MATEKSYS STM32H743VIT6 Flight Controller H743-WING V2 User Guide
- June 6, 2024
- MATEKSYS
Table of Contents
MATEKSYS STM32H743VIT6 Flight Controller H743-WING V2
- MCU: STM32H743VIT6, 480MHz, 2MB Flash
- IMU: MPU6000 (SPI1) & ICM42605 (SPI4)
- Baro: DPS310 (I2C2)
- OSD: AT7456E (SPI2)
- Blackbox: MicroSD card slot (SDIO)
- 7x Uarts (1,2,3,4,6,7,8) with built-in inversion
- 13x PWM outputs
- 2x I2C
- 1x CAN
- 6x ADC (VBAT, Current, RSSI, Analog AirSpeed, VB2, CU2 )
- 1x SPI3 breakout
- Switchable Dual Camera Inputs
- Switchable 5V/9V(12V) for Camera/VTX
- 8~36V DC IN (3~8S LiPo)
- High-precision Current Sense (90A continuous, 220A peak)
- BEC 5V 2A for FC
- BEC 9V 2A for camera/VTX, 12V option
- BEC Vx 8A cont. 10A burst for servos, 5V, 6V or 7.2V option
- LDO 3.3V 200mA
- ArduPilot hwdef: MATEKH743
- INAV Target: MATEKH743
LAYOUT
Vbat: 8~36V DC IN
Voltage divider 1K: 10K, Max.36V supported BATT_VOLT_PIN 10,
BATT_VOLT_MULT 11
Curr: for current sensor, 0~3.3V BATT_CURR_PIN 11, BATT_AMP_PERVLT 66.7
INAV current scale: 150
VB2: Voltage divider 1K:20K, Max.69V supported BATT2_VOLT_PIN 18,
BATT2_VOLT_MULT 21
CU2: for external current sensor, 0~3.3V BATT2_CURR_PIN 7
TX8/RX8: UART8
AirS: Analog Airspeed sensor (0~6.6V)
1: 1 voltage divider built-in ARSPD_PIN 4
Wiring (Airplane)
INAV fw: MATEKH743
ArduPilot fw: MATEKH743
Vsw Power / Camera switch
I/O Mapping
ArduPilot
PWM
| S1| PB0| 5 V tolerant I/O| PWM1 GPIO50| TIM8_CH2N| Group1
S2| PB1| 3.3 V tolerant I/O| PWM2 GPIO51| TIM8_CH3N
S3| PA0| 5 V tolerant I/O| PWM3 GPIO52| TIM5_CH1| ****
Group2
S4| PA1| 5 V tolerant I/O| PWM4 GPIO53| TIM5_CH2
S5| PA2| 5 V tolerant I/O| PWM5 GPIO54| TIM5_CH3
S6| PA3| 5 V tolerant I/O| PWM6 GPIO55| TIM5_CH4
S7| PD12| 5 V tolerant I/O| PWM7 GPIO56| TIM4_CH1| ****
Gourp3
S8| PD13| 5 V tolerant I/O| PWM8 GPIO57| TIM4_CH2
S9| 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:10K divider builtin
| PC0| 0~36V| Vbat ADC
onboard battery voltage sense
| BATT_VOLT_PIN
BATT_VOLT_MULT
| 10
11.0
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| 1
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
INAV
PWM
| S1| PB0| 5 V tolerant I/O| TIM3_CH3| Fixed Wing
Motor
S2| PB1| 3.3 V tolerant I/O| TIM3_CH4
S3| PA0| 5 V tolerant I/O| TIM5_CH1| ****
Fixed Wing Servo
S4| PA1| 5 V tolerant I/O| TIM5_CH2
S5| PA2| 5 V tolerant I/O| TIM5_CH3
S6| PA3| 5 V tolerant I/O| TIM5_CH4
S7| PD12| 5 V tolerant I/O| TIM4_CH1
S8| PD13| 5 V tolerant I/O| TIM4_CH2
S9| 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:10K divider builtin
| PC0| 0~36V| Vbat ADC
ADC_CHANNEL_1
| scale 1100
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
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