mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-26 16:28:06 +08:00
feat(boards): add CBUnmanned H753-SOM flight controller (#27234)
* feat(boards): add CBUnmanned H753-Stamp flight controller * Update board_id to 1302 * docs: update CBUnmanned H753-Stamp board docs Apply review feedback: correct the I2C bus count (add internal bus), clarify SPI (IMUs on a dedicated internal bus), note the debug console alongside the user UARTs, and describe how the board is powered from an external 5 V supply with separate battery voltage sensing. Add the pinout image and a PWM Outputs section. Signed-off-by: Julian Oes <julian@oes.ch> * refactor(boards): rename CBUnmanned H753-Stamp to H753-SOM Rename the board directory, build target (cbunmanned_h753-som), USB product strings, docs page, asset directory and pinout image, and the bundled bootloader binary from -Stamp to -SOM. The hardware is a System-on-Module, so SOM is the accurate name. Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
Binary file not shown.
|
After Width: | Height: | Size: 489 KiB |
@@ -168,6 +168,7 @@
|
||||
- [ARK Electronics ARKV6S](flight_controller/ark_v6s.md)
|
||||
- [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
|
||||
- [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
|
||||
- [CBUnmanned H753-SOM](flight_controller/cbunmanned_h753-som.md)
|
||||
- [CORVON 743v1](flight_controller/corvon_743v1.md)
|
||||
- [CUAV Nora](flight_controller/cuav_nora.md)
|
||||
- [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
|
||||
|
||||
@@ -19,6 +19,7 @@ The boards in this category are:
|
||||
- [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md)
|
||||
- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
|
||||
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
|
||||
- [CBUnmanned H753-SOM](../flight_controller/cbunmanned_h753-som.md)
|
||||
- [CORVON 743v1](../flight_controller/corvon_743v1.md)
|
||||
- [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant)
|
||||
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
|
||||
|
||||
93
docs/en/flight_controller/cbunmanned_h753-som.md
Normal file
93
docs/en/flight_controller/cbunmanned_h753-som.md
Normal file
@@ -0,0 +1,93 @@
|
||||
# CBUnmanned H753-SOM
|
||||
|
||||
<Badge type="tip" text="PX4 v1.18" />
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The _CBUnmanned H753-SOM_ is a System-on-Module (SoM) flight controller built around the STM32H753 microcontroller.
|
||||
It is intended to be mounted on a carrier board that breaks out the I/O and provides power, peripherals, and connectors for a specific vehicle integration.
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## Key Features
|
||||
|
||||
- **MCU:** STM32H753 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB Flash, 1 MB RAM)
|
||||
- **IMU:** Dual InvenSense ICM-42670-P (on SPI4)
|
||||
- **Barometer:** ST LPS22HB (on I2C1)
|
||||
- **Storage:** microSD card (SDMMC2)
|
||||
- **Interfaces:**
|
||||
- 6x user UARTs (TEL1, TEL2, TEL3, GPS1, GPS2, RC) plus a debug console — flow control on TEL1/TEL2/TEL3
|
||||
- 2x CAN (UAVCAN)
|
||||
- 2x external I2C (one per GPS port for compass) and 1x internal I2C (barometer)
|
||||
- 1x external SPI (the dual IMUs are on a separate internal SPI bus)
|
||||
- 9x PWM outputs (DShot / Bi-Directional DShot supported)
|
||||
- USB
|
||||
- Ethernet optional
|
||||
- **Power:** Powered from an external regulated 5 V supply (e.g. a BEC on the carrier board). Battery voltage (up to 65 V) and current are monitored via ADC; the voltage sense input is a separate pin behind a voltage divider and does not power the board.
|
||||
|
||||
::: info
|
||||
CAN transceivers require a 5 V supply. USB-only power (≈4.5 V after the input diode) is **not** sufficient to operate the CAN bus.
|
||||
:::
|
||||
|
||||
## Where to Buy
|
||||
|
||||
Check [CBUnmanned](https://cbunmanned.com) for availability.
|
||||
|
||||
## Building Firmware
|
||||
|
||||
::: tip
|
||||
Most users will not need to build this firmware.
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target from source:
|
||||
|
||||
```sh
|
||||
make cbunmanned_h753-som_default
|
||||
```
|
||||
|
||||
## Serial Port Mapping
|
||||
|
||||
| UART | Device | PX4 Default | Pins (TX / RX) | Flow Control (CTS / RTS) |
|
||||
| ------ | ------------ | ----------- | ---------------- | ------------------------ |
|
||||
| USART2 | /dev/ttyS0 | TEL1 | PD5 / PA3 | PA0 / PD4 |
|
||||
| USART3 | /dev/ttyS1 | GPS1 | PD8 / PD9 | — |
|
||||
| UART4 | /dev/ttyS2 | GPS2 | PC10 / PC11 | — |
|
||||
| UART5 | /dev/ttyS3 | Console | PC12 / PD2 | — |
|
||||
| USART6 | /dev/ttyS4 | RC | PC6 / PC7 | — |
|
||||
| UART7 | /dev/ttyS5 | TEL2 | PE8 / PE7 | PE10 / PE9 |
|
||||
| UART8 | /dev/ttyS6 | TEL3 | PE1 / PE0 | PD14 / PD15 |
|
||||
|
||||
## PWM Outputs
|
||||
|
||||
The board provides 9 PWM outputs, all of which support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
|
||||
|
||||
The outputs are split across 4 timer groups:
|
||||
|
||||
| Outputs | Timer |
|
||||
| ------- | ------ |
|
||||
| 1, 2, 3 | Timer1 |
|
||||
| 4, 5 | Timer2 |
|
||||
| 6, 7, 8 | Timer3 |
|
||||
| 9 | Timer4 |
|
||||
|
||||
All outputs within the same group must use the same protocol and update rate.
|
||||
|
||||
## Debug Port
|
||||
|
||||
The system console runs on UART5 (PC12 / PD2). USB CDC ACM is auto-started and provides MAVLink access.
|
||||
|
||||
<a id="bootloader"></a>
|
||||
|
||||
## PX4 Bootloader Update
|
||||
|
||||
Boards that ship without the PX4 bootloader must have it flashed before PX4 firmware can be installed.
|
||||
Download the [cbunmanned_h753-som_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/cbunmanned/h753-som/extras/cbunmanned_h753-som_bootloader.bin) bootloader binary and follow the [DFU Bootloader Update](../advanced_config/bootloader_update_from_betaflight.md#dfu-bootloader-update) instructions.
|
||||
|
||||
Once the PX4 bootloader is flashed, firmware can be installed normally via _QGroundControl_.
|
||||
Reference in New Issue
Block a user