H743-WLITE

Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS - Übersichtsseite

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Matek H743-WLITE STM32H7 Flightcontroller 480Mhz, Ardupilot CAN BUS

STM32H743VIH6, ICM42688-P, DPS310, OSD, 7x UARTs, 1x CAN, 2x I2C, 12x PWM outputs, 3x BEC

FC Specifications

MCU: STM32H743VIH6, 480MHz , 512KB RAM, 2MB Flash
IMU: ICM42688-P
Baro: DPS310 (I2C2)
OSD: AT7456E
Blackbox: MicroSD card slot (SDIO)
7x Uarts (1,2,3,4,6,7,8) with built-in inversion.
13x PWM outputs(12+LED)
6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
2x I2C
1x CAN
USB/Beep Extender with Type-C(USB2.0)
Dual Camera Inputs switch
9V(12V) for VTX power switch
High-precision Current Sense, 220A range
ADC VB2 voltage divider: 1K:20K
ADC AirSpeed voltage divider: 20K:20K

FC Firmware

INAV: MATEKH743
ArduPilot: MATEKH743

PDB

Input voltage range: 6.8~30V (2~6S LiPo)
1x ESC power pads
Battery Voltage divider 1K:20K (Scale 2100 in INAV, BATT_VOLT_MULT 21.0 in ArduPilot)
Current Senor: 220A, 3.3V ADC (Scale 150 in INAV, 66.7 A/V in ArduPilot)
Sense resistor: 90A continuous, 220A peak

BEC 5V output

Designed for Flight controller, Receiver, OSD, Camera, Buzzer, 2812 LED_Strip, Buzzer, GPS module, AirSpeed
Continuous current: 2 Amps, Max.3A

BEC 9V /12V output

Designed for Video Transmitter, Camera, Gimbal ect.
Continuous current: 2 Amps, Max.3A
12V option with Jumper pad
for stable 9V/12V output, input voltage should > output voltage +1V

BEC Vx output

Designed for Servos
Voltage adjustable, 5V Default, 6V or 7.2V via jumper
Continuous current: 8 Amps, Max.10A
for stable Vx output, input voltage should > Vx voltage +1V

BEC 3.3V output

Designed for Baro / Compass module and external 3.3V peripherals
Linear Regulator
Continuous current: 200mA

Physical

Mounting: 25 x 25mm, Φ2mm
Dimensions: 44 x 29 x 14.5 mm
Weight: 22g w/ USB/buzzer adapter

Including

1x H743-WLITE
1x USB(Type-C)/Beep (Passive buzzer) Extender
1x 20cm JST-SH-6P to JST-SH-6P cable for USB extender.
2x 20cm JST-GH-4P to JST-GH-4P cable for CAN & I2C port
1x Rubycon ZLH 35V 470uF capacitor
Dupont 2.54 pins (Board is shipped unsoldered)

INAV mapping

INAV

PWM

PB0

5 V tolerant I/O

TIM3_CH3

Fixed Wing Motor

PB1

3.3 V tolerant I/O

TIM3_CH4

PA0

5 V tolerant I/O

TIM5_CH1

Fixed Wing Servo

PA1

5 V tolerant I/O

TIM5_CH2

PA2

5 V tolerant I/O

TIM5_CH3

PA3

5 V tolerant I/O

TIM5_CH4

PD12

5 V tolerant I/O

TIM4_CH1

PD13

5 V tolerant I/O

TIM4_CH2

PD14

5 V tolerant I/O

TIM4_CH3

S10

PD15

5 V tolerant I/O

TIM4_CH4

S11

PE5

5 V tolerant I/O

TIM15_CH1

S12

PE6

5 V tolerant I/O

TIM15_CH2

LED

PA8

5 V tolerant I/O

TIM1_CH1

2812LED

ADC

Vbat pad 1K:20K divider builtin

PC0

0~36V

Vbat ADC ADC_CHANNEL_1

scale 2100

Curr Pad

PC1

0~3.3V

Current ADC ADC_CHANNEL_2

scale 150

RSSI Pad

PC5

0~3.3V

RSSI ADC ADC_CHANNEL_3

Analog RSSI

AirS Pad 20K:20K divider builtin

PC4

0~6.6V

AirS ADC ADC_CHANNEL_4

Analog Airspeed

VB2 Pad 1K:20K divider builtin

PA4

0~69V

ADC_CHANNEL_5

scale 2100

CU2 Pad

PA7

0~3.3V

ADC_CHANNEL_6

spare

I2C

I2C1 CL1/DA1

PB6/PB7

5 V tolerant I/O

Compass

QMC5883 / HMC5883 IST8310 / IST8308 MAG3110 / LIS3MDL

OLED

0.96″

I2C2 CL2/DA2 on JST-GH-4P

PB10/PB11

5 V tolerant I/O

onboard Barometer

DPS310, Add: 0x76

Digital Airspeed sensor

MS4525

Temperature sensor

UART

USB

PA11/PA12

5 V tolerant I/O

USB

TX1 RX1

PA9/PA10

5 V tolerant I/O

USART1

telem2

TX2 RX2

PD5/PD6

5 V tolerant I/O

USART2

GPS1

TX3 RX3

PD8/PD9

5 V tolerant I/O

USART3

GPS2

TX4 RX4

PB9/PB8

5 V tolerant I/O

UART4

USER

TX6 RX6

PC6/PC7

5 V tolerant I/O

TX6 & RX6

CRSF

UART6_RX

SBUS/IBUS/DSM/PPM

UART6_TX

FPORT/SRXL2

RX7 TX7

PE7/PE8

3.3 V tolerant I/O

UART7

telem1

TX8 RX8

PE1/PE0

5 V tolerant I/O

UART8

USER

ArduPilot mapping

ArduPilot

PWM

PB0

5 V tolerant I/O

PWM1 GPIO50

TIM8_CH2N

Group1

PB1

3.3 V tolerant I/O

PWM2 GPIO51

TIM8_CH3N

PA0

5 V tolerant I/O

PWM3 GPIO52

TIM5_CH1

Group2

PA1

5 V tolerant I/O

PWM4 GPIO53

TIM5_CH2

PA2

5 V tolerant I/O

PWM5 GPIO54

TIM5_CH3

PA3

5 V tolerant I/O

PWM6 GPIO55

TIM5_CH4

PD12

5 V tolerant I/O

PWM7 GPIO56

TIM4_CH1

Gourp3

PD13

5 V tolerant I/O

PWM8 GPIO57

TIM4_CH2

PD14

5 V tolerant I/O

PWM9 GPIO58

TIM4_CH3

S10

PD15

5 V tolerant I/O

PWM10 GPIO59

TIM4_CH4

S11

PE5

5 V tolerant I/O

PWM11 GPIO60

TIM15_CH1

Group4

S12

PE6

5 V tolerant I/O

PWM12 GPIO61

TIM15_CH2

LED

PA8

5 V tolerant I/O

PWM13 GPIO62

TIM1_CH1

Group5

SERVO13_FUNCTION 120, NTF_LED_TYPES neopixel

PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs. If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.

ADC

Vbat pad 1K:20K divider builtin

PC0

0~36V

Vbat ADC onboard battery voltage sense

BATT_VOLT_PIN BATT_VOLT_MULT

10 21.0

Curr pad

PC1

0~3.3V

Current ADC onboard current sense

BATT_CURR_PIN BATT_AMP_PERVLT

11 66.7

VB2 Pad 1K:20K divider builtin

PA4

0~69V

Vbat2 ADC

BATT2_VOLT_PIN BATT2_VOLT_MULT

18 21.0

CU2 Pad

PA7

0~3.3V

Current2 ADC

BATT2_CURR_PIN BATT2_AMP_PERVLT

7 /

RSSI Pad

PC5

0~3.3V

RSSI ADC Analog RSSI

RSSI_ANA_PIN RSSI_TYPE

8 1

AirS Pad 20K:20K divider builtin

PC4

0~6.6V

AirS ADC Analog Airspeed

ARSPD_PIN ARSPD_TYPE

4 2

I2C

I2C1 CL1/DA1

PB6/PB7

5 V tolerant I/O

Compass

COMPASS_AUTODEC

I2C2 CL2/DA2 on JST-GH-4P

PB10/PB11

5 V tolerant I/O

on board Baro DPS310

Address

0x76

Digital Airspeed I2C MS4525 DLVR-L10D

ARSPD_BUS ARSPD_TYPE ARSPD_TYPE

0 1 9

CAN

CAN1

PD0/PD1

5 V tolerant I/O

CAN Node

CAN_D1_PROTOCOL CAN_P1_DRIVER

1 1

CAN GPS CAN Compass CAN Airspeed sensor

GPS_TYPE COMPASS_TYPEMASK ARSPD_TYPE

9 0 8

UART

USB

PA11/PA12

5 V tolerant I/O

USB

console

SERIAL0

RX7 TX7 RTS7 CTS7

PE7/8/9/10

3.3 V tolerant I/O

UART7

telem1

SERIAL1

TX1 RX1

PA9/PA10

5 V tolerant I/O

USART1

telem2

SERIAL2

TX2 RX2

PD5/PD6

5 V tolerant I/O

USART2

GPS1

SERIAL3

TX3 RX3

PD8/PD9

5 V tolerant I/O

USART3

GPS2

SERIAL4

TX8 RX8

PE1/PE0

5 V tolerant I/O

UART8

USER

SERIAL5

TX4 RX4

PB9/PB8

5 V tolerant I/O

UART4

USER

SERIAL6

TX6 RX6

PC6/PC7

5 V tolerant I/O

USART6

RC input/Receiver

SERIAL7

RX6

SBUS/IBUS/DSM/PPM

TX6

FPORT/SRXL2

RC INPUT

The Rx6 pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF which requires a true UART connection. However, bi-directional protocols which include telemetry, such as SRXL2 and FPort, when connected in this manner, will only provide RC without telemetry.

To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, the Rx6 pin can also be configured to be used as true UART RX pin for use with bi-directional systems by setting the BRD_ALT_CONFIG to “1” so it becomes the SERIAL7 port’s RX input pin.

With this option, SERIAL7_PROTOCOL must be set to “23”, and:

PPM is not supported.
SBUS/DSM/SRXL connects to the Rx6 pin, but SBUS requires that the SERIAL7_OPTIONS be set to “3”.
FPort requires connection to Tx6 and SERIAL7_OPTIONS be set to “7”. If Telemetry doesn’t work, try set SERIAL7_OPTIONS = 135.
CRSF also requires a Tx6 connection, in addition to Rx6, and automatically provides telemetry. Set SERIAL7_OPTIONS to “0”.
SRXL2 requires a connection to Tx6 and automatically provides telemetry. Set SERIAL7_OPTIONS to “4”.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

–

ArduPilot Relay(PINIO)

Camera-1 and Vsw On by default
Make sure 2 cameras are set with identical video format, both PAL or both NTSC.

# GPIOs

PD10 PINIO1 OUTPUT GPIO(81) //9Vsw pad power switch
PD11 PINIO2 OUTPUT GPIO(82) //Camera switch

# RCx_OPTION: RC input option

28 Relay On/Off
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off

e.g.

RELAY_PIN 81 //9Vsw GPIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to switch 9Vsw
RELAY_PIN2 82 //Camera switch GPIO
RC8_OPTION 34 //Relay2 On/Off, Use CH8 of Transmitter to switch camera

The configured feature will be triggered when the auxiliary switch’s pwm value becomes higher than 1800. It will be deactivated when the value falls below 1200.

Check the pwm value sent from the transmitter when the switch is high and low using the Mission Planner’s Initial Setup >> Mandatory Hardware >> Radio Calibration screen. If it does not climb higher than 1800 or lower than 1200, it is best to adjust the servo end points in the transmitter.

Notes & Tips

H743-WLITE vs F765-WSE

STM32H743VIH6 vs STM32F765VIH6
RX4/TX4 vs RX5
Other components and layout are identical.

ArduPilot

220A Current sensor on H743-WLITE, , BATT_AMP_PERVLT to 66.7
1k:20k voltage divider for battery voltage sense on H743-WLITE, BATT_VOLT_MULT 21
Supported since Arduplane 4.2
It is recommended to use STM32CubeProgrammer to erase MCU and upload firmware. check this blog https://www.mateksys.com/?p=6905

INAV

220A Current sensor on H743-WLITE, set current_meter_scale = 150
1k:20k voltage divider for battery voltage sense on H743-WLITE, set vbat_scale = 2100
H743-WLITE is not supported by INAV4.1 or older downloaded from configurator. pls download inav_4.1.0_MATEKH743_42688 from our website.
Starting with INAV5.0, you may download firmware directly from INAV configurator.

Others

If the ESCs you are using don’t have enough capacitors integrated, low ESR electrolytic capacitor is required for reducing ESC noise.

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Last updated 1 year ago