diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743Pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743Pinout.png deleted file mode 100644 index f65bf4302c65c..0000000000000 Binary files a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743Pinout.png and /dev/null differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743StampFront&Back.png b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743StampFront&Back.png deleted file mode 100644 index 207616eb109ce..0000000000000 Binary files a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743StampFront&Back.png and /dev/null differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743_SD.png b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743_SD.png new file mode 100644 index 0000000000000..da09946000664 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/H743_SD.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/README.md b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/README.md index 50160b10e8709..eb48dcbc40629 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/README.md @@ -2,19 +2,19 @@ # CBUnmanned H743 Stamp -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/). -![H743StampFront&Back](H743StampFront&Back.png "H743FB") +![H743StampFront&Back](H743_SD.png "H743FB") ## Features - 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. +- 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. +- Just 22mm x 24.25mm & 3g. ## Specifications - Processor @@ -26,7 +26,7 @@ The [CBUnmanned H743 Stamp](https://cbunmanned.com/store) is a flight controller - Sensors - x2 Ivensense ICM-42688 IMU - x1 Ivensense ICM-42670 IMU - - x1 Infineon DPS310 Barometer + - x1 BMP280 Barometer - x1 Bosch BMM150 Magnetometer - Power @@ -50,7 +50,7 @@ The [CBUnmanned H743 Stamp](https://cbunmanned.com/store) is a flight controller ![H743 Stamp Pinout](H743Pinout.png "H743") -### UART Mapping (Yellow Fade) +### UART Mapping Ardupilot -> STM32 - SERIAL0 -> USB @@ -75,10 +75,10 @@ USART 6 Tx is available for use with bi directional protocols. An optional IOMCU can be connected to this serial port, a compatible custom build of the firmware required. -### CAN Ports (Light Green Fade) +### CAN Ports 2 CAN buses are available, each with a built in 120 ohm termination resistor. -### I2C (Maroon Fade) +### I2C I2C 1 - Internal for BMM150 Compass. I2C 2 - Internal for DPS310 Barometer. @@ -87,10 +87,10 @@ I2C 3 - External With internal 2.2k Pull Up. I2C 4 - External With internal 2.2k Pull Up. -### SPI (Cyan Fade) +### SPI SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin, compatible custom build of the firmware required. -### PWM Output (Blue Fade) +### PWM Output The Stamp supports up to 10 PWM outputs with D-Shot. The PWM outputs are in 3 groups: @@ -105,11 +105,11 @@ BiDirectional DShot available on the first 8 outputs. A buzzer alarm signal is available on Timer 14. -### Analog Inputs (Purple Fade) +### 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. -### Ethernet (Green Fade) +### Ethernet 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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/hwdef.dat index 474e761991cb7..639e0c6256b4d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-Stamp/hwdef.dat @@ -149,7 +149,7 @@ PB13 CAN2_TX CAN2 PB9 I2C1_SDA I2C1 PB8 I2C1_SCL I2C1 -# I2C2 - DPS310 +# I2C2 - BMP280 PF1 I2C2_SCL I2C2 PF0 I2C2_SDA I2C2 @@ -193,7 +193,7 @@ define AP_NOTIFY_GPIO_LED_1_PIN 90 define HAL_GPIO_LED_ON 1 # barometers -BARO DPS310 I2C:1:0x77 +BARO BMP280 I2C:1:0x76 # compass COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_180