From 410675cb8ec07de10a824864d30360e71a55ff77 Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 11:21:27 -0800 Subject: [PATCH 01/12] Add PrincipIoT H7 Pi initial target config --- configs/PRINCIPIOTH7PI/config.h | 218 ++++++++++++++++++++++++++++++++ 1 file changed, 218 insertions(+) create mode 100644 configs/PRINCIPIOTH7PI/config.h diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h new file mode 100644 index 000000000..88508bb23 --- /dev/null +++ b/configs/PRINCIPIOTH7PI/config.h @@ -0,0 +1,218 @@ +/* + * This file is part of Betaflight. + * + * Betaflight is free software. You can redistribute this software + * and/or modify this software 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. + * + * Betaflight 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 this software. + * + * If not, see . + */ + +#pragma once + +#define FC_TARGET_MCU STM32H743 + +#define BOARD_NAME PRINCIPIOTH7PI +#define MANUFACTURER_ID PRIN + +#define USB_DETECT_PIN PE2 + +#define BEEPER_PIN PA15 +#define MOTOR1_PIN PA0 +#define MOTOR2_PIN PA1 +#define MOTOR3_PIN PA2 +#define MOTOR4_PIN PA3 +#define MOTOR5_PIN PB1 +#define MOTOR6_PIN PB0 +#define SERVO1_PIN PE5 +#define SERVO2_PIN PE6 +#define RX_PPM_PIN PE0 +#define LED_STRIP_PIN PA8 + + +// Debug connector +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +// Telem to Raspberry Pi +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +// GPS +#define UART4_TX_PIN PB9 +#define UART4_RX_PIN PB8 + +// VTX +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +// ESC Telem in (RX only) +#define UART7_TX_PIN PE8 // Not connected +#define UART7_RX_PIN PE7 + +// Receiver +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +// Baro I2C +#define I2C1_SCL_PIN PB6 +#define I2C1_SDA_PIN PB7 + +// Mag and GPS (External) I2C +#define I2C2_SCL_PIN PB10 +#define I2C2_SDA_PIN PB11 + +// LED pins, active low +#define LED0_PIN PE3 // Blue +#define LED1_PIN PE4 // Green + +// ICM-42688P IMU +#define SPI1_SCK_PIN PA5 +#define SPI1_SDI_PIN PA6 +#define SPI1_SDO_PIN PD7 + +// Unused +//#define SPI2_SCK_PIN PB13 +//#define SPI2_SDI_PIN PB14 +//#define SPI2_SDO_PIN PB15 + +// FRAM (Unused for BF) +#define SPI3_SCK_PIN PB3 +#define SPI3_SDI_PIN PB4 +#define SPI3_SDO_PIN PB5 +// CS pin for SPI3 connection: PD4 + +// IIM-42653 IMU +#define SPI4_SCK_PIN PE12 +#define SPI4_SDI_PIN PE13 +#define SPI4_SDO_PIN PE14 + +// ADC pins +#define ADC_VBAT_PIN PC0 +#define ADC_CURR_PIN PC1 + +#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC +#define DEFAULT_VOLTAGE_METER_SCALE 110 + +#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC + +// TODO: Is this right? +#define ADC1_DMA_OPT 8 +#define ADC3_DMA_OPT 9 + +// SD card +#define USE_SDCARD +#define SDIO_CK_PIN PC12 +#define SDIO_CMD_PIN PD2 +#define SDIO_D0_PIN PC8 +#define SDIO_D1_PIN PC9 +#define SDIO_D2_PIN PC10 +#define SDIO_D3_PIN PC11 +#define SDCARD_DETECT_PIN PD15 // TODO: Is this needed? +#define SDCARD_DETECT_INVERTED + +#define SDIO_DEVICE SDIODEV_1 +#define SDIO_USE_4BIT 1 + +#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SDCARD + +// Sensors +#define USE_ACC +#define USE_GYRO +#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH // TODO: Can it use both? + +// IMU 1 (ICM-42688P) +#define USE_ACC_SPI_ICM42688P +#define USE_GYRO_SPI_ICM42688P + +#define GYRO_1_EXTI_PIN PB2 +#define GYRO_1_CS_PIN PC15 +#define GYRO_1_SPI_INSTANCE SPI1 +#define GYRO_1_ALIGN CW0_DEG +//#define GYRO_1_ALIGN_PITCH 1800 + +// IMU 2 (IIM-42653) +#define USE_ACCGYRO_IIM42653 + +#define GYRO_2_EXTI_PIN PE15 +#define GYRO_2_CS_PIN PE11 +#define GYRO_2_SPI_INSTANCE SPI4 +#define GYRO_2_ALIGN CW0_DEG +//#define GYRO_2_ALIGN_PITCH 1800 + +// Baro +#define USE_BARO +#define USE_BARO_DPS310 // DPS368, but it's equivalent +#define BARO_I2C_INSTANCE (I2CDEV_1) + +// Mag +#define USE_MAG +#define USE_MAG_LIS2MDL +#define MAG_I2C_INSTANCE (I2CDEV_2) +#define MAG_I2C_ADDRESS 0x1E +#define MAG_ALIGN CW90_DEG +#define MAG_ALIGN_YAW 900 + +//TODO: Fix timer pin mapping +/* +Pin mapping: +Motor 1 (TIM5 CH1) +Motor 2 (TIM5 CH2) +Motor 3 (TIM5 CH3) +Motor 4 (TIM5 CH4) +Motor 5 (TIM3 CH3) +Motor 6 (TIM3 CH4) +Servo 1 (TIM15 CH1) +Servo 2 (TIM15 CH2) +LED strip (TIM1 CH1) +Beeper (TIM2 CH1) +*/ +#define TIMER_PIN_MAPPING \ + TIMER_PIN_MAP( 0, PA0 , 2, 0) \ + TIMER_PIN_MAP( 1, PA1 , 2, 1) \ + TIMER_PIN_MAP( 2, PA2 , 2, 2) \ + TIMER_PIN_MAP( 3, PA3 , 2, 3) \ + TIMER_PIN_MAP( 4, PB0 , 2, 4) \ + TIMER_PIN_MAP( 5, PB1 , 2, 5) \ + TIMER_PIN_MAP( 6, PE5 , 1, 6) \ + TIMER_PIN_MAP( 7, PE6 , 1, 7) \ + TIMER_PIN_MAP( 8, PA8 , 1, 8) \ + TIMER_PIN_MAP( 9, PA15, 1, -1) + + +// TODO: DMA options + +#define TIMUP1_DMA_OPT 0 +#define TIMUP2_DMA_OPT 0 +#define TIMUP3_DMA_OPT 2 +#define TIMUP4_DMA_OPT 1 +#define TIMUP5_DMA_OPT 0 +#define TIMUP8_DMA_OPT 0 + + + +// Other features: +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_UART SERIAL_PORT_USART8 +#define GPS_UART SERIAL_PORT_UART4 + +// PINIO +// PINIO 1 is the 10V enable pin for VTX power +#define PINIO1_PIN PD10 +#define PINIO1_CONFIG 129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low +#define PINIO1_BOX 42 // VTX + +#define PINIO2_PIN PD11 +#define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP +#define PINIO2_BOX 40 // User 2 From a01387561f38f6a62553528beb0226c530fa6146 Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 11:27:42 -0800 Subject: [PATCH 02/12] Clean up a few things --- configs/PRINCIPIOTH7PI/config.h | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 88508bb23..6d9e58303 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -40,7 +40,6 @@ #define RX_PPM_PIN PE0 #define LED_STRIP_PIN PA8 - // Debug connector #define UART2_TX_PIN PD5 #define UART2_RX_PIN PD6 @@ -119,7 +118,7 @@ #define SDIO_D1_PIN PC9 #define SDIO_D2_PIN PC10 #define SDIO_D3_PIN PC11 -#define SDCARD_DETECT_PIN PD15 // TODO: Is this needed? +#define SDCARD_DETECT_PIN PD15 #define SDCARD_DETECT_INVERTED #define SDIO_DEVICE SDIODEV_1 @@ -130,7 +129,7 @@ // Sensors #define USE_ACC #define USE_GYRO -#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH // TODO: Can it use both? +#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH // IMU 1 (ICM-42688P) #define USE_ACC_SPI_ICM42688P @@ -164,7 +163,6 @@ #define MAG_ALIGN CW90_DEG #define MAG_ALIGN_YAW 900 -//TODO: Fix timer pin mapping /* Pin mapping: Motor 1 (TIM5 CH1) @@ -178,6 +176,7 @@ Servo 2 (TIM15 CH2) LED strip (TIM1 CH1) Beeper (TIM2 CH1) */ + #define TIMER_PIN_MAPPING \ TIMER_PIN_MAP( 0, PA0 , 2, 0) \ TIMER_PIN_MAP( 1, PA1 , 2, 1) \ @@ -190,7 +189,6 @@ Beeper (TIM2 CH1) TIMER_PIN_MAP( 8, PA8 , 1, 8) \ TIMER_PIN_MAP( 9, PA15, 1, -1) - // TODO: DMA options #define TIMUP1_DMA_OPT 0 @@ -200,8 +198,6 @@ Beeper (TIM2 CH1) #define TIMUP5_DMA_OPT 0 #define TIMUP8_DMA_OPT 0 - - // Other features: #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_UART SERIAL_PORT_USART8 From 1057d7470dc37657f9357a4fa7c1d528517a0b08 Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 12:17:33 -0800 Subject: [PATCH 03/12] Remove unneeded mag I2C address define --- configs/PRINCIPIOTH7PI/config.h | 1 - 1 file changed, 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 6d9e58303..1268a358d 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -159,7 +159,6 @@ #define USE_MAG #define USE_MAG_LIS2MDL #define MAG_I2C_INSTANCE (I2CDEV_2) -#define MAG_I2C_ADDRESS 0x1E #define MAG_ALIGN CW90_DEG #define MAG_ALIGN_YAW 900 From 6d4c88451b0792045904bdfaa14f4e78e1ff337b Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 12:22:40 -0800 Subject: [PATCH 04/12] Update to resolve review items --- configs/PRINCIPIOTH7PI/config.h | 22 ++++++++-------------- 1 file changed, 8 insertions(+), 14 deletions(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 1268a358d..4ce0f246a 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -102,13 +102,11 @@ #define ADC_CURR_PIN PC1 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC -#define DEFAULT_VOLTAGE_METER_SCALE 110 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC -// TODO: Is this right? -#define ADC1_DMA_OPT 8 -#define ADC3_DMA_OPT 9 +#define ADC1_DMA_OPT 9 +#define ADC3_DMA_OPT 10 // SD card #define USE_SDCARD @@ -153,12 +151,14 @@ // Baro #define USE_BARO #define USE_BARO_DPS310 // DPS368, but it's equivalent -#define BARO_I2C_INSTANCE (I2CDEV_1) +#define BARO_I2C_INSTANCE I2CDEV_1 // Mag +#ifndef USE_MAG #define USE_MAG +#endif #define USE_MAG_LIS2MDL -#define MAG_I2C_INSTANCE (I2CDEV_2) +#define MAG_I2C_INSTANCE I2CDEV_2 #define MAG_ALIGN CW90_DEG #define MAG_ALIGN_YAW 900 @@ -188,14 +188,8 @@ Beeper (TIM2 CH1) TIMER_PIN_MAP( 8, PA8 , 1, 8) \ TIMER_PIN_MAP( 9, PA15, 1, -1) -// TODO: DMA options - -#define TIMUP1_DMA_OPT 0 -#define TIMUP2_DMA_OPT 0 -#define TIMUP3_DMA_OPT 2 -#define TIMUP4_DMA_OPT 1 -#define TIMUP5_DMA_OPT 0 -#define TIMUP8_DMA_OPT 0 +#define TIMUP3_DMA_OPT 11 +#define TIMUP5_DMA_OPT 12 // Other features: #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL From f3269619f0644e134340e7086dded5bb01b41109 Mon Sep 17 00:00:00 2001 From: lukas-principiot <127909763+lukas-principiot@users.noreply.github.com> Date: Sat, 3 Jan 2026 12:35:03 -0800 Subject: [PATCH 05/12] Change VTX PINIO box Co-authored-by: Osiris Inferi --- configs/PRINCIPIOTH7PI/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 4ce0f246a..66d08da84 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -200,7 +200,7 @@ Beeper (TIM2 CH1) // PINIO 1 is the 10V enable pin for VTX power #define PINIO1_PIN PD10 #define PINIO1_CONFIG 129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low -#define PINIO1_BOX 42 // VTX +#define PINIO1_BOX 40 // USER1 #define PINIO2_PIN PD11 #define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP From 04ae631c5aa82fad8a74389a4303188e28a4daab Mon Sep 17 00:00:00 2001 From: lukas-principiot <127909763+lukas-principiot@users.noreply.github.com> Date: Sat, 3 Jan 2026 12:35:17 -0800 Subject: [PATCH 06/12] Update PINIO box Co-authored-by: Osiris Inferi --- configs/PRINCIPIOTH7PI/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 66d08da84..504ebfa43 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -204,4 +204,4 @@ Beeper (TIM2 CH1) #define PINIO2_PIN PD11 #define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP -#define PINIO2_BOX 40 // User 2 +#define PINIO2_BOX 41 // USER2 From 76c2c19f9e3c81d8e96f8caf5ea88a36e6e7dcd8 Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 12:58:17 -0800 Subject: [PATCH 07/12] Remove legacy PPM define --- configs/PRINCIPIOTH7PI/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 504ebfa43..04dd362a0 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -37,7 +37,6 @@ #define MOTOR6_PIN PB0 #define SERVO1_PIN PE5 #define SERVO2_PIN PE6 -#define RX_PPM_PIN PE0 #define LED_STRIP_PIN PA8 // Debug connector @@ -201,6 +200,7 @@ Beeper (TIM2 CH1) #define PINIO1_PIN PD10 #define PINIO1_CONFIG 129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low #define PINIO1_BOX 40 // USER1 +#define BOX_USER1_NAME "VTX PWR" #define PINIO2_PIN PD11 #define PINIO2_CONFIG 1 // PINIO_CONFIG_MODE_OUT_PP From 90aead9f9d5c6e409f7e18a702cbcd24008b5061 Mon Sep 17 00:00:00 2001 From: Lukas Severinghaus Date: Sat, 3 Jan 2026 13:42:31 -0800 Subject: [PATCH 08/12] Remove extra mag orientation define --- configs/PRINCIPIOTH7PI/config.h | 1 - 1 file changed, 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 04dd362a0..ba1b6d8f4 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -159,7 +159,6 @@ #define USE_MAG_LIS2MDL #define MAG_I2C_INSTANCE I2CDEV_2 #define MAG_ALIGN CW90_DEG -#define MAG_ALIGN_YAW 900 /* Pin mapping: From 6dfc9fafca9fc82cd264dfb7525181dc8f174a04 Mon Sep 17 00:00:00 2001 From: Mark Haslinghuis Date: Tue, 24 Feb 2026 20:24:07 +0100 Subject: [PATCH 09/12] Update configs/PRINCIPIOTH7PI/config.h Co-authored-by: ot0tot <36753790+ot0tot@users.noreply.github.com> --- configs/PRINCIPIOTH7PI/config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index ba1b6d8f4..79d6b62ba 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -181,8 +181,8 @@ Beeper (TIM2 CH1) TIMER_PIN_MAP( 3, PA3 , 2, 3) \ TIMER_PIN_MAP( 4, PB0 , 2, 4) \ TIMER_PIN_MAP( 5, PB1 , 2, 5) \ - TIMER_PIN_MAP( 6, PE5 , 1, 6) \ - TIMER_PIN_MAP( 7, PE6 , 1, 7) \ + TIMER_PIN_MAP( 6, PE5 , 1, -1) \ + TIMER_PIN_MAP( 7, PE6 , 1, -1) \ TIMER_PIN_MAP( 8, PA8 , 1, 8) \ TIMER_PIN_MAP( 9, PA15, 1, -1) From 7273a88693516c57a259d381a4aaef5f92aa9ae7 Mon Sep 17 00:00:00 2001 From: lukas-principiot <127909763+lukas-principiot@users.noreply.github.com> Date: Wed, 25 Feb 2026 20:41:32 -0800 Subject: [PATCH 10/12] Minor formatting cleanup Co-authored-by: Mark Haslinghuis --- configs/PRINCIPIOTH7PI/config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 79d6b62ba..5b42a8f52 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -181,8 +181,8 @@ Beeper (TIM2 CH1) TIMER_PIN_MAP( 3, PA3 , 2, 3) \ TIMER_PIN_MAP( 4, PB0 , 2, 4) \ TIMER_PIN_MAP( 5, PB1 , 2, 5) \ - TIMER_PIN_MAP( 6, PE5 , 1, -1) \ - TIMER_PIN_MAP( 7, PE6 , 1, -1) \ + TIMER_PIN_MAP( 6, PE5 , 1, -1) \ + TIMER_PIN_MAP( 7, PE6 , 1, -1) \ TIMER_PIN_MAP( 8, PA8 , 1, 8) \ TIMER_PIN_MAP( 9, PA15, 1, -1) From 07989e07ac47288ab8a574276fea704e36e0e1c0 Mon Sep 17 00:00:00 2001 From: Mark Haslinghuis Date: Thu, 26 Feb 2026 16:18:45 +0100 Subject: [PATCH 11/12] Update configs/PRINCIPIOTH7PI/config.h --- configs/PRINCIPIOTH7PI/config.h | 1 - 1 file changed, 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 5b42a8f52..91d0b91ba 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -136,7 +136,6 @@ #define GYRO_1_CS_PIN PC15 #define GYRO_1_SPI_INSTANCE SPI1 #define GYRO_1_ALIGN CW0_DEG -//#define GYRO_1_ALIGN_PITCH 1800 // IMU 2 (IIM-42653) #define USE_ACCGYRO_IIM42653 From 5a0aac9e6f99067550ee72d4baf5cdb2882c51f9 Mon Sep 17 00:00:00 2001 From: Mark Haslinghuis Date: Thu, 26 Feb 2026 16:18:55 +0100 Subject: [PATCH 12/12] Update configs/PRINCIPIOTH7PI/config.h --- configs/PRINCIPIOTH7PI/config.h | 1 - 1 file changed, 1 deletion(-) diff --git a/configs/PRINCIPIOTH7PI/config.h b/configs/PRINCIPIOTH7PI/config.h index 91d0b91ba..60515647e 100644 --- a/configs/PRINCIPIOTH7PI/config.h +++ b/configs/PRINCIPIOTH7PI/config.h @@ -144,7 +144,6 @@ #define GYRO_2_CS_PIN PE11 #define GYRO_2_SPI_INSTANCE SPI4 #define GYRO_2_ALIGN CW0_DEG -//#define GYRO_2_ALIGN_PITCH 1800 // Baro #define USE_BARO