targets: add commented CAN bus pins to 7 H7 targets#11631
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Add commented-out CAN1 pin definitions to AETH743Basic, BROTHERHOBBYH743, CORVON743V1, DAKEFPVH743PRO, MICOAIR743, TBS_LUCID_H7, and TBS_LUCID_H7_WING. Pins sourced from the corresponding ArduPilot hwdef files. Blocks are commented by default so normal builds are unaffected; users with CAN-capable hardware can uncomment to enable DroneCAN support via a custom build. CORVON743V1 and MICOAIR743 use PB8/PB9 (no standby pin in AP hwdef). DAKEFPVH743PRO uses PD2 as standby (differs from the usual PD3). Remaining five use PD0/PD1/PD3.
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Test firmware build ready — commit Download firmware for PR #11631 238 targets built. Find your board's
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| // #define USE_DRONECAN | ||
| // #define CAN1_RX PD0 | ||
| // #define CAN1_TX PD1 | ||
| // #define CAN1_STANDBY PD3 |
| // #define USE_DRONECAN | ||
| // #define CAN1_RX PD0 | ||
| // #define CAN1_TX PD1 | ||
| // #define CAN1_STANDBY PD3 |
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Ditto. The Wing Mini has the same assignment.
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I have four or five of these boards. |
No, @daijoubu is just being cautious. IMHO we should add the ones we can confirm the assigments on uncommented. #11635 (comment) Obliviously i can do that the for the TBS ones, but i also have eg. the microair or the matek h7 boards on hand. Excited for this to land BTW! |
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I'm happy to uncomment the ones we can confirm and I appreciate the support. :) I only have a small stock of CAN capable boards and peripherals. If UART4 is not defined it won't conflict. I don't have a global off switch for CAN but will add it to my backlog, shouldn't be hard to implement. I'll have to look at how the UART hardware is initialized before deciding if both can be defined in the same target safely. |
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Thinking about this, I don't think you can share UART4 and CAN in an FC unless the board designer uses a variant of the TJA1051(or equivalent) that supports fully disabling the control interface. I have not seen this in the few implementations I've looked at. The S input on this schematic just disables TXD so the peripheral can't send to the BUS. RXD will always drive the voltage based on the state of the CAN datalines interfering with serial communications.. This is the typical hardware on the CAN Rx and Tx lines from the MCU. 
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3 participants
Summary
Adds commented-out CAN1 pin definitions to 7 H7 flight controller targets where CAN bus pins could be identified from the corresponding ArduPilot hwdef files.
Targets updated:
Important: Definitions are commented out
These pin definitions are sourced from ArduPilot hwdef files and have not been validated on real hardware. We do not have any of these boards available for testing. The blocks are commented out by default so normal builds are completely unaffected.
The FDCAN1 peripheral can only be used as an alternate function on a limited number of pins, so the pin assignments are easy to audit.
STM32H743 has 2 FDCAN peripherals (FDCAN3 is only on H725/H730 variants — the H743 CMSIS header confirms IS_FDCAN_ALL_INSTANCE covers only FDCAN1+FDCAN2).
Both use AF9. From RM and Datasheet:
Users who have the hardware and want to test DroneCAN can uncomment the block in their local target.h and do a custom build. Confirmed working INAV DroneCAN targets (KAKUTEH7WING, MATEKH743, MATEKF765) served as the pattern reference.
What was checked before adding
What was excluded and why
Build matrix
All targets pass, zero warnings.