From 08a2693c274665b27627e921228ea1ddb78bc9e5 Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Wed, 3 Dec 2025 20:21:30 +0100 Subject: [PATCH 01/12] Add AXISFLYING_H743PRO --- configs/AXISFLYING_H743PRO/config.h | 153 ++++++++++++++++++++++++++++ 1 file changed, 153 insertions(+) create mode 100644 configs/AXISFLYING_H743PRO/config.h diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h new file mode 100644 index 000000000..f74e18bbb --- /dev/null +++ b/configs/AXISFLYING_H743PRO/config.h @@ -0,0 +1,153 @@ +/* + * 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 AXISFLYING_H743PRO +#define MANUFACTURER_ID AXFL + +#define USE_ACC +#define USE_ACC_SPI_ICM42688P +#define USE_GYRO +#define USE_GYRO_SPI_ICM42688P +#define USE_FLASH +#define USE_FLASH_PY25Q128HA +#define USE_BARO +#define USE_BARO_DPS310 +#define USE_MAX7456 + +#define BEEPER_PIN PC13 + +#define MOTOR1_PIN PC6 +#define MOTOR2_PIN PC7 +#define MOTOR3_PIN PC8 +#define MOTOR4_PIN PC9 +#define MOTOR5_PIN PA0 +#define MOTOR6_PIN PA1 +#define MOTOR7_PIN PA2 +#define MOTOR8_PIN PA3 + +#define SERVO1_PIN PD12 +#define SERVO1_PIN PD13 +#define SERVO1_PIN PD14 +#define SERVO1_PIN PD15 + +#define LED_STRIP_PIN PE5 + +#define UART1_TX_PIN PB6 +#define UART2_TX_PIN PD5 +#define UART3_TX_PIN PD8 +#define UART4_TX_PIN PC10 +#define UART7_TX_PIN PE8 +#define UART8_TX_PIN PE1 + +#define UART1_RX_PIN PB7 +#define UART2_RX_PIN PD6 +#define UART3_RX_PIN PD9 +#define UART4_RX_PIN PC11 +#define UART5_RX_PIN PD2 // ESC TELEMETRY +#define UART7_RX_PIN PE7 +#define UART8_RX_PIN PE0 + +#define I2C1_SCL_PIN PB8 +#define I2C1_SDA_PIN PB9 + +#define I2C2_SCL_PIN PB10 +#define I2C2_SDA_PIN PB11 + +#define SPI1_SCK_PIN PA5 +#define SPI1_SDI_PIN PA6 +#define SPI1_SDO_PIN PA7 + +#define SPI2_SCK_PIN PB13 +#define SPI2_SDI_PIN PB14 +#define SPI2_SDO_PIN PB15 + +#define SPI3_SCK_PIN PB3 +#define SPI3_SDI_PIN PB4 +#define SPI3_SDO_PIN PB5 + +#define SPI4_SCK_PIN PE12 +#define SPI4_SDI_PIN PE13 +#define SPI4_SDO_PIN PE14 + +#define ADC_VBAT_PIN PC0 +#define ADC_CURR_PIN PC1 + +#define LED0_PIN PD3 + +#define GYRO_1_CS_PIN PC4 +#define GYRO_1_EXTI_PIN PA4 +#define GYRO_1_CLKIN_PIN PB0 + +#define GYRO_2_CS_PIN PE15 +#define GYRO_2_EXTI_PIN PE11 +#define GYRO_2_CLKIN_PIN PB1 + +#define MAX7456_SPI_CS_PIN PB12 +#define FLASH_CS_PIN PD7 + +#define TIMER_PIN_MAPPING \ + TIMER_PIN_MAP( 0, MOTOR1_PIN, 2, 0) /* PC6 / TIM8_CH1 */ \ + TIMER_PIN_MAP( 1, MOTOR2_PIN, 2, 1) /* PC7 / TIM8_CH2 */ \ + TIMER_PIN_MAP( 2, MOTOR3_PIN, 2, 2) /* PC8 / TIM8_CH3 */ \ + TIMER_PIN_MAP( 3, MOTOR4_PIN, 2, 3) /* PC9 / TIM8_CH4 */ \ + TIMER_PIN_MAP( 4, MOTOR5_PIN, 1, 4) /* PA0 / TIM2_CH1 */ \ + TIMER_PIN_MAP( 5, MOTOR6_PIN, 1, 5) /* PA1 / TIM2_CH2 */ \ + TIMER_PIN_MAP( 6, MOTOR7_PIN, 1, 6) /* PA2 / TIM2_CH3 */ \ + TIMER_PIN_MAP( 7, MOTOR8_PIN, 1, 7) /* PA3 / TIM2_CH4 */ \ + TIMER_PIN_MAP( 8, SERVO1_PIN, 1, -1) /* PD12 / TIM4_CH1 */ \ + TIMER_PIN_MAP( 9, SERVO2_PIN, 1, -1) /* PD13 / TIM4_CH2 */ \ + TIMER_PIN_MAP( 10, SERVO3_PIN, 1, -1) /* PD14 / TIM4_CH3 */ \ + TIMER_PIN_MAP( 11, SERVO4_PIN, 1, -1) /* PD15 / TIM4_CH4 */ \ + TIMER_PIN_MAP( 12, LED_STRIP_PIN, 1, 8) /* PE5 / TIM15_CH1 */ \ + TIMER_PIN_MAP( 13, GYRO_1_CLKIN_PIN, 2, -1) /* PB0 / TIM3_CH3 */ \ + TIMER_PIN_MAP( 14, GYRO_1_CLKIN_PIN, 2, -1) /* PB1 / TIM3_CH3 */ + +#define ADC1_DMA_OPT 9 +#define ADC3_DMA_OPT 10 + +#define ESC_SENSOR_UART SERIAL_PORT_UART5 + +#define MAG_I2C_INSTANCE I2CDEV_1 +#define BARO_I2C_INSTANCE I2CDEV_2 + +#define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_ON +#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC +#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC +#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH +#define BEEPER_INVERTED + +#define GYRO_1_SPI_INSTANCE SPI1 +#define GYRO_1_ALIGN CW0_DEG // TODO: needs correlation/update with actual board +#define GYRO_2_SPI_INSTANCE SPI4 +#define GYRO_2_ALIGN CW0_DEG // TODO: needs correlation/update with actual board +#define MAX7456_SPI_INSTANCE SPI2 +#define FLASH_SPI_INSTANCE SPI3 + +#define PINIO1_BOX 40 +#define PINIO1_CONFIG 129 +#define BOX_USER1_NAME "VTX PWR" +#define PINIO2_BOX 41 +#define PINIO2_CONFIG 129 +#define BOX_USER2_NAME "CAMERA SWITCH" From 83cd3c32cf2eee25154012f1109ba3023a2934ff Mon Sep 17 00:00:00 2001 From: Osiris Inferi Date: Wed, 3 Dec 2025 21:19:05 +0100 Subject: [PATCH 02/12] Use "CAM 1,2" for USER2 box Let's stick to the most commonly used text. Co-authored-by: Mark Haslinghuis --- configs/AXISFLYING_H743PRO/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index f74e18bbb..67c25d17f 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -150,4 +150,4 @@ #define BOX_USER1_NAME "VTX PWR" #define PINIO2_BOX 41 #define PINIO2_CONFIG 129 -#define BOX_USER2_NAME "CAMERA SWITCH" +#define BOX_USER2_NAME "CAM 1,2" From 87faa938b70a241924744e0c15caaccdf41501a1 Mon Sep 17 00:00:00 2001 From: Osiris Inferi Date: Wed, 3 Dec 2025 21:22:17 +0100 Subject: [PATCH 03/12] Correct PINIO2 output Co-authored-by: Mark Haslinghuis --- configs/AXISFLYING_H743PRO/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 67c25d17f..ff78a10d2 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -149,5 +149,5 @@ #define PINIO1_CONFIG 129 #define BOX_USER1_NAME "VTX PWR" #define PINIO2_BOX 41 -#define PINIO2_CONFIG 129 +#define PINIO2_CONFIG 1 #define BOX_USER2_NAME "CAM 1,2" From 9670b46eacba581b046360db1952a5485209fe45 Mon Sep 17 00:00:00 2001 From: Osiris Inferi Date: Wed, 3 Dec 2025 21:40:19 +0100 Subject: [PATCH 04/12] Fix CLKIN timer pin map for gyro 2 Co-authored-by: ot0tot <36753790+ot0tot@users.noreply.github.com> --- configs/AXISFLYING_H743PRO/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index ff78a10d2..4325a0689 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -122,7 +122,7 @@ TIMER_PIN_MAP( 11, SERVO4_PIN, 1, -1) /* PD15 / TIM4_CH4 */ \ TIMER_PIN_MAP( 12, LED_STRIP_PIN, 1, 8) /* PE5 / TIM15_CH1 */ \ TIMER_PIN_MAP( 13, GYRO_1_CLKIN_PIN, 2, -1) /* PB0 / TIM3_CH3 */ \ - TIMER_PIN_MAP( 14, GYRO_1_CLKIN_PIN, 2, -1) /* PB1 / TIM3_CH3 */ + TIMER_PIN_MAP( 14, GYRO_2_CLKIN_PIN, 2, -1) /* PB1 / TIM3_CH3 */ #define ADC1_DMA_OPT 9 #define ADC3_DMA_OPT 10 From 56db576802f72e62e660e257591ec7afed968328 Mon Sep 17 00:00:00 2001 From: Osiris Inferi Date: Wed, 3 Dec 2025 21:40:50 +0100 Subject: [PATCH 05/12] Let's actually use GYRO_CLKIN Co-authored-by: ot0tot <36753790+ot0tot@users.noreply.github.com> --- configs/AXISFLYING_H743PRO/config.h | 1 + 1 file changed, 1 insertion(+) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 4325a0689..d9467b1cd 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -35,6 +35,7 @@ #define USE_BARO #define USE_BARO_DPS310 #define USE_MAX7456 +#define USE_GYRO_CLKIN #define BEEPER_PIN PC13 From 5cc15ddea52c2a11aba6c4b08958da548f737c75 Mon Sep 17 00:00:00 2001 From: Osiris Inferi Date: Wed, 3 Dec 2025 21:46:42 +0100 Subject: [PATCH 06/12] Define PINIO pins Co-authored-by: ot0tot <36753790+ot0tot@users.noreply.github.com> --- configs/AXISFLYING_H743PRO/config.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index d9467b1cd..bdac495c5 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -97,6 +97,9 @@ #define LED0_PIN PD3 +#define PINIO1_PIN PE2 +#define PINIO2_PIN PA8 + #define GYRO_1_CS_PIN PC4 #define GYRO_1_EXTI_PIN PA4 #define GYRO_1_CLKIN_PIN PB0 From 7d44430705465e41137016691144d4d3c6e5ddd4 Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Thu, 4 Dec 2025 20:52:30 +0100 Subject: [PATCH 07/12] Fix servo pin numbering --- configs/AXISFLYING_H743PRO/config.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index bdac495c5..301ef26ff 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -49,9 +49,9 @@ #define MOTOR8_PIN PA3 #define SERVO1_PIN PD12 -#define SERVO1_PIN PD13 -#define SERVO1_PIN PD14 -#define SERVO1_PIN PD15 +#define SERVO2_PIN PD13 +#define SERVO3_PIN PD14 +#define SERVO4_PIN PD15 #define LED_STRIP_PIN PE5 From e5284446b724a840a978b60a1958ac81f99d6b4e Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Thu, 4 Dec 2025 20:59:09 +0100 Subject: [PATCH 08/12] Fix timer map comment --- configs/AXISFLYING_H743PRO/config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 301ef26ff..76bacd4e4 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -126,7 +126,7 @@ TIMER_PIN_MAP( 11, SERVO4_PIN, 1, -1) /* PD15 / TIM4_CH4 */ \ TIMER_PIN_MAP( 12, LED_STRIP_PIN, 1, 8) /* PE5 / TIM15_CH1 */ \ TIMER_PIN_MAP( 13, GYRO_1_CLKIN_PIN, 2, -1) /* PB0 / TIM3_CH3 */ \ - TIMER_PIN_MAP( 14, GYRO_2_CLKIN_PIN, 2, -1) /* PB1 / TIM3_CH3 */ + TIMER_PIN_MAP( 14, GYRO_2_CLKIN_PIN, 2, -1) /* PB1 / TIM3_CH4 */ #define ADC1_DMA_OPT 9 #define ADC3_DMA_OPT 10 From 8ad1b8eac3f6bd7b10d18a5b00855c48179b7f85 Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Thu, 4 Dec 2025 22:43:49 +0100 Subject: [PATCH 09/12] Add other function defines --- configs/AXISFLYING_H743PRO/config.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 76bacd4e4..45bbe7964 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -131,7 +131,14 @@ #define ADC1_DMA_OPT 9 #define ADC3_DMA_OPT 10 +#ifdef USE_GPS +#define GPS_UART SERIAL_PORT_USART8 +#endif +#define SERIALRX_UART SERIAL_PORT_USART2 #define ESC_SENSOR_UART SERIAL_PORT_UART5 +#ifdef USE_OSD_HD +#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1 +#endif #define MAG_I2C_INSTANCE I2CDEV_1 #define BARO_I2C_INSTANCE I2CDEV_2 From f596441cadaae59b8ca6297bd564814341326567 Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Thu, 4 Dec 2025 22:59:24 +0100 Subject: [PATCH 10/12] Use both IMUs --- configs/AXISFLYING_H743PRO/config.h | 1 + 1 file changed, 1 insertion(+) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 45bbe7964..5e79179e2 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -153,6 +153,7 @@ #define GYRO_1_ALIGN CW0_DEG // TODO: needs correlation/update with actual board #define GYRO_2_SPI_INSTANCE SPI4 #define GYRO_2_ALIGN CW0_DEG // TODO: needs correlation/update with actual board +#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH #define MAX7456_SPI_INSTANCE SPI2 #define FLASH_SPI_INSTANCE SPI3 From 767174eb198c6a500aca2b534897bef1264191a6 Mon Sep 17 00:00:00 2001 From: osirisinferi Date: Tue, 16 Dec 2025 20:08:15 +0100 Subject: [PATCH 11/12] Add correct IMU alignment and TIMUP DMA opts --- configs/AXISFLYING_H743PRO/config.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYING_H743PRO/config.h index 5e79179e2..4835600e1 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYING_H743PRO/config.h @@ -130,6 +130,8 @@ #define ADC1_DMA_OPT 9 #define ADC3_DMA_OPT 10 +#define TIMUP8_DMA_OPT 11 +#define TIMUP2_DMA_OPT 12 #ifdef USE_GPS #define GPS_UART SERIAL_PORT_USART8 @@ -150,9 +152,9 @@ #define BEEPER_INVERTED #define GYRO_1_SPI_INSTANCE SPI1 -#define GYRO_1_ALIGN CW0_DEG // TODO: needs correlation/update with actual board +#define GYRO_1_ALIGN CW0_DEG #define GYRO_2_SPI_INSTANCE SPI4 -#define GYRO_2_ALIGN CW0_DEG // TODO: needs correlation/update with actual board +#define GYRO_2_ALIGN CW270_DEG #define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH #define MAX7456_SPI_INSTANCE SPI2 #define FLASH_SPI_INSTANCE SPI3 From 3702a64dd2de5438cfea5f050782beec277b7b5d Mon Sep 17 00:00:00 2001 From: Mark Haslinghuis Date: Mon, 29 Dec 2025 17:48:14 +0100 Subject: [PATCH 12/12] Update and rename config.h to config.h Fixed and confirmed gyro 2 align --- configs/{AXISFLYING_H743PRO => AXISFLYINGH743PRO}/config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) rename configs/{AXISFLYING_H743PRO => AXISFLYINGH743PRO}/config.h (98%) diff --git a/configs/AXISFLYING_H743PRO/config.h b/configs/AXISFLYINGH743PRO/config.h similarity index 98% rename from configs/AXISFLYING_H743PRO/config.h rename to configs/AXISFLYINGH743PRO/config.h index 4835600e1..e2ea79a88 100644 --- a/configs/AXISFLYING_H743PRO/config.h +++ b/configs/AXISFLYINGH743PRO/config.h @@ -23,7 +23,7 @@ #define FC_TARGET_MCU STM32H743 -#define BOARD_NAME AXISFLYING_H743PRO +#define BOARD_NAME AXISFLYINGH743PRO #define MANUFACTURER_ID AXFL #define USE_ACC @@ -154,7 +154,7 @@ #define GYRO_1_SPI_INSTANCE SPI1 #define GYRO_1_ALIGN CW0_DEG #define GYRO_2_SPI_INSTANCE SPI4 -#define GYRO_2_ALIGN CW270_DEG +#define GYRO_2_ALIGN CW90_DEG #define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH #define MAX7456_SPI_INSTANCE SPI2 #define FLASH_SPI_INSTANCE SPI3