From 1d370a6d68df8e71e3d037081d284f7937f6a50c Mon Sep 17 00:00:00 2001 From: Ray Morris Date: Mon, 16 Feb 2026 23:12:08 -0600 Subject: [PATCH 1/3] Add SDMODELH7V2 target (STM32H743) SDMODEL SDH7 V2 flight controller with MPU6000 on SPI4 (CW270), MAX7456 OSD on SPI2, SD card blackbox on SPI1, BMP280/MS5611 baro and IST8310 mag on I2C1, 8 motor outputs across TIM2/3/5/8, VCP + 6 UARTs (UART7 RX-only for ESC sensor). --- src/main/target/SDMODELH7V2/CMakeLists.txt | 1 + src/main/target/SDMODELH7V2/target.c | 46 ++++++ src/main/target/SDMODELH7V2/target.h | 178 +++++++++++++++++++++ 3 files changed, 225 insertions(+) create mode 100644 src/main/target/SDMODELH7V2/CMakeLists.txt create mode 100644 src/main/target/SDMODELH7V2/target.c create mode 100644 src/main/target/SDMODELH7V2/target.h diff --git a/src/main/target/SDMODELH7V2/CMakeLists.txt b/src/main/target/SDMODELH7V2/CMakeLists.txt new file mode 100644 index 00000000000..ac26094e636 --- /dev/null +++ b/src/main/target/SDMODELH7V2/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32h743xi(SDMODELH7V2) diff --git a/src/main/target/SDMODELH7V2/target.c b/src/main/target/SDMODELH7V2/target.c new file mode 100644 index 00000000000..ee01b45327f --- /dev/null +++ b/src/main/target/SDMODELH7V2/target.c @@ -0,0 +1,46 @@ +/* + * 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" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // M2 + + DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 2), // M3 + DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 3), // M4 + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 4), // M5 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 5), // M6 + + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 6), // M7 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7), // M8 + + DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 14), // LED strip + DEF_TIM(TIM1, CH1, PE9, TIM_USE_ANY, 0, 12), // Camera control +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/SDMODELH7V2/target.h b/src/main/target/SDMODELH7V2/target.h new file mode 100644 index 00000000000..b49697cd80f --- /dev/null +++ b/src/main/target/SDMODELH7V2/target.h @@ -0,0 +1,178 @@ +/* + * 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 "SDH7V2" +#define USBD_PRODUCT_STRING "SDMODELH7V2" + +#define USE_TARGET_CONFIG + +// *************** LED / BEEPER ********************** +#define LED0 PC2 + +#define BEEPER PC13 +#define BEEPER_INVERTED + +// *************** SPI1 - SD Card ******************** +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +// *************** SPI2 - OSD (MAX7456) ************** +#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 + +// *************** SPI4 - IMU (MPU6000) ************** +#define USE_SPI_DEVICE_4 +#define SPI4_SCK_PIN PE2 +#define SPI4_MISO_PIN PE5 +#define SPI4_MOSI_PIN PE6 + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW270_DEG +#define MPU6000_SPI_BUS BUS_SPI4 +#define MPU6000_CS_PIN PE4 +#define MPU6000_EXTI_PIN PE1 + +// *************** I2C1 - Baro / Mag ***************** +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_IST8310 +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** SD Card (SPI) ********************* +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI1 +#define SDCARD_CS_PIN PA4 +#define SDCARD_DETECT_PIN PA3 +#define SDCARD_DETECT_INVERTED + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +// *************** 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 PD1 +#define UART4_RX_PIN PD0 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +// UART7 RX-only (ESC sensor); TX pin not routed but AF mapping requires a valid pin +#define USE_UART7 +#define UART7_TX_PIN PE8 +#define UART7_RX_PIN PE7 + +#define SERIAL_PORT_COUNT 7 // VCP, UART1-4, UART6, UART7 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART6 + +// *************** ADC ******************************* +#define USE_ADC +#define ADC_INSTANCE ADC1 + +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC5 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 + +// BF DEFAULT_VOLTAGE_METER_SCALE=109, BF DEFAULT_CURRENT_METER_SCALE=168 +// INAV uses a different scaling formula; these values approximate the same +// physical measurement. Users should calibrate via the configurator. +#define VBAT_SCALE_DEFAULT 1090 +#define CURRENT_METER_SCALE 168 + +// *************** USB detect ************************ +#define USB_DETECT_PIN PA8 + +// *************** PINIO ***************************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PE13 +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED +#define PINIO2_PIN PB11 +#define PINIO2_FLAGS PINIO_FLAGS_INVERTED + +// *************** LED STRIP ************************* +#define USE_LED_STRIP +#define WS2811_PIN PD12 + +// *************** DEFAULT FEATURES ****************** +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) + +// *************** SERIAL 4WAY *********************** +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +// *************** ESC SENSOR ************************ +#define USE_ESC_SENSOR + +// *************** DSHOT ***************************** +#define USE_DSHOT + +// *************** IO PORT MASK ********************** +#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 MAX_PWM_OUTPUT_PORTS 8 From 3a93f2402b6148c7e55c2de4b5a1a50bf068b5d8 Mon Sep 17 00:00:00 2001 From: Ray Morris Date: Tue, 17 Feb 2026 00:15:50 -0600 Subject: [PATCH 2/3] SDMODELH7V2: replace camera control with USER1/USER2 PINIO, preset UART2 for onboard Bluetooth MSP Remove the camera control timer output on PE9. Add config.c to wire PINIO1/PINIO2 to USER1/USER2 mode boxes and preset UART2 for MSP at 115200 baud since it is connected to an onboard Bluetooth module. --- src/main/target/SDMODELH7V2/config.c | 37 ++++++++++++++++++++++++++++ src/main/target/SDMODELH7V2/target.c | 1 - 2 files changed, 37 insertions(+), 1 deletion(-) create mode 100644 src/main/target/SDMODELH7V2/config.c diff --git a/src/main/target/SDMODELH7V2/config.c b/src/main/target/SDMODELH7V2/config.c new file mode 100644 index 00000000000..54ecc6f7627 --- /dev/null +++ b/src/main/target/SDMODELH7V2/config.c @@ -0,0 +1,37 @@ +/* + * 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 "fc/fc_msp_box.h" +#include "fc/config.h" + +#include "io/piniobox.h" +#include "drivers/serial.h" +#include "io/serial.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + + // UART2 is connected to an onboard Bluetooth module (not user-accessible) + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].msp_baudrateIndex = BAUD_115200; +} diff --git a/src/main/target/SDMODELH7V2/target.c b/src/main/target/SDMODELH7V2/target.c index ee01b45327f..b3da3c075b1 100644 --- a/src/main/target/SDMODELH7V2/target.c +++ b/src/main/target/SDMODELH7V2/target.c @@ -40,7 +40,6 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7), // M8 DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 14), // LED strip - DEF_TIM(TIM1, CH1, PE9, TIM_USE_ANY, 0, 12), // Camera control }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); From e17b50b3dfbb73d72baed7e6114e2158a8b4ccee Mon Sep 17 00:00:00 2001 From: Ray Morris Date: Sun, 22 Feb 2026 15:08:25 -0600 Subject: [PATCH 3/3] SDMODELH7V2: COnfigure PINIO and Bluetooth arming control --- src/main/target/SDMODELH7V2/config.c | 1 + src/main/target/SDMODELH7V2/target.h | 15 ++++++++++----- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/src/main/target/SDMODELH7V2/config.c b/src/main/target/SDMODELH7V2/config.c index 54ecc6f7627..47f9da30bc5 100644 --- a/src/main/target/SDMODELH7V2/config.c +++ b/src/main/target/SDMODELH7V2/config.c @@ -30,6 +30,7 @@ void targetConfiguration(void) { pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + pinioBoxConfigMutable()->permanentId[2] = findBoxByActiveBoxId(BOXARM)->permanentId; // UART2 is connected to an onboard Bluetooth module (not user-accessible) serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_MSP; diff --git a/src/main/target/SDMODELH7V2/target.h b/src/main/target/SDMODELH7V2/target.h index b49697cd80f..fcdc0898f18 100644 --- a/src/main/target/SDMODELH7V2/target.h +++ b/src/main/target/SDMODELH7V2/target.h @@ -135,9 +135,6 @@ #define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 #define RSSI_ADC_CHANNEL ADC_CHN_3 -// BF DEFAULT_VOLTAGE_METER_SCALE=109, BF DEFAULT_CURRENT_METER_SCALE=168 -// INAV uses a different scaling formula; these values approximate the same -// physical measurement. Users should calibrate via the configurator. #define VBAT_SCALE_DEFAULT 1090 #define CURRENT_METER_SCALE 168 @@ -147,11 +144,19 @@ // *************** PINIO ***************************** #define USE_PINIO #define USE_PINIOBOX -#define PINIO1_PIN PE13 + +// VTX power +#define PINIO1_PIN PB11 #define PINIO1_FLAGS PINIO_FLAGS_INVERTED -#define PINIO2_PIN PB11 + +// Cam pin +#define PINIO2_PIN PE9 #define PINIO2_FLAGS PINIO_FLAGS_INVERTED +// Bluetooth (off on arm) +#define PINIO3_PIN PE13 +#define PINIO3_FLAGS PINIO_FLAGS_INVERTED + // *************** LED STRIP ************************* #define USE_LED_STRIP #define WS2811_PIN PD12