H743 Flight Controller
CBUnmanned H743 Stamp
The CBUnmanned H743 Stamp is a flight controller loosely based on the FMUv6 standards & is designed for low volume OEMs as a drop in way to add ArduPilot to their custom hardware builds. It is a part of CBUnmanned's wider "Stamp" Eco-System, which brings together all the typical avionics hardware into a neat custom carrier PCB. Mounting footprints and symbols are available along with examples of basic usage on the Wiki.
Features
Class leading H7 SOC.
Triple IMU sensors for extra redundancy.
Based on FMU-V6
Direct solder mounting or optional 1.27mm header.
x1 Ethernet and x2 CAN for easy integration with the next generation of UAV accessories.
All complicated/supporting circuitry is on-board, just power with 5v.
Just 22mm x 24.25mm & 1.9g
Specifications
Processor
STM32H743IIK6 microcontroller
480MHz
2Mb Flash
1Mb RAM
Sensors
x2 Ivensense ICM-42688 IMU
x1 Ivensense ICM-42670 IMU
x1 Infineon DPS310 Barometer
x1 Bosch BMM150 Magnetometer
Power
5v Main Power in
x6 Independent Power Regulators
x2 ADC Inputs for Voltage and Current Sense
Interfaces
x1 MicroSD card slot
x8 UARTs inc RC, x3 with flow control
x10 PWM outputs
x2 I2C
x2 CAN
x1 External SPI
x1 Ethernet
External Buzzer
External Safety Switch
External USB connectors
Pinout
UART Mapping (Yellow Fade)
Ardupilot -> STM32
SERIAL0 -> USB
SERIAL1 -> USART1
SERIAL2 -> USART2 (With RTS/CTS)
SERIAL3 -> USART3
SERIAL4 -> UART4
SERIAL5 -> UART5 (With RTS/CTS)
SERIAL6 -> USART6 (Sbus In / IO coprocessor if fitted)
SERIAL7 -> UART7 (With RTS/CTS)
SERIAL8 -> UART8
Serial 2, 5 & 7 have RTS/CTS pins, the other UARTs do not have RTS/CTS.
GPS 1 & 2 are on Serial 3 & 4 respectively.
RC Input
RC input is configured on the USART 6 Rx Pin. This pin allows all RC protocols compatible with direct connection to a H7 IC (SBus, CRSF etc), PPM is NOT supported.
USART 6 Tx is available for use with bi directional protocols.
An optional IOMCU can be connected to this serial port, a compatible custom build of the firmware required.
CAN Ports (Light Green Fade)
2 CAN buses are available, each with a built in 120 ohm termination resistor.
I2C (Maroon Fade)
I2C 1 - Internal for BMM150 Compass
I2C 2 - Internal for DPS310 Barometer
I2C 3 - External With internal 2.2k Pull Up
I2C 4 - External With internal 2.2k Pull Up
SPI (Cyan Fade)
SPI 4 is available for use with external sensors alongside a Chip Select and Data Ready pin, compatible custom build of the firmware required.
PWM Output (Blue Fade)
The Stamp supports up to 10 PWM outputs with D-Shot.
The PWM outputs are in 3 groups:
PWM 1 - 4 in group 1 (Timer 5)
PWM 5 - 8 in group 2 (Timer 4)
PWM 9 & 10 in group 3 (Timer 2)
Channels within the same group need to use the same output rate. If any channel in a group uses D-Shot then all channels in the group need to use D-Shot.
BiDirectional DShot available on the first 8 outputs.
A buzzer alarm signal is available on Timer 14.
Analog Inputs (Purple Fade)
The board has two ADC input channels for Voltage (0-3.3v) and Current (0-3.3v) measurement. Settings are dependent on the external hardware used.
Ethernet (Green Fade)
Ethernet is available on 4 output pads and has internal magnetics supporting direct connection to external equipment, no need for a large RJ45 connector
Compass
The H743 Stamp has a built in compass, the BMM150. Due to potential interference the board is usually used with an external I2C or CAN compass as part of a GPS/Compass combination.
USB
USB Signals D+ & D- are available to route to a suitable connector for your project.
Safety Button
Optional, if it is not fitted remove the check from arming mask. To activate short this pad to 3.3v with a momentary push button (Press & Hold)
Power
A regulated 3.3v output is available from the stamp for use with the safety button. WARNING! This is shared with the main IC - Do NOT use for accessories. Keep current draw under 0.1A!
The Stamp requires a stable 5v supply input of at least 1.5A. This directly powers the 5v components and supplies the 3.3v LDOs with power. Typical idle usage is 0.35A @ 5v.
Loading Firmware
The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
A built in button can be used to activate DFU Mode by being pressed during power up. The DFU Activate pin is broken out to allow remote mounting of this button if required.
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