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Add target BLUEBERRYH743#11279

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sunyanmeng963 wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
sunyanmeng963:inav9.0-add-blueberryH743
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Add target BLUEBERRYH743#11279
sunyanmeng963 wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
sunyanmeng963:inav9.0-add-blueberryH743

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@sunyanmeng963 sunyanmeng963 commented Jan 23, 2026 •
edited by qodo-code-review bot
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Add target BLUEBERRYH743 to INAV master

PR Type

New Target

Description

  • Add BLUEBERRYH743 flight controller target with STM32H743 MCU

  • Configure dual gyro IMU support (MPU6000, ICM20602, ICM42605)

  • Define 12 servo outputs and comprehensive peripheral support

  • Set up UART, SPI, I2C, ADC, and SD card interfaces

Diagram Walkthrough

flowchart LR
  A["BLUEBERRYH743 Target"] --> B["Hardware Config"]
  A --> C["Peripheral Setup"]
  B --> D["STM32H743 MCU"]
  B --> E["Dual Gyro IMU"]
  C --> F["UART/SPI/I2C"]
  C --> G["ADC/SD Card"]
  C --> H["LED/Beeper"]
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File Walkthrough
Relevant files
Configuration changes
target.h
Complete hardware and peripheral definitions                         

src/main/target/BLUEBERRYH743/target.h

  • Define board identifier and USB product string for BLUEBERRYH743
    variants
  • Configure dual gyro IMU hardware (MPU6000, ICM20602, ICM42605) with
    SPI buses
  • Set up 8 UART ports, I2C devices, ADC channels, and SD card support
  • Define GPIO pins for LEDs, beeper, PINIO controls, and LED strip
  • Configure default features including OSD, telemetry, blackbox logging
 +213/-0 
target.c
Timer and IMU bus device registration                                       

src/main/target/BLUEBERRYH743/target.c

  • Register SPI bus devices for MPU6000, ICM42688, ICM20602, and ICM42605
    IMUs
  • Define 12 timer hardware outputs for servo/motor control on TIM3,
    TIM5, TIM4, TIM15, TIM1, TIM2, TIM8
  • Configure LED and beeper PWM outputs
  • Include commented-out PPM and software serial timer definitions
 +60/-0   
config.c
Target-specific runtime configuration                                       

src/main/target/BLUEBERRYH743/config.c

  • Configure PINIO box permanent IDs for user-defined functions
  • Enable beeper PWM mode
  • Set USART1 as MSP serial port with 115200 baud rate
 +34/-0   
CMakeLists.txt
Build system configuration                                                             

src/main/target/BLUEBERRYH743/CMakeLists.txt

  • Add build configuration for BLUEBERRYH743 and BLUEBERRYH743HD variants
  • Target STM32H743XI MCU for both variants
 +2/-0     

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github-actions bot commented Jan 23, 2026

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

  • maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.

  • maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

This is an automated suggestion to help route contributions to the appropriate branch.

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qodo-code-review bot commented Jan 23, 2026

PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

qodo-code-review[bot]
qodo-code-review bot reviewed Jan 23, 2026
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qodo-code-review bot reviewed Jan 23, 2026
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src/main/target/BLUEBERRYH743/target.c Outdated
DEF_TIM(TIM2, CH1, PA15, TIM_USE_BEEPER, 0, 0), // BEEPER PWM

// DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM, 0, 0), // RX6 PPM
DEF_TIM(TIM8, CH1, PC6, TIM_USE_ANY, 0, 0), // TX6 SoftwareSerial
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Suggestion: Resolve a pin conflict for PC6 which is used for both TIM8 (softserial) and UART6_TX_PIN. Comment out or remove the timer definition to avoid the conflict. [possible issue, importance: 9]

Suggested change
DEF_TIM(TIM8, CH1, PC6, TIM_USE_ANY, 0, 0), // TX6 SoftwareSerial
// DEF_TIM(TIM8, CH1, PC6, TIM_USE_ANY, 0, 0), // TX6 SoftwareSerial

@sensei-hacker sensei-hacker added this to the 9.1 milestone Feb 8, 2026
@sensei-hacker sensei-hacker changed the base branch from master to maintenance-9.x February 8, 2026 06:05
@sensei-hacker sensei-hacker added the New target This PR adds a new target label Feb 8, 2026
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sensei-hacker commented Mar 21, 2026 •
edited
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  • Samples received
  • Flash firmware
  • Calibrate
  • Orientation matches
  • Gyro working
  • Accel working
  • Baro working
  • Blackbox
  • UART1
  • UART2
  • UART3
  • UART4
  • UART6
  • UART7
  • UART8
  • Buzzer working
  • DShot support on m1-4
  • Additional motor / servo outputs
  • Voltage sensor
  • Current sensor
  • I2C Bus
  • Analog Camera working
  • Video Out working
  • OSD working
  • LEDs working
  • PINIO1
  • PINIO2

@sensei-hacker
Fix BLUEBERRYH743 target configuration issues
501fc54 
- Change TARGET_BOARD_IDENTIFIER from "H743" to "BB43" (unique 4-char ID)
- Remove BEEPER_PWM_FREQUENCY (no matching DEF_TIM entry)
- Remove USE_SOFTSERIAL1 (unnecessary with 8 hardware UARTs + VCP)
- Update SERIAL_PORT_COUNT from 9 to 8
- Remove beeper PWM and softserial timer entries from target.c
- Fix trailing whitespace on DEF_TIM S3 line
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sensei-hacker commented Mar 22, 2026

A few tweaks I did:

  • Change TARGET_BOARD_IDENTIFIER from "H743" to "BB43" (unique 4-char ID)
  • Remove BEEPER_PWM_FREQUENCY
  • Remove USE_SOFTSERIAL1 (unnecessary with 8 hardware UARTs + VCP)
  • Update SERIAL_PORT_COUNT from 9 to 8
  • Remove beeper PWM and softserial timer entries from target.c
  • Fix trailing whitespace on DEF_TIM S3 line

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github-actions bot commented Mar 22, 2026

Test firmware build ready — commit 501fc54

Download firmware for PR #11279

230 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.

@sensei-hacker sensei-hacker mentioned this pull request Mar 22, 2026
Merged
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New target This PR adds a new target Review effort 2/5

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@sunyanmeng963 @sensei-hacker