Support for MicoAir743

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/README.md

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+# MicoAir743 Flight Controller
+
+The MicoAir743 is a flight controller designed and produced by [MicoAir Tech.](http://micoair.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088/BMI270 dual IMUs
+ - DPS310 barometer
+ - IST8310 magnetometer
+ - AT7456E OSD
+ - 9V 3A BEC; 5V 3A BEC
+ - MicroSD Card Slot
+ - 7 UARTs
+ - 10 PWM outputs
+ - 1 CAN
+ - 1 I2C
+ - 1 SWD
+
+## Physical
+
+![MicoAir H743 V1.3 Front View](MicoAir743_FrontView.jpg)
+
+![MicoAir H743 V1.3 Back View](MicoAir743_BackView.jpg)
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
+ - SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
+ - SERIAL5 -> UART6 (RCIN, DMA-enabled)
+ - SERIAL6 -> UART7 (RX only, ESC Telemetry, DMA-enabled)
+ - SERIAL7 -> UART8 (User, DMA-enabled)
+
+
+## RC Input
+
+The default RC input is configured on the UART6. The SBUS pin is inverted and connected to RX6. Non SBUS, single wire serial inputs can be directly tied to RX6 if SBUS pin is left unconnected. RC could  be applied instead at a different UART port such as UART1, UART4 or UART8, and set the protocol to receive RC data: `SERIALn_PROTOCOL=23` and change SERIAL5 _Protocol to something other than '23'.
+
+## OSD Support
+
+The MicoAir743 supports onboard OSD using OSD_TYPE 1 (MAX7456 driver). Simultaneously, DisplayPort OSD is available on the HD VTX connector, See below.
+
+
+## VTX Support
+
+The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v.
+
+## PWM Output
+
+The MicoAir743 supports up to 10 PWM outputs.
+
+All the channels support DShot.
+
+Channels 1-8 support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2, 3, 4 are Group 1;
+
+5, 6 are Group 2;
+
+7, 8, 9, 10 are Group 3;
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.2
+ - BATT_CURR_SCALE 40.2
+
+## Compass
+
+The MicoAir743 has a built-in compass sensor (IST8310), and you can also attach an external compass using I2C on the SDA and SCL connector.
+
+## Mechanical
+
+ - Mounting: 30.5 x 30.5mm, Φ4mm
+ - Dimensions: 36 x 36 x 8 mm
+ - Weight: 9g
+
+## Ports Connector
+
+![MicoAir H743 V1.3 Ports Connection](MicoAir743_PortsConnection.jpg)
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favorite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the "*.apj" firmware files.

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/defaults.parm

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+#BATTERY MONITOR ON
+BATT_MONITOR 4
+
+#enable second OSD type
+OSD_TYPE2 = 5
+
+#Serial Port defaults
+SERIAL2_PROTOCOL 42
+SERIAL4_PROTOCOL 2
+SERIAL5_PROTOCOL 23
+SERIAL6_PROTOCOL 16

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PB12 AT7456E_CS CS
+PA15 BMI270_CS  CS
+PD5  GYRO_CS    CS
+PD4  ACCEL_CS   CS
+
+# LEDs
+PE6 LED_ACTIVITY   OUTPUT LOW #green
+PE4 LED_BOOTLOADER OUTPUT LOW #blue
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# flash size
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER  OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1 - TELEM1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2 - DJIO3
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# USART3 - GPS
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# UART4 - TELEM2
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# UART6 - RC_INPUT
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+PD0 SBUS_INV OUTPUT LOW
+
+# UART7 - ESC
+PE7 UART7_RX UART7
+
+# UART8 - TELEM3
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CAN
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1 - CONNECTOR
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2 - BARO & MAG
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# PWM output pins
+PE14 TIM1_CH4  TIM1  PWM(1)  GPIO(50) BIDIR
+PE13 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
+PE11 TIM1_CH2  TIM1  PWM(3)  GPIO(52) BIDIR
+PE9  TIM1_CH1  TIM1  PWM(4)  GPIO(53)
+PB1  TIM3_CH4  TIM3  PWM(5)  GPIO(54) BIDIR
+PB0  TIM3_CH3  TIM3  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)
+
+# 10 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 10
+
+# LEDs
+PE5 LED_RED   OUTPUT LOW GPIO(0)
+PE6 LED_GREEN OUTPUT LOW GPIO(1)
+PE4 LED_BLUE  OUTPUT LOW GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON 0
+define HAL_HAVE_PIXRACER_LED
+
+# ADC for Power
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 21.12
+define HAL_BATT_CURR_SCALE 40.2
+
+# compass
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_NONE
+COMPASS IST8310 I2C:0:0x0E false ROTATION_NONE
+
+# barometers
+BARO DPS310 I2C:0:0x76
+
+# microSD support
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+define FATFS_HAL_DEVICE SDCD1
+
+# SPI1 - AT7456E
+PA5 SPI1_SCK  SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PB12 AT7456E_CS CS
+
+# SPI2 - IMUs
+PD3 SPI2_SCK  SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+PD5  GYRO_CS    CS
+PD4  ACCEL_CS   CS
+PA15 BMI270_CS  CS
+
+# SPI devices
+SPIDEV bmi088_a      SPI2 DEVID1  ACCEL_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g      SPI2 DEVID2  GYRO_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi270        SPI2 DEVID3  BMI270_CS   MODE3   1*MHZ 10*MHZ
+SPIDEV osd           SPI1 DEVID4  AT7456E_CS  MODE0  10*MHZ 10*MHZ
+
+# 2 IMUs
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin