Merge pull request #11693 from sensei-hacker/feature-axisflyingh743pro-target

sensei-hacker · web-flow · commit e519b69b02e2 · 2026-07-07T18:52:36.000-05:00
Add AXISFLYINGH743PRO target
diff --git a/docs/development/Converting Betaflight Targets.md b/docs/development/Converting Betaflight Targets.md
@@ -40,37 +40,27 @@ Using the BETAFPVF405 target mentioned above, to create the target now we need t
 3. Create a target folder that will be used as the output folder for the `bf2inav.py` script, eg: `inav/src/main/targets/BETAFPVF405`
 4. Navigate to the script folder in `inav/src/utils/`
 5. `python3 ./bf2inav.py -i config.h -o ../main/target/BETAFPVF405/`
-6. Edit generated `target.c` and  chose the correct timer definitions to match Betaflight's timer definitions.
+6. Edit generated `target.c` and  chose the correct timer definitions to match Betaflight's timer definitions for motor, servo, and LED timers (not gyro).
 ```
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM8, CH2N, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM1, CH2N, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),
-
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM8, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM1, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    //DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM9, CH2, PA3, TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    //DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM9, CH1, PA2, TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0),
 
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0),
-    //DEF_TIM(TIM3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0),
-
     DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0),
 
-    //DEF_TIM(TIM3, CH1, PB4, TIM_USE_BEEPER, 0, 0),
 
     DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, 0, 0),
 
 };
 ```
-In this particular example, PA3, PA2 were changed to match Betaflight's mapping, and the timer PB4 was disabled, due to a timer conflict. Normal channels are prefered over N channels (CH1, over CH1N) or C channels in AT32 architectures.
-7. Now update yout build scripts by running `cmake` and build the target you just created. The target name can be checked in the generated `CMakeLists.txt`, but should match the Betaflight target name.
+Normal channels are prefered over N channels (CH1, over CH1N) or C channels in AT32 architectures.
+
+The typical value to be set in target.h for DEFAULT_FEATURES is:
+#define DEFAULT_FEATURES   (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+
+7. Now update your build scripts by running `cmake` and build the target you just created. The target name can be checked in the generated `CMakeLists.txt`, but should match the Betaflight target name.
 
 For information on how to build INAV, check the documents in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.
diff --git a/src/main/target/AXISFLYINGH743PRO/CMakeLists.txt b/src/main/target/AXISFLYINGH743PRO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(AXISFLYINGH743PRO)
diff --git a/src/main/target/AXISFLYINGH743PRO/config.c b/src/main/target/AXISFLYINGH743PRO/config.c
@@ -0,0 +1,34 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+
+    // UART5 is RX-only and hard-wired to ESC telemetry
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_ESCSERIAL;
+}
diff --git a/src/main/target/AXISFLYINGH743PRO/target.c b/src/main/target/AXISFLYINGH743PRO/target.c
@@ -0,0 +1,59 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+#include "drivers/sensor.h"
+
+#include "drivers/pwm_output.h"
+#include "common/maths.h"
+#include "fc/config.h"
+
+// Gyro 1 - ICM42688P on SPI1, tag 0
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42605, DEVHW_ICM42605, GYRO_1_SPI_BUS, GYRO_1_CS_PIN, GYRO_1_EXTI_PIN, 0, DEVFLAGS_NONE, GYRO_1_ALIGN);
+
+// Gyro 2 - ICM42688P on SPI4, tag 1
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42605, DEVHW_ICM42605, GYRO_2_SPI_BUS, GYRO_2_CS_PIN, GYRO_2_EXTI_PIN, 1, DEVFLAGS_NONE, GYRO_2_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    // Motors - DMA1 Stream0-7 (dmaopt 0-7), kept unique per channel so a
+    // fallback to per-channel DMA (USE_DSHOT_DMAR disabled) still works.
+    DEF_TIM(TIM8, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1
+    DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1),   // M2
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M3
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 3),   // M4
+    DEF_TIM(TIM2, CH1, PA0,  TIM_USE_OUTPUT_AUTO, 0, 4),   // M5
+    DEF_TIM(TIM2, CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 5),   // M6
+    DEF_TIM(TIM2, CH3, PA2,  TIM_USE_OUTPUT_AUTO, 0, 6),   // M7
+    DEF_TIM(TIM2, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 7),   // M8
+
+    // dmaopt 8 (DMA2 Stream0) is reserved for ADC
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 9),   // S1
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 10),  // S2
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 11),  // S3
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 12),  // S4 - needs USE_DSHOT_DMAR, see target.h
+
+    // LED strip - DMA2 Stream5 (dmaopt 13)
+    DEF_TIM(TIM15, CH1, PE5,  TIM_USE_LED, 0, 13),         // LED_STRIP_PIN
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/AXISFLYINGH743PRO/target.h b/src/main/target/AXISFLYINGH743PRO/target.h
@@ -0,0 +1,186 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AXHP"
+#define USBD_PRODUCT_STRING     "AXISFLYINGH743PRO"
+
+#define USE_TARGET_CONFIG
+
+// *************** LED, BEEPER ***************
+#define LED0                    PD3
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** Gyro / Acc - dual ICM42688P (registered as DEVHW_ICM42605,
+// whose WHO_AM_I switch also matches ICM42688P) ***************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS     // Don't use common busdev descriptors for IMU
+#define USE_IMU_ICM42605
+
+// SPI1: Gyro 1
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define GYRO_1_SPI_BUS           BUS_SPI1
+#define GYRO_1_CS_PIN            PC4
+#define GYRO_1_EXTI_PIN          PA4
+#define GYRO_1_ALIGN             CW0_DEG
+
+// SPI4: Gyro 2
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN             PE12
+#define SPI4_MISO_PIN            PE13
+#define SPI4_MOSI_PIN            PE14
+
+#define GYRO_2_SPI_BUS           BUS_SPI4
+#define GYRO_2_CS_PIN            PE15
+#define GYRO_2_EXTI_PIN          PE11
+#define GYRO_2_ALIGN             CW90_DEG
+
+// Motor/servo DMA note: SERVO4_PIN (PD15/TIM4_CH4) has no per-channel DMAMUX
+// request on this MCU; USE_DSHOT_DMAR repoints TIM4_CH4 at the TIM4_UP burst
+// request so the channel keeps a valid DMA path. This makes all DSHOT-capable
+// outputs use one shared burst DMA stream per timer
+#define USE_DSHOT_DMAR
+
+// *************** SPI2: OSD *****************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN             PB13
+#define SPI2_MISO_PIN            PB14
+#define SPI2_MOSI_PIN            PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS          BUS_SPI2
+#define MAX7456_CS_PIN           PB12
+
+// *************** SPI3: Flash ***************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN             PB3
+#define SPI3_MISO_PIN            PB4
+#define SPI3_MOSI_PIN            PB5
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS           BUS_SPI3
+#define M25P16_CS_PIN            PD7
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C1: Mag (external) *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                 PB8
+#define I2C1_SDA                 PB9
+
+#define USE_MAG
+#define MAG_I2C_BUS              BUS_I2C1
+#define USE_MAG_ALL
+
+// *************** I2C2: Baro *********************
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                 PB10
+#define I2C2_SDA                 PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS             BUS_I2C2
+#define USE_BARO_DPS310
+
+// *************** Serial ports *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN             PB6
+#define UART1_RX_PIN             PB7
+
+#define USE_UART2
+#define UART2_TX_PIN             PD5
+#define UART2_RX_PIN             PD6
+
+#define USE_UART3
+#define UART3_TX_PIN             PD8
+#define UART3_RX_PIN             PD9
+
+#define USE_UART4
+#define UART4_TX_PIN             PC10
+#define UART4_RX_PIN             PC11
+
+// RX only - hard-wired to ESC telemetry, see config.c
+#define USE_UART5
+#define UART5_TX_PIN             PC12  // Unconnected placeholder: H7 UART5 driver's .af_tx lacks an #ifdef UART5_TX_PIN guard
+#define UART5_RX_PIN             PD2
+
+#define USE_UART7
+#define UART7_TX_PIN             PE8
+#define UART7_RX_PIN             PE7
+
+#define USE_UART8
+#define UART8_TX_PIN             PE1
+#define UART8_RX_PIN             PE0
+
+#define SERIAL_PORT_COUNT        8
+
+#define DEFAULT_FEATURES         (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define DEFAULT_RX_TYPE          RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER        SERIALRX_CRSF
+#define SERIALRX_UART            SERIAL_PORT_USART2
+
+#define GPS_UART                 SERIAL_PORT_USART8
+
+// Default MSP DisplayPort (HD OSD) port
+#define MSP_UART                 SERIAL_PORT_USART1
+
+#define USE_ESC_SENSOR
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+
+#define DEFAULT_VOLTAGE_METER_SOURCE   VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE   CURRENT_METER_ADC
+
+// *************** LED2812 ************************
+#define USE_LED_STRIP
+#define WS2811_PIN               PE5
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN               PE2   // VTX PWR box
+#define PINIO2_PIN               PA8   // CAM 1,2 box
+
+// *************** Blackbox ************************
+#define DEFAULT_BLACKBOX_DEVICE        BLACKBOX_DEVICE_FLASH
+
+// ***************  OTHERS *************************
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTE         0xffff
+
+#define USE_DSHOT
+#define MAX_PWM_OUTPUT_PORTS     12
