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ChibiOS: add PilotGaeaSH7V1 board support
- Add hwdef for PilotGaeaSH7V1 - Add bdshot variant
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‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/PilotGaea_front_view_Pin.jpg‎

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‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/PilotGaea_rear_view_Pin.jpg‎

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‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/README.md‎

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# PilotGaeaSH7V1 Flight Controller
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The PilotGaeaSH7V1 is a flight controller designed and produced by PilotGaea
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## Features
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- STM32H743 microcontroller
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- Dual ICM42688P IMUs
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- DPS310 barometer
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- AT7456E OSD
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- MicroSD card slot
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- Dual camera input
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- 1 USB
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- 5.5 UARTs, one with CTS/RTS flow control pins
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- 10 PWM / Dshot outputs
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- 1 I2C
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- 1 CAN
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- 5 ADC inputs
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- 5V/1.5A BEC for main power supply
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- 8V/1.5A BEC for powering Video Transmitter
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## Mechanical
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- Dimensions: 36 x 36 x 17 mm
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- Weight: 10.5g
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## Physical and pinout
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![PilotGaeaSH7V1 front view](PilotGaeaSH7V1_front_view_Pin.jpg)
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![PilotGaeaSH7V1 rear view](PilotGaeaSH7V1_rear_view_Pin.jpg)
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## Power supply
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The PilotGaeaSH7V1 supports 3-8s Li battery input. It has 2 ways of BEC, which result in 3 ways of power supplys. Please see the table below.
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| Power symbol | Power source | Max power (current) |
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|--------------|---------------------------------------------------|---------------------|
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| BAT | directly from battery | |
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| 5V | from 5V BEC | 7.5W (1.5A) |
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| 8V | from 8V BEC, controlled by MCU | 12W (1.5A) |
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| 4V5 | from USB or 5V BEC, diodes isolate the two powers | 4.7W (1A) |
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## UART Mapping
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The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART7 (support CTS and RTS)
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- SERIAL2 -> USART1
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- SERIAL3 -> USART2
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- SERIAL4 -> not available
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- SERIAL5 -> RX8 (RX8 is also available as ESC telem if protocol is changed for this UART)
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- SERIAL6 -> UART4
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- SERIAL7 -> USART6(RCIN)
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Any UART can be re-tasked by changing its protocol parameter.
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## RC Input
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The default RC input is configured on the UART6 and supports all RC protocols except PPM. The SBUS pin is inverted and connected to RX6. RC can be attached to any UART port as long as the serial port protocol is set to `SERIALn_PROTOCOL=23` and SERIAL6_Protocol is changed to something other than '23'.
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## OSD Support
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The PilotGaeaSH7V1 Supports onboard analog OSD using the AT7456 chip.The composited image is output via the VTX pin.
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## PWM Output
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The PilotGaeaSH7V1 supports up to 11 PWM outputs.
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All the channels support DShot.
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Outputs are grouped and every output within a group must use the same output protocol:
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1, 2 are Group 1;
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3, 4, 5, 6 are Group 2;
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7, 8 are Group 3;
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11, 12 are Group 4;
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13(LED) is Group 5;
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Output 13 can be used as LED neopixel output;
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## Battery Monitoring
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The board has two internal voltage sensors and two external current sensor input.
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The voltage sensors can handle up to 8S LiPo batteries.
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Enable Battery monitor with these parameter settings :
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* BATT_MONITOR 4
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Then reboot.
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* BATT_VOLT_PIN 10
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* BATT_CURR_PIN 11
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* BATT_VOLT_MULT 11
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* BATT_AMP_PERVLT 40
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* BATT2_VOLT_PIN 18
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* BATT2_CURR_PIN 7
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* BATT2_VOLT_MULT 21
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* BATT2_AMP_PERVLT 40
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## Compass
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The PilotGaeaSH7V1 has no built-in compass, so if needed, you should use an external compass.
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## Analog cameras
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The PilotGaeaSH7V1 supports up to 2 cameras, connected to pin C1 and C2. You can select the video signal to VTX from camera by an RC channel. Set the parameters below:
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- RELAY2_FUNCTION 1
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- RELAY_PIN2 82
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- RC8_OPTION 34
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## 8V switch
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The 8V power supply can be controlled by an RC channel. Set the parameters below:
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- RELAY1_FUNCTION 1
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- RELAY_PIN 81
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- RC7_OPTION 28
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## Loading Firmware
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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 favourite DFU loading tool.
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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/PilotGaeaSH7V1-bdshot/defaults.parm‎

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# SERIAL7 is RCIN by default
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SERIAL7_PROTOCOL 23
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SERIAL7_BAUD 115

‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/hwdef-bl.dat‎

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include ../PilotGaeaSH7V1/hwdef-bl.dat

‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/hwdef.dat‎

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# Bi-directional dshot version of PilotGaeaSH7V1
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# RC input and buzzer timers need to be used so buzzer becomes single tone
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# and UART is used for RCIN
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include ../PilotGaeaSH7V1/hwdef.dat
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# undefine the pins we are going to change
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undef PB9 PB8 PC7 PC6 PE0 PE1 PB0 PB1 PA0 PA1 PA2 PA3 PD12 PD13 PD14 PD15 PE5 PE6 PA15
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# UART4 (spare), SERIAL6
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#PB9 UART4_TX UART4
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#PB8 UART4_RX UART4
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PB9 UART4_TX UART4 NODMA
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PB8 UART4_RX UART4 NODMA
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# USART6 (RC input), SERIAL7
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#PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
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#PC6 USART6_TX USART6 NODMA
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#PC7 USART6_RX USART6 NODMA ALT(1)
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# UART8 (ESC Telemetry), SERIAL5
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#PE0 UART8_RX UART8
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#PE1 UART8_TX UART8
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PE0 UART8_RX UART8 NODMA
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PE1 UART8_TX UART8 NODMA
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# Motors
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#PB0 TIM8_CH2N TIM8 PWM(1) GPIO(50)
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#PB1 TIM8_CH3N TIM8 PWM(2) GPIO(51)
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#PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52)
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#PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53)
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#PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54)
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#PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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#PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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#PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
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#PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
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#PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60)
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#PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61)
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53)
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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# Disable DMA on PWM9-12 so that the LEDs get a channel
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) NODMA
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) NODMA
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PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA
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# Beeper
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#PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
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PA15 BUZZER OUTPUT GPIO(32) LOW
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define HAL_BUZZER_PIN 32
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DMA_PRIORITY SPI1* SPI4*
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DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*

‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1/PilotGaeaSH7V1_front_view_Pin.jpg‎

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‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1/PilotGaeaSH7V1_rear_view_Pin.jpg‎

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‎libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1/README.md‎

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# PilotGaeaSH7V1 Flight Controller
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The PilotGaeaSH7V1 is a flight controller designed and produced by PilotGaea
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## Features
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- STM32H743 microcontroller
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- Dual ICM42688P IMUs
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- DPS310 barometer
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- AT7456E OSD
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- MicroSD card slot
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- Dual camera input
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- 1 USB
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- 5.5 UARTs, one with CTS/RTS flow control pins
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- 10 PWM / Dshot outputs
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- 1 I2C
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- 1 CAN
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- 5 ADC inputs
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- 5V/1.5A BEC for main power supply
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- 8V/1.5A BEC for powering Video Transmitter
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## Mechanical
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- Dimensions: 36 x 36 x 17 mm
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- Weight: 10.5g
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## Physical and pinout
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![PilotGaeaSH7V1 front view](PilotGaeaSH7V1_front_view_Pin.jpg)
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![PilotGaeaSH7V1 rear view](PilotGaeaSH7V1_rear_view_Pin.jpg)
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## Power supply
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The PilotGaeaSH7V1 supports 3-8s Li battery input. It has 2 ways of BEC, which result in 3 ways of power supplys. Please see the table below.
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| Power symbol | Power source | Max power (current) |
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|--------------|---------------------------------------------------|---------------------|
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| BAT | directly from battery | |
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| 5V | from 5V BEC | 7.5W (1.5A) |
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| 8V | from 8V BEC, controlled by MCU | 12W (1.5A) |
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| 4V5 | from USB or 5V BEC, diodes isolate the two powers | 4.7W (1A) |
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## UART Mapping
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The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
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- SERIAL0 -> USB
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- SERIAL1 -> UART7 (support CTS and RTS)
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- SERIAL2 -> USART1
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- SERIAL3 -> USART2
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- SERIAL4 -> not available
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- SERIAL5 -> RX8 (RX8 is also available as ESC telem if protocol is changed for this UART)
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- SERIAL6 -> UART4
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- SERIAL7 -> USART6(RCIN)
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Any UART can be re-tasked by changing its protocol parameter.
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## RC Input
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The default RC input is configured on the UART6 and supports all RC protocols except PPM. The SBUS pin is inverted and connected to RX6. RC can be attached to any UART port as long as the serial port protocol is set to `SERIALn_PROTOCOL=23` and SERIAL6_Protocol is changed to something other than '23'.
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## OSD Support
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The PilotGaeaSH7V1 Supports onboard analog OSD using the AT7456 chip.The composited image is output via the VTX pin.
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## PWM Output
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The PilotGaeaSH7V1 supports up to 11 PWM outputs.
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All the channels support DShot.
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Outputs are grouped and every output within a group must use the same output protocol:
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1, 2 are Group 1;
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3, 4, 5, 6 are Group 2;
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7, 8 are Group 3;
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11, 12 are Group 4;
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13(LED) is Group 5;
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Output 13 can be used as LED neopixel output;
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## Battery Monitoring
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The board has two internal voltage sensors and two external current sensor input.
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The voltage sensors can handle up to 8S LiPo batteries.
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Enable Battery monitor with these parameter settings :
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* BATT_MONITOR 4
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Then reboot.
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* BATT_VOLT_PIN 10
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* BATT_CURR_PIN 11
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* BATT_VOLT_MULT 11
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* BATT_AMP_PERVLT 40
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* BATT2_VOLT_PIN 18
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* BATT2_CURR_PIN 7
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* BATT2_VOLT_MULT 21
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* BATT2_AMP_PERVLT 40
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## Compass
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The PilotGaeaSH7V1 has no built-in compass, so if needed, you should use an external compass.
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## Analog cameras
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The PilotGaeaSH7V1 supports up to 2 cameras, connected to pin C1 and C2. You can select the video signal to VTX from camera by an RC channel. Set the parameters below:
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- RELAY2_FUNCTION 1
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- RELAY_PIN2 82
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- RC8_OPTION 34
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## 8V switch
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The 8V power supply can be controlled by an RC channel. Set the parameters below:
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- RELAY1_FUNCTION 1
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- RELAY_PIN 81
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- RC7_OPTION 28
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## Loading Firmware
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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 favourite DFU loading tool.
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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/PilotGaeaSH7V1/hwdef-bl.dat‎

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# hw definition file for processing by chibios_pins.py
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# for PilotGaea SH743-V1 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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# Temporary BOARD_ID for development / PR
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APJ_BOARD_ID 9999
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 128
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# order of UARTs (and USB). Allow bootloading on USB and telem1
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SERIAL_ORDER OTG1 UART7
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# UART7 (telem1)
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# make sure Vsw is on during bootloader
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PD10 PINIO1 OUTPUT LOW
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PE3 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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# Add CS pins to ensure they are high in bootloader
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PC15 IMU1_CS CS
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PB12 MAX7456_CS CS
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PE11 IMU2_CS CS
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PD4 EXT_CS1 CS
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PE2 EXT_CS2 CS
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PC13 IMU3_CS CS

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