From 0f45b6b2f061d4e352d46c45d1ab5eb936e9453b Mon Sep 17 00:00:00 2001
From: meng9633 <3330224355@qq.com>
Date: Fri, 23 Jan 2026 17:21:39 +0800
Subject: [PATCH 1/2] Add target BLUEBERRYH743
---
src/main/target/BLUEBERRYH743/CMakeLists.txt | 2 +
src/main/target/BLUEBERRYH743/config.c | 34 +++
src/main/target/BLUEBERRYH743/target.c | 60 ++++++
src/main/target/BLUEBERRYH743/target.h | 213 +++++++++++++++++++
4 files changed, 309 insertions(+)
create mode 100644 src/main/target/BLUEBERRYH743/CMakeLists.txt
create mode 100644 src/main/target/BLUEBERRYH743/config.c
create mode 100644 src/main/target/BLUEBERRYH743/target.c
create mode 100644 src/main/target/BLUEBERRYH743/target.h
diff --git a/src/main/target/BLUEBERRYH743/CMakeLists.txt b/src/main/target/BLUEBERRYH743/CMakeLists.txt
new file mode 100644
index 00000000000..99d8aeeda11
--- /dev/null
+++ b/src/main/target/BLUEBERRYH743/CMakeLists.txt
@@ -0,0 +1,2 @@
+target_stm32h743xi(BLUEBERRYH743)
+target_stm32h743xi(BLUEBERRYH743HD)
diff --git a/src/main/target/BLUEBERRYH743/config.c b/src/main/target/BLUEBERRYH743/config.c
new file mode 100644
index 00000000000..bcc1e5c91fd
--- /dev/null
+++ b/src/main/target/BLUEBERRYH743/config.c
@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight. If not, see .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+#include "io/serial.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+ pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+ pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+ beeperConfigMutable()->pwmMode = true;
+ serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
+ serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200;
+}
diff --git a/src/main/target/BLUEBERRYH743/target.c b/src/main/target/BLUEBERRYH743/target.c
new file mode 100644
index 00000000000..bc2fb01558a
--- /dev/null
+++ b/src/main/target/BLUEBERRYH743/target.c
@@ -0,0 +1,60 @@
+/*
+ * 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 .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm20602, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 2, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+
+timerHardware_t timerHardware[] = {
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
+
+ DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
+ DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
+ DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
+ DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
+
+ DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
+ DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
+ DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9
+ DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE
+
+ DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0), // S11
+ DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE
+
+ DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
+ 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
+ // DEF_TIM(TIM16, CH1, PB8, TIM_USE_ANY, 0, 0), // RX4
+ // DEF_TIM(TIM17, CH1, PB9, TIM_USE_ANY, 0, 0), // TX4
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/BLUEBERRYH743/target.h b/src/main/target/BLUEBERRYH743/target.h
new file mode 100644
index 00000000000..f11e822d633
--- /dev/null
+++ b/src/main/target/BLUEBERRYH743/target.h
@@ -0,0 +1,213 @@
+/*
+ * 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 .
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "H743"
+
+#if defined(BLUEBERRYH743HD)
+ #define USBD_PRODUCT_STRING "BLUEBERRYH743HD"
+#else
+ #define USBD_PRODUCT_STRING "BLUEBERRYH743"
+#endif
+
+#define USE_TARGET_CONFIG
+
+#define LED0 PE3
+#define LED1 PE4
+
+#define BEEPER PA15
+#define BEEPER_INVERTED
+#define BEEPER_PWM_FREQUENCY 2500
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+// *************** SPI1 IMU0 MPU6000 ****************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PD7
+
+#define USE_IMU_MPU6000
+
+#define IMU_MPU6000_ALIGN CW0_DEG_FLIP
+#define MPU6000_SPI_BUS BUS_SPI1
+#define MPU6000_CS_PIN PC15
+
+// *************** SPI4 IMU1 ICM20602 **************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN PE12
+#define SPI4_MISO_PIN PE13
+#define SPI4_MOSI_PIN PE14
+
+#define USE_IMU_MPU6500
+
+#define IMU_MPU6500_ALIGN CW0_DEG_FLIP
+#define MPU6500_SPI_BUS BUS_SPI4
+#define MPU6500_CS_PIN PE11
+
+// *************** SPI4 IMU2 ICM42605 **************
+#define USE_IMU_ICM42605
+
+#define IMU_ICM42605_ALIGN CW90_DEG_FLIP
+#define ICM42605_SPI_BUS BUS_SPI4
+#define ICM42605_CS_PIN PC13
+
+// *************** SPI2 OSD ***********************
+ #define USE_SPI_DEVICE_2
+ #define SPI2_SCK_PIN PB13
+ #define SPI2_MISO_PIN PB14
+ #define SPI2_MOSI_PIN PB15
+
+#if defined(BLUEBERRYH743)
+ #define USE_MAX7456
+ #define MAX7456_SPI_BUS BUS_SPI2
+ #define MAX7456_CS_PIN PB12
+#endif
+
+// *************** SPI3 SPARE for external RM3100 ***********
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+#define USE_MAG_RM3100
+#define RM3100_CS_PIN PE2 //CS2 pad
+// PD4 //CS1 pad
+#define RM3100_SPI_BUS BUS_SPI3
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#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_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS BUS_I2C2
+#define PITOT_I2C_BUS BUS_I2C2
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#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 PB9
+#define UART4_RX_PIN PB8
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#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 USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN PC6 //TX6 pad
+#define SOFTSERIAL_1_RX_PIN PC6 //TX6 pad
+
+#define SERIAL_PORT_COUNT 9
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_CRSF
+#define SERIALRX_UART SERIAL_PORT_USART6
+
+// *************** SDIO SD BLACKBOX*******************
+#define USE_SDCARD
+#define USE_SDCARD_SDIO
+#define SDCARD_SDIO_DEVICE SDIODEV_1
+#define SDCARD_SDIO_4BIT
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+
+#define ADC_CHANNEL_1_PIN PC0 //ADC123 VBAT1
+#define ADC_CHANNEL_2_PIN PC1 //ADC123 CURR1
+#define ADC_CHANNEL_3_PIN PC5 //ADC12 RSSI
+#define ADC_CHANNEL_4_PIN PC4 //ADC12 AirS
+#define ADC_CHANNEL_5_PIN PA4 //ADC12 VB2
+#define ADC_CHANNEL_6_PIN PA7 //ADC12 CU2
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN PD10 // VTX power switcher
+#define PINIO2_PIN PD11 // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE 250
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13)))
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 15
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
From 501fc54a46e31d62a257cd57bfcd6beac2e0d4dd Mon Sep 17 00:00:00 2001
From: Ray Morris
Date: Sun, 22 Mar 2026 14:00:11 -0500
Subject: [PATCH 2/2] Fix BLUEBERRYH743 target configuration issues
- 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
---
src/main/target/BLUEBERRYH743/config.c | 3 ---
src/main/target/BLUEBERRYH743/target.c | 8 +-------
src/main/target/BLUEBERRYH743/target.h | 9 +++------
3 files changed, 4 insertions(+), 16 deletions(-)
diff --git a/src/main/target/BLUEBERRYH743/config.c b/src/main/target/BLUEBERRYH743/config.c
index bcc1e5c91fd..0673117c182 100644
--- a/src/main/target/BLUEBERRYH743/config.c
+++ b/src/main/target/BLUEBERRYH743/config.c
@@ -28,7 +28,4 @@ void targetConfiguration(void)
{
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
- beeperConfigMutable()->pwmMode = true;
- serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
- serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200;
}
diff --git a/src/main/target/BLUEBERRYH743/target.c b/src/main/target/BLUEBERRYH743/target.c
index bc2fb01558a..5245d05e257 100644
--- a/src/main/target/BLUEBERRYH743/target.c
+++ b/src/main/target/BLUEBERRYH743/target.c
@@ -35,7 +35,7 @@ timerHardware_t timerHardware[] = {
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
- DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
+ DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
@@ -49,12 +49,6 @@ timerHardware_t timerHardware[] = {
DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
- 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
- // DEF_TIM(TIM16, CH1, PB8, TIM_USE_ANY, 0, 0), // RX4
- // DEF_TIM(TIM17, CH1, PB9, TIM_USE_ANY, 0, 0), // TX4
};
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/BLUEBERRYH743/target.h b/src/main/target/BLUEBERRYH743/target.h
index f11e822d633..b69400d0674 100644
--- a/src/main/target/BLUEBERRYH743/target.h
+++ b/src/main/target/BLUEBERRYH743/target.h
@@ -18,7 +18,7 @@
#pragma once
-#define TARGET_BOARD_IDENTIFIER "H743"
+#define TARGET_BOARD_IDENTIFIER "BB43"
#if defined(BLUEBERRYH743HD)
#define USBD_PRODUCT_STRING "BLUEBERRYH743HD"
@@ -33,7 +33,6 @@
#define BEEPER PA15
#define BEEPER_INVERTED
-#define BEEPER_PWM_FREQUENCY 2500
// *************** IMU generic ***********************
#define USE_DUAL_GYRO
@@ -152,11 +151,8 @@
#define UART8_TX_PIN PE1
#define UART8_RX_PIN PE0
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_TX_PIN PC6 //TX6 pad
-#define SOFTSERIAL_1_RX_PIN PC6 //TX6 pad
-#define SERIAL_PORT_COUNT 9
+#define SERIAL_PORT_COUNT 8
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_CRSF
@@ -198,6 +194,7 @@
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
#define CURRENT_METER_SCALE 250
+#define CURRENT_METER_OFFSET 400
#define USE_SERIAL_4WAY_BLHELI_INTERFACE