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.. _common-NarinFC-H7:

=========================
NarinFC-H7
=========================
============================
NarinFC-H7 VOLOLAND CO., LTD
============================

The NarinFC-H7 is a flight controller designed and produced by `VOLOLAND Co., Ltd. <https://vololand.com/>`_
Introduction
============

The NarinFC-H7 is a flight controller produced by 'VOLOLAND Co., Ltd. (https://vololand.com)'

NarinFC-H7 is an advanced autopilot family designed in-house by VOLOLAND CO., LTD.

It uses a higher-performance STM32H7 processor and integrates industrial-grade sensors.

Compared with previous autopilots, it has better performance and higher reliability.

.. image:: ../../../images/NarinFC/NarinFC_Header.jpg
:target: ../../../images/NarinFC/NarinFC_Header.jpg

Specifications
==============


Features/Specifications
=======================

- **Processor**
- STM32H743
Expand Down Expand Up @@ -44,7 +55,7 @@ Specifications

Where to Buy
============
- `NarinFC-H7 VOLOLAND Co., Ltd. <https://vololand.com/>`
- 'NarinFC-H7 VOLOLAND CO., LTD. (https://vololand.com/)'



Expand All @@ -64,8 +75,19 @@ Wire Diagram



Port Diagram & Pinouts
======================
UART Mapping (Port Diagram & Pinouts)
=====================================
- SERIAL0 = console = USB (MAVLink2)
- SERIAL1 = Telemetry1 (MAVlink2 default)= USART2 DMA-enabled
- SERIAL2 = Telemetry2 (MAVlink2 default)= USART6 DMA-enabled
- SERIAL3 = GPS1 = USART1
- SERIAL4 = GPS2 = UART4
- SERIAL5 = USER = UART8 (not available except on custom carrier boards) DMA-enabled
- SERIAL6 = USER = UART7
- SERIAL7 = USB2 (Default protocol is MAVLink2)

Serial protocols can be adjusted to personal preferences.

.. image:: ../../../images/NarinFC/4.Port_Diagram_Pin_outs_Diagram-A.png
:target: ../../../images/NarinFC/4.Port_Diagram_Pin_outs_Diagram-A.png
:width: 375px
Expand All @@ -75,52 +97,134 @@ Port Diagram & Pinouts
:width: 410px

- **1. TELEM1, TELEM2 Port (JST GH 6P Connector)**
.. image:: ../../../images/NarinFC/4.1.TELEM1,TELEM2_Port_JST_GH_6P_Connector.png
:target: ../../../images/NarinFC/4.1.TELEM1,TELEM2_Port_JST_GH_6P_Connector.png
.. image:: ../../../images/NarinFC/4.1.TELEM1,TELEM2_Port_JST_GH_6P_Connector.png
:target: ../../../images/NarinFC/4.1.TELEM1,TELEM2_Port_JST_GH_6P_Connector.png

- JST GH 6P connector
- TELEMETRY Port

- **2. CAN1, CAN2 Port (JST GH 4P Connector)**
.. image:: ../../../images/NarinFC/4.2.CAN1,CAN2_Port_JST_HG_4P_Connector.png
:target: ../../../images/NarinFC/4.2.CAN1,CAN2_Port_JST_HG_4P_Connector.png
.. image:: ../../../images/NarinFC/4.2.CAN1,CAN2_Port_JST_HG_4P_Connector.png
:target: ../../../images/NarinFC/4.2.CAN1,CAN2_Port_JST_HG_4P_Connector.png

- JST GH 4P connector
- Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support)
- Power Supply: Typically provides 5V or 12V output
- Pin Configuration: Usually includes CAN_H, CAN_L, VCC, and GND

- **3. I2C, I2C2, I2C3, I2C4 Port (JST GH 4P Connector)**
.. image:: ../../../images/NarinFC/4.3.I2C1,I2C2,I2C3,I2C4_Port_JST_GH_4P_Connector.png
:target: ../../../images/NarinFC/4.3.I2C1,I2C2,I2C3,I2C4_Port_JST_GH_4P_Connector.png
.. image:: ../../../images/NarinFC/4.3.I2C1,I2C2,I2C3,I2C4_Port_JST_GH_4P_Connector.png
:target: ../../../images/NarinFC/4.3.I2C1,I2C2,I2C3,I2C4_Port_JST_GH_4P_Connector.png

- JST GH 4P connector

- **4. UART4 Port (JST GH 6P Connector)**
.. image:: ../../../images/NarinFC/4.4.UART4_Port_JST_GH_6P_Connector.png
:target: ../../../images/NarinFC/4.4.UART4_Port_JST_GH_6P_Connector.png
.. image:: ../../../images/NarinFC/4.4.UART4_Port_JST_GH_6P_Connector.png
:target: ../../../images/NarinFC/4.4.UART4_Port_JST_GH_6P_Connector.png

- JST GH 6P connector

- **5. GPS & Safety Port (JST GH 10P Connector)**
.. image:: ../../../images/NarinFC/4.5.GPS_Safety_Port_JST_GH_10P_Connector.png
:target: ../../../images/NarinFC/4.5.GPS_Safety_Port_JST_GH_10P_Connector.png
.. image:: ../../../images/NarinFC/4.5.GPS_Safety_Port_JST_GH_10P_Connector.png
:target: ../../../images/NarinFC/4.5.GPS_Safety_Port_JST_GH_10P_Connector.png

- JST GH 10P connector
- GPS NODMA

- **6. PWM Out (M1-M14)**
The NarinFC-H7 supports up to 14 PWM outputs.
All outputs support DShot and BiDirDshot.
Outputs are grouped and all outputs within their group must be the same protocol.
The NarinFC-H7 supports up to 14 PWM outputs.
All outputs support DShot and BiDirDshot.
Outputs are grouped and all outputs within their group must be the same protocol.

.. image:: ../../../images/NarinFC/4.6.PWM_Out_M1-M14.png
:target: ../../../images/NarinFC/4.6.PWM_Out_M1-M14.png

.. image:: ../../../images/NarinFC/4.6.PWM_Out_M1-M14.png
:target: ../../../images/NarinFC/4.6.PWM_Out_M1-M14.png
- 2.54mm pitch Dupont connector
- RC_IN : Remote control receiver
- M1-M14 : PWM OUT

- **7. Power Input**
.. image:: ../../../images/NarinFC/4.7.Power_Input.png
:target: ../../../images/NarinFC/4.7.Power_Input.png
.. image:: ../../../images/NarinFC/4.7.Power_Input.png
:target: ../../../images/NarinFC/4.7.Power_Input.png

- 2mm pitch Dupont connector

- **8. DEBUG Port(JST GH 6P Connector)**
.. image:: ../../../images/NarinFC/4.8.DEBUG_Port_JST_HG_6P_Connector.png
:target: ../../../images/NarinFC/4.8.DEBUG_Port_JST_HG_6P_Connector.png
.. image:: ../../../images/NarinFC/4.8.DEBUG_Port_JST_HG_6P_Connector.png
:target: ../../../images/NarinFC/4.8.DEBUG_Port_JST_HG_6P_Connector.png

- JST GH 6P connector
- DEBUG NODMA

- **9. USB Port(USB C Type)**

- USB C Type

- **10. SPI Port (JST GH 7P Connector)**
.. image:: ../../../images/NarinFC/4.10.SPI_Port_JST_GH_7P_Connector.png
:target: ../../../images/NarinFC/4.10.SPI_Port_JST_GH_7P_Connector.png
.. image:: ../../../images/NarinFC/4.10.SPI_Port_JST_GH_7P_Connector.png
:target: ../../../images/NarinFC/4.10.SPI_Port_JST_GH_7P_Connector.png

- JST GH 7P connector
- SPI Port

- **11. SD CARD**

- SD CARD



PWM Output
==========

The NarinFC-H7 supports up to 14 PWM outputs. All 14 outputs support all normal PWM output formats.All outputs, except 13 and 14, also support DShot.

Firmware
The 14 PWM outputs are in 4 groups:
- Outputs 1, 2, 3 and 4 in group1 (these also support Bi-dir DShot if the Bi-Dir firmware version is used)
- Outputs 5, 6, 7 and 8 in group2
- Outputs 9, 10, 11 and 12 in group3
- Outputs 13 and 14 in group4（NO DMA)

ALL outputs within the same group need to use the same output rate and protocol. If any output in a group uses DShot then all channels in that group must use DShot.



Battery Monitor
===============

If you are using an analog battery monitor instead, connect to the Power A connector and set the following parameters
(if used as second monitor use the BATT2 parameters instead):

- :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
- :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` = 17
- :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` = 16
- Set the :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` and :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` as required for the analog PMU used.



RC Input
========
This board comes with ArduPilot firmware pre-installed and other vehicle/revision Ardupilot firmware can be loaded using most Ground Control Stations.
Firmware for this board can be found here in sub-folders labeled “NarinFC-H7”.

The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, 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, a full UART, such as SERIAL6 (UART7) would need to be used for receiver connections. Below are setups using Serial6.

- :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` should be set to "23".
- FPort would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "15".
- CRSF would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "0".
- SRXL2 would require :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to "4" and connects only the TX pin.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM.
See :ref:`common-rc-systems` for details. The power rail associated with this connector position is powered via USB or PMU.



Loading Firmware
================

This board comes with ArduPilot firmware pre-installed and other vehicle/revision Ardupilot firmware can be loaded using most Ground Control Stations.

Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “NarinFC-H7”.

The board comes pre-installed with an NarinFC-H7 bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
you can update firmware with Mission Planner.

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