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94 lines
3.9 KiB
Markdown
94 lines
3.9 KiB
Markdown
# CBUnmanned H753-SOM
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<Badge type="tip" text="PX4 v1.18" />
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:::warning
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PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
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:::
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The _CBUnmanned H753-SOM_ is a System-on-Module (SoM) flight controller built around the STM32H753 microcontroller.
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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.
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Key Features
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- **MCU:** STM32H753 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB Flash, 1 MB RAM)
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- **IMU:** Dual InvenSense ICM-42670-P (on SPI4)
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- **Barometer:** ST LPS22HB (on I2C1)
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- **Storage:** microSD card (SDMMC2)
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- **Interfaces:**
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- 6x user UARTs (TEL1, TEL2, TEL3, GPS1, GPS2, RC) plus a debug console — flow control on TEL1/TEL2/TEL3
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- 2x CAN (UAVCAN)
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- 2x external I2C (one per GPS port for compass) and 1x internal I2C (barometer)
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- 1x external SPI (the dual IMUs are on a separate internal SPI bus)
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- 9x PWM outputs (DShot / Bi-Directional DShot supported)
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- USB
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- Ethernet optional
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- **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.
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::: info
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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.
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:::
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## Where to Buy
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Check [CBUnmanned](https://www.cbunmanned.com/) for availability.
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## Building Firmware
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::: tip
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Most users will not need to build this firmware.
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target from source:
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```sh
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make cbunmanned_h753-som_default
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```
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## Serial Port Mapping
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| UART | Device | PX4 Default | Pins (TX / RX) | Flow Control (CTS / RTS) |
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| ------ | ---------- | ----------- | -------------- | ------------------------ |
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| USART2 | /dev/ttyS0 | TEL1 | PD5 / PA3 | PA0 / PD4 |
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| USART3 | /dev/ttyS1 | GPS1 | PD8 / PD9 | — |
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| UART4 | /dev/ttyS2 | GPS2 | PC10 / PC11 | — |
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| UART5 | /dev/ttyS3 | Console | PC12 / PD2 | — |
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| USART6 | /dev/ttyS4 | RC | PC6 / PC7 | — |
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| UART7 | /dev/ttyS5 | TEL2 | PE8 / PE7 | PE10 / PE9 |
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| UART8 | /dev/ttyS6 | TEL3 | PE1 / PE0 | PD14 / PD15 |
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## PWM Outputs
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The board provides 9 PWM outputs, all of which support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
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The outputs are split across 4 timer groups:
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| Outputs | Timer |
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| ------- | ------ |
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| 1, 2, 3 | Timer1 |
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| 4, 5 | Timer2 |
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| 6, 7, 8 | Timer3 |
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| 9 | Timer4 |
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All outputs within the same group must use the same protocol and update rate.
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## Debug Port
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The system console runs on UART5 (PC12 / PD2). USB CDC ACM is auto-started and provides MAVLink access.
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<a id="bootloader"></a>
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## PX4 Bootloader Update
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Boards that ship without the PX4 bootloader must have it flashed before PX4 firmware can be installed.
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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.
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Once the PX4 bootloader is flashed, firmware can be installed normally via _QGroundControl_.
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