Brother h743

[sensei-hacker]

User description

Support for Brother Hobby H743, being handled as per the new hardware policy.

• Samples received
• Flash firmware
• Calibrate
• Orientation matches
• Gyro working
• Accel working
• Baro working
• Voltage correct
• Current correct
• Mag I2C Bus
• Additional I2C2 Buses (Airspeed/other accessories)
• UART1
• UART2
• UART3
• UART4
• UART6
• UART7
• UART8
• Analog Camera working
• Video Out working
• OSD working
• LEDs working
• Buzzer working
• Motor outputs
• DShot support on m1-4
• Servo outputs
• Blackbox
• PINIO1
• PINIO2

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PR Type

Other

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Description

This description is generated by an AI tool. It may have inaccuracies

• Add support for Brother Hobby H743 flight controller

• Configure dual ICM42605 IMU sensors on SPI buses

• Setup 8 UART ports and I2C peripherals

• Enable OSD, blackbox, and LED strip features

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Diagram Walkthrough

flowchart LR
  A["New Target"] --> B["Hardware Config"]
  B --> C["Dual IMU Setup"]
  B --> D["UART/I2C Config"]
  B --> E["OSD/Blackbox"]
  C --> F["ICM42605 SPI1/SPI4"]
  D --> G["8 Serial Ports"]
  E --> H["MAX7456 OSD"]

Loading

File Walkthrough

Relevant files

New target

target.h Complete hardware configuration for H743 target                    src/main/target/BROTHERHOBBYH743/target.h Define hardware pins and peripherals for H743 board Configure dual ICM42605 IMU sensors on SPI1/SPI4 Setup 8 UART ports, I2C buses, ADC channels Enable OSD, blackbox, LED strip, and PINIO features +187/-0  target.c Hardware device registration and timer setup                          src/main/target/BROTHERHOBBYH743/target.c Register dual ICM42605 IMU devices on SPI buses Define timer hardware for 12 motor/servo outputs Configure LED strip and beeper PWM timers +53/-0    config.c Target-specific configuration settings                                      src/main/target/BROTHERHOBBYH743/config.c Configure PINIO box permanent IDs for user controls Enable PWM mode for beeper configuration +32/-0    CMakeLists.txt CMake build configuration                                                                src/main/target/BROTHERHOBBYH743/CMakeLists.txt Add CMake build target for STM32H743XI processor +1/-0

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[sensei-hacker]

After correcting the i2c bus for the pitot and temperature sensors, the remaining issue is the camera inputs.
I see no video, only OSD over a black background, for both C1 and C2. I tested with USER1 and USER2 on and off.
I tested with two different cameras.

[sensei-hacker]

Camera now working

[sensei-hacker]

/analyze

[qodo-code-review]

The analyze command only supports the following languages: python, py, javascript, js, jsx, typescript, ts, tsx, kotlin, kt, kts, go, java, cpp, c++, cs, c#, csharp

[qodo-code-review]

PR Reviewer Guide 🔍

Here are some key observations to aid the review process:

⏱️ Estimated effort to review: 3 🔵🔵🔵⚪⚪

⚡ Recommended focus areas for review Duplicate Macro USE_IMU_ICM42605 is defined twice for dual IMU; confirm the build system or headers tolerate repeated defines or guard with conditional checks to avoid redefinition conflicts across compilers. #define USE_IMU_ICM42605 #define IMU_ICM42605_ALIGN CW90_DEG #define ICM42605_SPI_BUS BUS_SPI1 #define ICM42605_CS_PIN PC15 // *************** SPI4 IMU1 ICM42605 ************** #define USE_SPI_DEVICE_4 #define SPI4_SCK_PIN PE12 #define SPI4_MISO_PIN PE13 #define SPI4_MOSI_PIN PE14 #define USE_IMU_ICM42605 Timer DMA Indexing Timer hardware entries use mixed DMA indices including zeros and comments indicating DMA_NONE; verify the DMA indices and flags match actual DMA availability to avoid LED/beeper/pwm glitches or resource conflicts. 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 }; Config Defaults Sets PINIO permanent IDs and enables beeper PWM by default; ensure these defaults align with user expectations and don’t conflict with existing box IDs or board beeper polarity/inversion. void targetConfiguration(void) { pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; beeperConfigMutable()->pwmMode = true;

[qodo-code-review]

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
High-level	Add IMU data-ready interrupts Both ICM42605 registrations use NONE for the EXTI/data-ready line, which forces polled sampling and can cause timing jitter, aliasing, and desynchronization between the dual IMUs on H7. Expose and define the DRDY pins for each IMU in target.h and pass the corresponding EXTI tags to BUSDEV_REGISTER_SPI_TAG so the driver can run interrupt-driven sampling. This will materially improve gyro timing, filter behavior, and overall stability, especially with dual sensors. Examples: src/main/target/BROTHERHOBBYH743/target.c [29-30] BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); BUSDEV_REGISTER_SPI_TAG(busdev_icm42605_2, DEVHW_ICM42605, ICM42605_SPI_BUS_2, ICM42605_CS_PIN_2, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN_2); Solution Walkthrough: Before: // src/main/target/BROTHERHOBBYH743/target.h // ... // No data-ready interrupt pins are defined for the IMUs. // src/main/target/BROTHERHOBBYH743/target.c // ... // IMUs are registered without an interrupt pin, forcing polled mode. BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, ..., ICM42605_CS_PIN, NONE, ...); BUSDEV_REGISTER_SPI_TAG(busdev_icm42605_2, ..., ICM42605_CS_PIN_2, NONE, ...); // ... After: // src/main/target/BROTHERHOBBYH743/target.h // ... // Define data-ready interrupt pins for both IMUs. #define ICM42605_INT_PIN PC13 // Example pin #define ICM42605_INT_PIN_2 PE10 // Example pin // src/main/target/BROTHERHOBBYH743/target.c // ... // Register IMUs with interrupt pins to enable interrupt-driven sampling. BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, ..., ICM42605_CS_PIN, ICM42605_INT_PIN, ...); BUSDEV_REGISTER_SPI_TAG(busdev_icm42605_2, ..., ICM42605_CS_PIN_2, ICM42605_INT_PIN_2, ...); // ... Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies a critical performance issue in the IMU configuration, where polling is used instead of interrupts, and proposes a correct fix that will significantly improve flight stability.	High
Possible issue	Fix DMA channel conflicts The DMA channel assignments for S9 and S10 are both set to 0, which may cause conflicts. Each timer output should have a unique DMA channel assignment to prevent resource conflicts during PWM operations. src/main/target/BROTHERHOBBYH743/target.c [43-44] -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(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 8), // S9 +DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 9), // S10 DMA_NONE Apply / Chat Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies that multiple timer outputs (S1, S9, S10, S11, S12, and BEEPER) are assigned to DMA channel index 0, which can cause resource conflicts and lead to incorrect PWM operation. This is a critical bug for a flight controller.	High
	Resolve DMA channel duplication Both S11 and S12 timer outputs have DMA channel 0 assigned, which creates a resource conflict. Assign unique DMA channels to prevent timer interference and ensure proper PWM functionality. src/main/target/BROTHERHOBBYH743/target.c [46-47] -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(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 10), // S11 +DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 11), // S12 DMA_NONE Apply / Chat Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies that multiple timer outputs (S1, S9, S10, S11, S12, and BEEPER) are assigned to DMA channel index 0, which can cause resource conflicts and lead to incorrect PWM operation. This is a critical bug for a flight controller.	High
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