM15_CH1
S12 PE6 5 V tolerant I/O TIM15_CH2
LED PA8 5 V tolerant I/O TIM1_CH1 2812LED
ADC Vbat pad
1K:20K divider builtin
PC0 0~36V Vbat ADC
ADC_CHANNEL_1
scale 2100
Curr Pad PC1 0~3.3V Current ADC
ADC_CHANNEL_2
scale 150
RSSI Pad PC5 0~3.3V RSSI ADC
ADC_CHANNEL_3
Analog RSSI
AirS Pad
20K:20K divider builtin
PC4 0~6.6V AirS ADC
ADC_CHANNEL_4
Analog Airspeed
VB2 Pad
1K:20K divider builtin
PA4 0~69V ADC_CHANNEL_5 scale 2100
CU2 Pad PA7 0~3.3V ADC_CHANNEL_6 spare
I2C I2C1
CL1/DA1
PB6/PB7 5 V tolerant I/O Compass QMC5883 / HMC5883
IST8310 / IST8308
MAG3110 / LIS3MDL
OLED 0.96″
I2C2
CL2/DA2 on JST-GH-4P
PB10/PB11 5 V tolerant I/O onboard Barometer DPS310, Add: 0x76
Digital Airspeed sensor MS4525
Temperature sensor  
UART USB PA11/PA12 5 V tolerant I/O USB  
TX1 RX1 PA9/PA10 5 V tolerant I/O USART1 telem2
TX2 RX2 PD5/PD6 5 V tolerant I/O USART2 GPS1
TX3 RX3 PD8/PD9 5 V tolerant I/O USART3 GPS2
TX4 RX4 PB9/PB8 5 V tolerant I/O UART4 USER
TX6 RX6 PC6/PC7 5 V tolerant I/O TX6 & RX6 CRSF
UART6_RX SBUS/IBUS/DSM/PPM
UART6_TX FPORT/SRXL2
RX7 TX7 PE7/PE8 3.3 V tolerant I/O UART7 telem1
TX8 RX8 PE1/PE0 5 V tolerant I/O UART8 USER
ArduPilot mapping
ArduPilot
PWM S1 PB0 5 V tolerant I/O PWM1 GPIO50 TIM8_CH2N Group1
S2 PB1 3.3 V tolerant I/O PWM2 GPIO51 TIM8_CH3N
S3 PA0 5 V tolerant I/O PWM3 GPIO52 TIM5_CH1 Group2
S4 PA1 5 V tolerant I/O PWM4 GPIO53 TIM5_CH2
S5 PA2 5 V tolerant I/O PWM5 GPIO54 TIM5_CH3
S6 PA3 5 V tolerant I/O PWM6 GPIO55 TIM5_CH4
S7 PD12 5 V tolerant I/O PWM7 GPIO56 TIM4_CH1 Gourp3
S8 PD13 5 V tolerant I/O PWM8 GPIO57 TIM4_CH2
S9 PD14 5 V tolerant I/O PWM9 GPIO58 TIM4_CH3
S10 PD15 5 V tolerant I/O PWM10 GPIO59 TIM4_CH4
S11 PE5 5 V tolerant I/O PWM11 GPIO60 TIM15_CH1 Group4
S12 PE6 5 V tolerant I/O PWM12 GPIO61 TIM15_CH2
LED PA8 5 V tolerant I/O PWM13 GPIO62 TIM1_CH1 Group5
SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel
PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.
ADC Vbat pad
1K:20K divider builtin
PC0 0~36V Vbat ADC
onboard battery voltage sense
BATT_VOLT_PIN
BATT_VOLT_MULT
10
21.0
Curr pad PC1 0~3.3V Current ADC
onboard current sense
BATT_CURR_PIN
BATT_AMP_PERVLT
11
66.7
VB2 Pad
1K:20K divider builtin
PA4 0~69V Vbat2 ADC BATT2_VOLT_PIN
BATT2_VOLT_MULT
18
21.0
CU2 Pad PA7 0~3.3V Current2 ADC BATT2_CURR_PIN
BATT2_AMP_PERVLT
7
/
RSSI Pad PC5 0~3.3V RSSI ADC
Analog RSSI
RSSI_ANA_PIN
RSSI_TYPE
8
1
AirS Pad
20K:20K divider builtin
PC4 0~6.6V AirS ADC
Analog Airspeed
ARSPD_PIN
ARSPD_TYPE
4
2
I2C I2C1
CL1/DA1
PB6/PB7 5 V tolerant I/O Compass COMPASS_AUTODEC 1
I2C2
CL2/DA2 on JST-GH-4P
PB10/PB11 5 V tolerant I/O on board Baro DPS310 Address 0x76
Digital Airspeed I2C
MS4525
DLVR-L10D
ARSPD_BUS
ARSPD_TYPE
ARSPD_TYPE
0
1
9
CAN CAN1 PD0/PD1 5 V tolerant I/O CAN Node CAN_D1_PROTOCOL
CAN_P1_DRIVER
1
1
CAN GPS
CAN Compass
CAN Airspeed sensor
GPS_TYPE
COMPASS_TYPEMASK
ARSPD_TYPE
9
0
8
UART USB PA11/PA12 5 V tolerant I/O USB console SERIAL0
RX7 TX7 RTS7 CTS7 PE7/8/9/10 3.3 V tolerant I/O UART7 telem1 SERIAL1
TX1 RX1 PA9/PA10 5 V tolerant I/O USART1 telem2 SERIAL2
TX2 RX2 PD5/PD6 5 V tolerant I/O USART2 GPS1 SERIAL3
TX3 RX3 PD8/PD9 5 V tolerant I/O USART3 GPS2 SERIAL4
TX8 RX8 PE1/PE0 5 V tolerant I/O UART8 USER SERIAL5
TX4 RX4 PB9/PB8 5 V tolerant I/O UART4 USER SERIAL6
TX6 RX6 PC6/PC7 5 V tolerant I/O USART6 RC input/Receiver SERIAL7
RX6 SBUS/IBUS/DSM/PPM
TX6 FPORT/SRXL2

RC INPUT

The Rx6 pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF which requires a true UART connection. However, bi-directional protocols which include telemetry, such as SRXL2 and FPort, when connected in this manner, will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, the Rx6 pin can also be configured to be used as true UART RX pin for use with bi-directional systems by setting the BRD_ALT_CONFIG to “1” so it becomes the SERIAL7 port’s RX input pin.

With this option, SERIAL7_PROTOCOL must be set to “23”, and:

  • PPM is not supported.
  • SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the SERIAL7_OPTIONS be set to “3”.
  • FPort requires connection to Tx6 and SERIAL7_OPTIONS be set to “7”. If Telemetry doesn’t work, try set SERIAL7_OPTIONS = 135.
  • CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set SERIAL7_OPTIONS to “0”.
  • SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set SERIAL7_OPTIONS to “4”.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

ArduPilot Relay(PINIO)

  • Camera-1 and Vsw On by default
  • Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

  • PD10 PINIO1 OUTPUT GPIO(81) //9Vsw pad power switch
  • PD11 PINIO2 OUTPUT GPIO(82) //Camera switch

# RCx_OPTION: RC input option

  • 28 Relay On/Off
  • 34 Relay2 On/Off
  • 35 Relay3 On/Off
  • 36 Relay4 On/Off

e.g.

  • RELAY_PIN 81 //9Vsw GPIO
  • RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to switch 9Vsw
  • RELAY_PIN2 82 //Camera switch GPIO
  • RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to switch camera

The configured feature will be triggered when the auxiliary switch’s pwm value becomes higher than 1800. It will be deactivated when the value falls below 1200.

Check the pwm value sent from the transmitter when the switch is high and low using the Mission Planner’s Initial Setup >> Mandatory Hardware >> Radio Calibration screen. If it does not climb higher than 1800 or lower than 1200, it is best to adjust the servo end points in the transmitter.

 
Notes & Tips

H743-WLITE vs F765-WSE

  • STM32H743VIH6 vs STM32F765VIH6
  • RX4/TX4 vs RX5
  • Other components and layout are identical.

ArduPilot

  • 220A Current sensor on H743-WLITE, , BATT_AMP_PERVLT to 66.7
  • 1k:20k voltage divider for battery voltage sense on H743-WLITE, BATT_VOLT_MULT 21
  • Supported since Arduplane 4.2
  • It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. check this blog https://www.mateksys.com/?p=6905

INAV

  • 220A Current sensor on H743-WLITE, set current_meter_scale = 150
  • 1k:20k voltage divider for battery voltage sense on H743-WLITE, set vbat_scale = 2100
  • H743-WLITE is not supported by INAV4.1 or older downloaded from configurator. pls download inav_4.1.0_MATEKH743_42688 from our website.
  • Starting with INAV5.0, you may download firmware directly from INAV configurator.

Others

  • If the ESCs you are using don’t have enough capacitors integrated, low ESR electrolytic capacitor is required for reducing ESC noise.
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