H7A3-SLIM
Artikelnr.: PM-7030 | HAN: H7A3-SLIM
Specifications
MCU: STM32H7A3RIT6, 280MHz Cortex-M7, 1.4MB RAM, 2MB Flash
IMU: ICM42688P
Baro: SPL06-001
OSD: AT7456E
Blackbox: 128MB Flash (1G-bit NAND)
6x Uarts (1,2,3,4, 5, 6) with built-in inversion.
11x PWM outputs
1x I2C
1x CAN
4x ADC (VBAT, Current, VB2, Cur2)
3x LEDs for FC STATUS (Blue, Red) and 3.3V indicator(Red)
USB Type-C(USB2.0)
8x PWM outputs on 2x JST-SH1.0_8pin connector for 2x 4in1 ESC
1x JST-GH1.25_4pin connector (5V/CAN-H/CAN-L/G)
9V output ON/OFF switchable
Digital video OSD is supported by any spare UART
Power
Vbat Input: 6
36V (28S LiPo)BEC: 5V 2A cont. (Max.3A)
BEC: 9V 2A cont. (Max.3A)
LDO 3.3V: Max.200mA
No Current Sensor built-in
ADC VB2 pad supports Max. 69V (voltage divider: 1K:20K)
FC Firmware
ArduPilot: MATEKH7A3 (4.6 or newer)
Physical
Mounting: 30.5 x 30.5mm, Φ4mm with Grommets Φ3mm
Dimensions: 36 x 36 x 5 mm
Weight: 7g
3D step H7A3-SLIM_step.zip
Including
1x H7A3-SLIM
6x Silicon grommets M4 to M3
2x JST-SH1.0_8pin cable, 5cm, & 8pin connectors
1x JST-GH-4P to JST-GH-4P cable for CAN port, 20cm
Layout
Wiring (Octocopter)
Wiring (CAN)
ArduPilot mapping
ArduPilot
PWM
S1
PWM1 GPIO50
5 V tolerant I/O
TIM1_CH2
DMA/Bi-DShot
Group1
S2
PWM2 GPIO51
5 V tolerant I/O
TIM1_CH3
DMA/Bi-DShot
S3
PWM3 GPIO52
5 V tolerant I/O
TIM2_CH1
DMA/Bi-DShot
Group2
S4
PWM4 GPIO53
5 V tolerant I/O
TIM2_CH2
DMA/Bi-DShot
S5
PWM5 GPIO54
5 V tolerant I/O
TIM3_CH3
DMA/Bi-DShot
Gourp3
S6
PWM6 GPIO55
5 V tolerant I/O
TIM3_CH4
DMA/Bi-DShot
S7
PWM7 GPIO56
5 V tolerant I/O
TIM3_CH1
DMA/Bi-DShot
S8
PWM8 GPIO57
5 V tolerant I/O
TIM3_CH2
DMA/Bi-DShot
S9
PWM9 GPIO58
5 V tolerant I/O
TIM4_CH1
DMA/DShot
Group4
S10
PWM10 GPIO59
5 V tolerant I/O
TIM4_CH2
DMA/DShot
S11
PWM11 GPIO60
5 V tolerant I/O
TIM16_CH1
DMA/DShot
Group5
PWM1~PWM11 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. That is to say. If Servo support Max. 50Hz, ESC must run at 50Hz in this group.
PINIO
9V switch
GPIO81
RELAY1_PIN
81
ADC
Vbat pad
BATT_VOLTAGE_SENS
6~36V
BATT_VOLT_PIN BATT_VOLT_MULT
10 21.0
Curr pad
BATT_CURRENT_SENS
0~3.3V
BATT_CURR_PIN BATT_AMP_PERVLT
11 X
VB2 Pad
BATT2_VOLTAGE_SENS
0~69V
BATT2_VOLT_PIN BATT2_VOLT_MULT
18 21.0
CU2 Pad
BATT2_CURRENT_SENS
0~3.3V
BATT2_CURR_PIN BATT2_AMP_PERVLT
8 X
I2C
SCL/SDA
I2C3
5V tolerant I/O
on board Baro SPL06-001
Address
0x76
Digital Airspeed I2C MS4525 DLVR-L10D
ARSPD_BUS ARSPD_TYPE ARSPD_TYPE
0 1 9
Magnetometer
COMPASS_AUTODEC
1
CAN
C-H/C-L
CAN2
5V tolerant I/O
CAN
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
USB
console
SERIAL0_PROTOCOL
2
TX1 RX1
USART1 w/DMA
5 V tolerant I/O
Telemetry
SERIAL1_PROTOCOL
2
TX2 RX2
USART2 w/DMA
5 V tolerant I/O
RC input/Receiver
SERIAL2_PROTOCOL
23
TX3 RX3
USART3 w/DMA
5 V tolerant I/O
GPS
SERIAL3_PROTOCOL
5
TX4 RX4
UART4 w/o DMA
5 V tolerant I/O
Spare
SERIAL4_PROTOCOL
-1
TX5 RX5
UART5 w/o DMA
5 V tolerant I/O
Spare
SERIAL5_PROTOCOL
-1
TX6 RX6
USART6 w/o DMA
5 V tolerant I/O
Spare
SERIAL6_PROTOCOL
-1
RC INPUT
RC input is configured on the USART2(SERIAL2). It supports all serial RC protocols. SERIAL2_PROTOCOL=23 by default.
PPM is not supported.
CRSF requires Tx2 & Rx2 connection, and set SERIAL2_OPTIONS to “0” (default).
SBUS/DSM/SRXL connects to the Rx2 pin, but SBUS requires that the SERIAL2_OPTIONS be set to “3”.
FPort requires connection to Tx2, and set SERIAL2_OPTIONS to “7”. If Telemetry doesn’t work, try set SERIAL7_OPTIONS = 135.
SRXL2 requires a connection to Tx2, and automatically provides telemetry. Set SERIAL2_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)
9V output ON by default
PC13 PINIO1 OUTPUT GPIO(81) //9V power switche.g.
RELAY_PIN 81 // PINIO1 GPIO
RC7_OPTION 28 //Relay On/Off, Use CH7 of Transmitter to set 9V ON/OFF
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.
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