Add new target blueberryF435wing #11074

sunyanmeng963 · 2025-10-16T05:31:59Z

User description

Description

Add new flight controller target BLUEBERRYF435WING

Configure ICM42688 gyro, SPL06 baro, AT7456E OSD, W25N01G flash

Setup 3 UARTs, 1 I2C sensors, 2 ADC channels

Define 9 PWM outputs ,1 LED strip ,1 BEEPER

PR Type

Enhancement

Description

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

Add new flight controller target BLUEBERRYF435WING for AT32F435 MCU
Configure ICM42605/ICM42688P gyro, SPL06 baro, MAX7456 OSD support
Setup 4 UARTs (USART1, USART3, USART7), I2C2 sensors, 2 ADC channels
Define 9 PWM outputs, LED strip (WS2811), beeper, and dual flash variants

Diagram Walkthrough

flowchart LR
  Target["BLUEBERRYF435WING Target"] --> MCU["AT32F435 MCU"]
  Target --> Sensors["Sensors Config"]
  Target --> IO["I/O Configuration"]
  Sensors --> Gyro["ICM42605/MPU6500/BMI270/LSM6DXX"]
  Sensors --> Baro["BMP280/DPS310 Baro"]
  Sensors --> OSD["MAX7456 OSD"]
  IO --> UART["4x UART Ports"]
  IO --> PWM["9x PWM Outputs"]
  IO --> Storage["Flash/SD Variants"]

File Walkthrough

Relevant files

Configuration changes

target.h `Define hardware configuration and pin mappings for target` src/main/target/BLUEBERRYF435WING/target.h Define hardware pins for SPI1 (gyro), SPI2 (OSD/flash), I2C2 (baro/mag) Configure multiple IMU options: ICM42605, MPU6500, BMI270, LSM6DXX Setup 4 UART ports, 2 ADC channels, LED strip, and beeper Support both flash (W25N01G) and SD card storage variants	+197/-0
target.c `Configure timer hardware for PWM outputs and LED` src/main/target/BLUEBERRYF435WING/target.c Define 9 PWM timer outputs using TIM2, TIM3, TIM4 on various pins Configure LED strip on PA8 using TIM1_CH1 Include commented alternative motor and LED configurations	+53/-0
config.c `Configure default serial port functions and baudrates` src/main/target/BLUEBERRYF435WING/config.c Set USART7 for RX serial (CRSF receiver) Configure USART3 for GPS and USART1 for MSP at 115200 baud Include commented pinio box configuration option	+41/-0
CMakeLists.txt `Add CMake build configuration for target variants` src/main/target/BLUEBERRYF435WING/CMakeLists.txt Add build targets for standard and SD card variants	+2/-0

qodo-code-review · 2025-10-16T05:33:19Z

PR Compliance Guide 🔍

Below is a summary of compliance checks for this PR:

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided `- [ ] Create ticket/issue <!-- /create_ticket --create_ticket=true --> </details></td></tr>`
Codebase Duplication Compliance
⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
Custom Compliance
⚪	No custom compliance provided Follow the guide to enable custom compliance check.
Update

Compliance status legend

🟢 - Fully Compliant
🟡 - Partial Compliant
🔴 - Not Compliant
⚪ - Requires Further Human Verification
🏷️ - Compliance label

qodo-code-review · 2025-10-16T05:34:38Z

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
High-level	Define only one hardware component per type The target configuration incorrectly defines multiple drivers for the same hardware types (IMU, barometer, flash). To prevent driver conflicts and ensure correct operation, only one driver per hardware component should be enabled. Examples: src/main/target/BLUEBERRYF435WING/target.h [60-82] #define USE_IMU_MPU6500 #define IMU_MPU6500_ALIGN CW0_DEG #define MPU6500_SPI_BUS BUS_SPI1 #define MPU6500_CS_PIN SPI1_NSS_PIN // ICM42605/ICM42688P #define USE_IMU_ICM42605 #define IMU_ICM42605_ALIGN CW0_DEG_FLIP #define ICM42605_SPI_BUS BUS_SPI1 ... (clipped 13 lines) src/main/target/BLUEBERRYF435WING/target.h [94-95] #define USE_BARO_BMP280 #define USE_BARO_DPS310 Solution Walkthrough: Before: // src/main/target/BLUEBERRYF435WING/target.h // Multiple IMUs defined #define USE_IMU_MPU6500 #define USE_IMU_ICM42605 #define USE_IMU_BMI270 #define USE_IMU_LSM6DXX // Multiple Baros defined #define USE_BARO_BMP280 #define USE_BARO_DPS310 // Multiple Flash chips defined #if !defined(BLUEBERRYF435WING_SD) #define USE_FLASH_M25P16 #define USE_FLASH_W25N01G #endif After: // src/main/target/BLUEBERRYF435WING/target.h // Only one IMU should be defined, e.g. ICM42605 // #define USE_IMU_MPU6500 #define USE_IMU_ICM42605 // #define USE_IMU_BMI270 // #define USE_IMU_LSM6DXX // Only one Baro should be defined, e.g. DPS310 // #define USE_BARO_BMP280 #define USE_BARO_DPS310 // Only one Flash chip should be defined, e.g. W25N01G #if !defined(BLUEBERRYF435WING_SD) // #define USE_FLASH_M25P16 #define USE_FLASH_W25N01G #endif Suggestion importance[1-10]: 10 __ Why: The suggestion correctly identifies a critical flaw where multiple mutually exclusive drivers for IMUs, barometers, and flash are enabled simultaneously, which will cause hardware conflicts and prevent the firmware from working correctly.	High
Possible issue	Add checks for serial port index Add a check to ensure the index returned by `findSerialPortIndexByIdentifier` is valid before accessing the `portConfigs` array to prevent potential out-of-bounds access. src/main/target/BLUEBERRYF435WING/config.c [36-39] -serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART7)].functionMask = FUNCTION_RX_SERIAL; -serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_GPS; -serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP; -serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200; +int8_t portIndex; +portIndex = findSerialPortIndexByIdentifier(SERIAL_PORT_USART7); +if (portIndex > -1) { + serialConfigMutable()->portConfigs[portIndex].functionMask = FUNCTION_RX_SERIAL; +} + +portIndex = findSerialPortIndexByIdentifier(SERIAL_PORT_USART3); +if (portIndex > -1) { + serialConfigMutable()->portConfigs[portIndex].functionMask = FUNCTION_GPS; +} + +portIndex = findSerialPortIndexByIdentifier(SERIAL_PORT_USART1); +if (portIndex > -1) { + serialConfigMutable()->portConfigs[portIndex].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[portIndex].msp_baudrateIndex = BAUD_115200; +} + Apply / Chat Suggestion importance[1-10]: 8 __ Why: The suggestion correctly identifies a missing bounds check that could lead to an out-of-bounds write and a potential system crash, significantly improving the code's robustness.	Medium
Possible issue	Avoid defining multiple flash chips Correct the configuration to enable only one SPI flash chip driver at a time, as defining both `USE_FLASH_M25P16` and `USE_FLASH_W25N01G` can lead to conflicts. src/main/target/BLUEBERRYF435WING/target.h [129-139] #else #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT #define USE_FLASHFS - #define USE_FLASH_M25P16 - #define M25P16_SPI_BUS BUS_SPI2 - #define M25P16_CS_PIN PB5 + // Enable one of the following flash chip definitions based on the hardware + // #define USE_FLASH_M25P16 + // #define M25P16_SPI_BUS BUS_SPI2 + // #define M25P16_CS_PIN PB5 #define USE_FLASH_W25N01G #define W25N01G_SPI_BUS BUS_SPI2 #define W25N01G_CS_PIN PB5 #endif Apply / Chat Suggestion importance[1-10]: 7 __ Why: The suggestion correctly identifies that defining two flash chips (`USE_FLASH_M25P16` and `USE_FLASH_W25N01G`) can cause conflicts and proposes a fix, which improves the target's configuration clarity and prevents potential runtime issues.	Medium
Update

sensei-hacker · 2025-10-16T06:19:46Z

The suggestions from the bot can be ignored if the board has or may have all of those different components.

sunyanmeng963 · 2025-10-17T07:30:25Z

Sure, it's truly a smart robot.

sensei-hacker · 2025-10-18T02:46:41Z

sensei-hacker · 2025-10-20T02:36:45Z

It looks like someone started to define a PINIO pin, but commented it out. Is there a PINIO for the 9V BEC?

sensei-hacker · 2025-10-20T03:30:32Z

@sunyanmeng963
Please merge https://github.com/sunyanmeng963/inav/pull/1/files which cleans up commented-out code, whitespace, etc.

blueberryF435wing initial cleanup

sunyanmeng963 · 2025-10-20T06:31:16Z

Thank you for your review. I have incorporated your suggestions. @sensei-hacker

sunyanmeng963 · 2025-10-20T11:24:55Z

PINIO
9VBEC is not controlled by the MCU. Which pin do you mean by "PINO"? ADC3？In fact, it was originally there. Later, I changed it to PWM.

sensei-hacker · 2025-10-20T17:16:56Z

"PINIO" (pin IO) is what's used when a BEC is controlled by the user. If that's not used here, that's fine. We think we're all set

Add new target buleberryF435wing

0d91b09

qodo-code-review bot added the Review effort 3/5 label Oct 16, 2025

sensei-hacker self-assigned this Oct 20, 2025

sensei-hacker added New target This PR adds a new target Ready to merge labels Oct 20, 2025

sensei-hacker modified the milestones: 9.0, 8.1 Oct 20, 2025

blueberryF435wing initial fixes

110b069

sensei-hacker removed the Ready to merge label Oct 20, 2025

Merge pull request #1 from sensei-hacker/blueberryF435wing

796440e

blueberryF435wing initial cleanup

sensei-hacker changed the title ~~Add new target buleberryF435wing~~ Add new target blueberryF435wing Oct 20, 2025

sensei-hacker merged commit 4d6054a into iNavFlight:master Oct 20, 2025
21 checks passed

MrD-RC modified the milestones: 8.1, 9.0 Oct 26, 2025

Add new target blueberryF435wing #11074

Add new target blueberryF435wing #11074

Uh oh!

Conversation

sunyanmeng963 commented Oct 16, 2025 • edited by qodo-code-review bot Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

User description

PR Type

Description

Diagram Walkthrough

File Walkthrough

Uh oh!

qodo-code-review bot commented Oct 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

PR Compliance Guide 🔍

Uh oh!

qodo-code-review bot commented Oct 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

PR Code Suggestions ✨

Examples:

Solution Walkthrough:

Before:

After:

Uh oh!

sensei-hacker commented Oct 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

sunyanmeng963 commented Oct 17, 2025

Uh oh!

sensei-hacker commented Oct 18, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

sensei-hacker commented Oct 20, 2025

Uh oh!

sensei-hacker commented Oct 20, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

sunyanmeng963 commented Oct 20, 2025

Uh oh!

sunyanmeng963 commented Oct 20, 2025

Uh oh!

sensei-hacker commented Oct 20, 2025

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

sunyanmeng963 commented Oct 16, 2025 •

edited by qodo-code-review bot

Loading

qodo-code-review bot commented Oct 16, 2025 •

edited

Loading

qodo-code-review bot commented Oct 16, 2025 •

edited

Loading

sensei-hacker commented Oct 16, 2025 •

edited

Loading

sensei-hacker commented Oct 18, 2025 •

edited

Loading

sensei-hacker commented Oct 20, 2025 •

edited

Loading