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Add HGLRC_H743_PRO board #944

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@HGLRC-T HGLRC-T commented Nov 3, 2025 •
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Checklist (✓/✕, or y/n)

  • passed Betaflight team's schematics review
  • passed hardware samples testing
  • follows guidelines
  • follows connector standards
  • flight tested
  • comments/issues resolved

Summary by CodeRabbit

  • New Features
    • Added support for the HGLRC_H743_PRO flight controller (STM32H743).
    • Enables accelerometer, gyro, barometer, OSD, onboard flash Blackbox logging, and selectable gyro source.
    • Provides up to 8 motor outputs, multiple UART/I2C/SPI interfaces, LEDs, servos, beeper (inverted option), and ADC-based voltage/current sensing.
    • Includes predefined pin/timer mappings, DMA options, default meter scaling, and user-configurable IO box labels.

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coderabbitai bot commented Nov 3, 2025 •
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Walkthrough

Adds a new board configuration header configs/HGLRC_H743_PRO/config.h defining MCU, board/manufacturer IDs, enabled peripherals, pin mappings, timer/DMA settings, ADC/IO assignments, default devices/meters, PINIO/box configs, and related macros for HGLRC_H743_PRO (STM32H743).

Changes

Cohort / File(s) Summary
New HGLRC H743 PRO Board Configuration
configs/HGLRC_H743_PRO/config.h		 New public board config: sets FC_TARGET_MCU, BOARD_NAME, MANUFACTURER_ID; enables sensors/peripherals (ACC, GYRO, BARO, MAX7456, FLASH); defines SPI/I2C/UART pins & instances, CS/EXTI/CLKIN pins; motor/servo/LED/beeper pins; ADC VBAT/CURRENT pins; TIMER_PIN_MAPPING; DMA options; I2C baro/mag instances; default blackbox/current/voltage meter settings and scales; PINIO/box/user mappings; BEEPER_INVERTED and default gyro selection.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

  • Verify pin mappings against board schematic/PCB.
  • Confirm SPI/I2C/UART instance and CS/EXTI/CLKIN assignments.
  • Validate TIMER_PIN_MAPPING and DMA option indices for STM32H743 timers/DMA.
  • Check default meter scales and PINIO/box IDs.

Possibly related PRs

Suggested labels

Awaiting prototype samples

Suggested reviewers

  • ot0tot
  • nerdCopter

Pre-merge checks and finishing touches

❌ Failed checks (1 warning)
Check name Status Explanation Resolution
Description check ⚠️ Warning The PR description only contains an empty checklist with no items checked and omits all mandatory informational sections required by the template. Replace the description with detailed information about the board, its hardware features, compliance verification, and check off completed items from the checklist.
✅ Passed checks (2 passed)
Check name Status Explanation
Title check ✅ Passed The title 'Add HGLRC_H743_PRO board' is clear, concise, and directly describes the main change—adding support for a new flight controller board.
Docstring Coverage ✅ Passed No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
✨ Finishing touches
  • 📝 Generate docstrings
🧪 Generate unit tests (beta)
  • Create PR with unit tests
  • Post copyable unit tests in a comment
📜 Recent review details

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between c359d84 and 1bcd1da.

📒 Files selected for processing (1)
  • configs/HGLRC_H743_PRO/config.h (1 hunks)
🧰 Additional context used
🧠 Learnings (21)
📓 Common learnings 
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the BOARD_NAME define in each config.h matches the directory name it resides in (e.g., configs/AXISFLYINGF7AIO/config.h must have #define BOARD_NAME AXISFLYINGF7AIO). This check is required for all Betaflight board configuration reviews.

Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the `BOARD_NAME` define in config.h files exactly matches the directory name where the config file is located. For example, if the config file is in configs/AXISFLYINGF7AIO/config.h, then the BOARD_NAME should be defined as "AXISFLYINGF7AIO". This ensures proper board identification and configuration loading in Betaflight.

Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:44-56
Timestamp: 2025-07-14T16:16:56.822Z
Learning: For Betaflight board configurations of boards already in production, pin assignments in config.h files reflect the actual hardware design and cannot be changed, even if they present potential conflicts with debug interfaces. The configuration must match the physical board layout, not ideal software design preferences.

Learnt from: haslinghuis
Repo: betaflight/config PR: 879
File: configs/AIRBOTSUPERF4V2/config.h:42-45
Timestamp: 2025-08-22T17:08:23.283Z
Learning: In Betaflight board configurations, OSD feature flags like USE_OSD_SD (analog/MAX7456) and USE_OSD_HD (digital/MSP DisplayPort) are typically defined at build time by the build system, not in the individual board config.h files. Board configs can conditionally define OSD-related settings based on these build-time flags.

Learnt from: haslinghuis
Repo: betaflight/config PR: 888
File: configs/ZEX_ATHENA_MINI/config.h:0-0
Timestamp: 2025-08-28T20:45:36.652Z
Learning: In STM32H743 Betaflight configurations, PA15 maps to TIM2_CH1 (timer index 2) as defined in timer_stm32h7xx.c. When used for GYRO_CLKIN functionality, it's recommended to use the macro name GYRO_1_CLKIN_PIN in TIMER_PIN_MAPPING for consistency with other pin definitions.

Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition.

Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition to specify the number of available gyros.

Learnt from: haslinghuis
Repo: betaflight/config PR: 814
File: configs/JHEF405PRO/config.h:109-109
Timestamp: 2025-06-08T22:02:28.961Z
Learning: The JHEF405PRO board does not actually use dual gyros despite having GYRO_2_SPI_INSTANCE defined in its configuration. It should not receive GYRO_COUNT or other dual-gyro related definitions since only the first gyro is supported.

Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T15:17:30.040Z
Learning: In Betaflight configurations, when a target name suggests dual IMUs (like JHEF7DUAL) but specific hardware variants only have one gyro available, the preferred solution is to use DEFAULT_GYRO_TO_USE macro to specify which gyro to use by default rather than pruning gyro defines or creating redundant configurations. This approach maintains compatibility when the same target is used by multiple hardware variants from the same manufacturer.

Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 PB0 in Betaflight, there are three timer options: TIM1_CH2N, TIM3_CH3, and TIM8_CH2N. Only TIM3_CH3 (timer index 2) is suitable for GYRO_CLKIN as the other two are complementary (N) channels. This is confirmed in timer_stm32h7xx.c.
📚 Learning: 2025-07-14T16:16:56.822Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:44-56
Timestamp: 2025-07-14T16:16:56.822Z
Learning: For Betaflight board configurations of boards already in production, pin assignments in config.h files reflect the actual hardware design and cannot be changed, even if they present potential conflicts with debug interfaces. The configuration must match the physical board layout, not ideal software design preferences.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-03T04:33:57.480Z 
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the BOARD_NAME define in each config.h matches the directory name it resides in (e.g., configs/AXISFLYINGF7AIO/config.h must have #define BOARD_NAME AXISFLYINGF7AIO). This check is required for all Betaflight board configuration reviews.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-03T04:33:57.480Z 
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the `BOARD_NAME` define in config.h files exactly matches the directory name where the config file is located. For example, if the config file is in configs/AXISFLYINGF7AIO/config.h, then the BOARD_NAME should be defined as "AXISFLYINGF7AIO". This ensures proper board identification and configuration loading in Betaflight.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-06-23T18:43:31.746Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 822
File: configs/AXISFLYINGH7MINI/config.h:29-37
Timestamp: 2025-06-23T18:43:31.746Z
Learning: In Betaflight configuration files, feature enablement macros like USE_MAG are build options that can be controlled at compile time, while hardware instance definitions like MAG_I2C_INSTANCE are predefined in board configurations to assist with hardware mapping when those features are enabled at build time.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-03T15:17:30.040Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T15:17:30.040Z
Learning: In Betaflight configurations, when a target name suggests dual IMUs (like JHEF7DUAL) but specific hardware variants only have one gyro available, the preferred solution is to use DEFAULT_GYRO_TO_USE macro to specify which gyro to use by default rather than pruning gyro defines or creating redundant configurations. This approach maintains compatibility when the same target is used by multiple hardware variants from the same manufacturer.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-22T17:08:23.283Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 879
File: configs/AIRBOTSUPERF4V2/config.h:42-45
Timestamp: 2025-08-22T17:08:23.283Z
Learning: In Betaflight board configurations, OSD feature flags like USE_OSD_SD (analog/MAX7456) and USE_OSD_HD (digital/MSP DisplayPort) are typically defined at build time by the build system, not in the individual board config.h files. Board configs can conditionally define OSD-related settings based on these build-time flags.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-28T20:45:36.652Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 888
File: configs/ZEX_ATHENA_MINI/config.h:0-0
Timestamp: 2025-08-28T20:45:36.652Z
Learning: In STM32H743 Betaflight configurations, PA15 maps to TIM2_CH1 (timer index 2) as defined in timer_stm32h7xx.c. When used for GYRO_CLKIN functionality, it's recommended to use the macro name GYRO_1_CLKIN_PIN in TIMER_PIN_MAPPING for consistency with other pin definitions.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-23T13:43:50.456Z 
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-23T13:43:50.456Z
Learning: For Betaflight board configuration reviews, always verify that serial port defines (like ESC_SENSOR_UART, MSP_UART, GPS_UART, etc.) use valid SERIAL_PORT identifiers that match those defined in the Betaflight codebase at src/main/io/serial.h. Common valid identifiers include SERIAL_PORT_USART1, SERIAL_PORT_USART2, SERIAL_PORT_USART3, SERIAL_PORT_UART4, SERIAL_PORT_UART5, etc. Invalid identifiers like SERIAL_PORT_UART3 (should be SERIAL_PORT_USART3) will cause build failures.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-28T16:44:59.686Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 656
File: configs/IFLIGHT_F745_AIO/config.h:31-35
Timestamp: 2025-07-28T16:44:59.686Z
Learning: In Betaflight board configurations, when a board design uses the same physical gyro socket but different sensor variants across production batches (e.g., MPU6000 in older batches, ICM42688P in newer batches), the correct approach is to enable both sensor drivers (USE_GYRO_SPI_MPU6000 and USE_GYRO_SPI_ICM42688P) in the same configuration. This allows runtime auto-detection of which sensor is actually present without requiring separate board configurations for each hardware variant.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-09-26T16:32:46.694Z 
Learnt from: osirisinferi
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-09-26T16:32:46.694Z
Learning: When reviewing hardware configuration files like Betaflight configs, always check for pin assignment conflicts by verifying that no physical pins (like PB10, PB11, etc.) are assigned to multiple peripheral functions simultaneously.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-06-02T16:16:20.197Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-06-02T16:16:20.197Z
Learning: In STM32F405-based flight controller configurations, timer pin mappings must be carefully analyzed for DMA stream conflicts, especially between motor timers, LED strip timers, and SPI DMA assignments. Changes to TIMER_PIN_MAPPING should include verification that all required peripherals (motors, LED strip, blackbox SPI) can coexist without DMA conflicts.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-07-14T15:41:14.364Z 
Learnt from: ot0tot
Repo: betaflight/config PR: 834
File: configs/RADIOLINKF405/config.h:79-88
Timestamp: 2025-07-14T15:41:14.364Z
Learning: In STM32F405 configurations, PB1 typically maps to TIM3_CH4 and PC9 typically maps to TIM8_CH4. These are different timers and do not share DMA resources, so there is no conflict when both pins are used simultaneously (e.g., PB1 for LED_STRIP and PC9 for MOTOR4).

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-28T20:45:36.652Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 888
File: configs/ZEX_ATHENA_MINI/config.h:0-0
Timestamp: 2025-08-28T20:45:36.652Z
Learning: In STM32H743 Betaflight configurations, PB0 can use multiple timer options including TIM1_CH2N, TIM3_CH3, and TIM8_CH2N as defined in timer_stm32h7xx.c. For CAMERA_CONTROL_PIN assignments, TIM3_CH3 (timer index 3) is the appropriate choice.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-09-01T19:58:52.049Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 in Betaflight, PB0 has multiple timer options but only timer index 2 provides a non-complementary output suitable for GYRO_CLKIN functionality. The other timer options for PB0 are N channels (complementary outputs) which are not appropriate for CLKIN usage.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-09-01T19:58:52.049Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 PB0 in Betaflight, there are three timer options: TIM1_CH2N, TIM3_CH3, and TIM8_CH2N. Only TIM3_CH3 (timer index 2) is suitable for GYRO_CLKIN as the other two are complementary (N) channels. This is confirmed in timer_stm32h7xx.c.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-06-02T16:16:20.197Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-06-02T16:16:20.197Z
Learning: For Betaflight configurations, blackbox logging via SPI3 and LED_STRIP functionality can be mutually exclusive due to DMA stream conflicts on STM32F4 targets. This hardware limitation should be identified during timer configuration reviews.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-05-31T17:01:39.423Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 798
File: configs/FURYF4OSD/config.h:88-88
Timestamp: 2025-05-31T17:01:39.423Z
Learning: For STM32F4xx platforms, PB1 pin timer definitions are:
1 = DEF_TIM(TIM1, CH3N, PB1, 0, 0)
2 = DEF_TIM(TIM3, CH4, PB1, 0, 0) 
3 = DEF_TIM(TIM8, CH3N, PB1, 0, 0)
Timer instance 2 (TIM3, CH4) is the correct mapping for PB1 motor control on STM32F4xx platforms as defined in src/platform/STM32/timer_stm32f4xx.c

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-21T11:11:19.213Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 870
File: configs/ZEX_ATHENA_STD_PRO/config.h:54-55
Timestamp: 2025-08-21T11:11:19.213Z
Learning: For STM32H743 in Betaflight, UART4 can use PB8 (UART4_RX) and PB9 (UART4_TX) with GPIO_AF8_UART4, as confirmed in the official Betaflight codebase at src/platform/STM32/serial_uart_stm32h7xx.c. This is a valid pin mapping despite what some generic STM32 documentation might suggest.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-21T11:11:19.213Z 
Learnt from: haslinghuis
Repo: betaflight/config PR: 870
File: configs/ZEX_ATHENA_STD_PRO/config.h:54-55
Timestamp: 2025-08-21T11:11:19.213Z
Learning: For STM32H743 in Betaflight, UART4 can use PB8 (UART4_RX) and PB9 (UART4_TX) as confirmed in the official Betaflight codebase at src/platform/STM32/serial_uart_stm32h7xx.c. This contradicts some generic STM32 documentation that might not show all supported pin configurations used by Betaflight.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
📚 Learning: 2025-08-20T02:54:58.596Z 
Learnt from: ot0tot
Repo: betaflight/config PR: 872
File: configs/HGLRCH743/config.h:82-83
Timestamp: 2025-08-20T02:54:58.596Z
Learning: For Betaflight board configuration reviews, the definitive source for validating UART pin assignments is the serial_uart_{platform}.c file in the Betaflight codebase (e.g., serial_uart_stm32h7xx.c for STM32H7xx platforms), not generic MCU datasheets. These files contain the exact pin mappings that Betaflight supports for each UART peripheral.

Applied to files:

  • configs/HGLRC_H743_PRO/config.h
🔇 Additional comments (6)
configs/HGLRC_H743_PRO/config.h (6)

24-27: LGTM - Board identification is correct.

The BOARD_NAME correctly matches the directory name as required. Based on learnings.

29-39: LGTM - Feature configuration supports hardware variants.

The dual gyro/accelerometer driver support (MPU6000 and ICM42688P) enables runtime detection for different hardware variants, which is the correct approach for boards that may use different sensors across production batches.

111-114: LGTM - Motor DMA configuration correctly addresses hardware limitations.

Motors 7 and 8 are correctly configured with DMA -1, which is appropriate since PD14 and PD15 have limited or no DMA support. STM32H7 supports bitbang motor control by default, so this configuration will work correctly for hexacopters and octocopters.

1-144: Well-structured board configuration.

The overall configuration is comprehensive and includes all necessary definitions for peripherals, pins, timers, and features. The structure follows Betaflight conventions and includes appropriate DMA optimization settings, PINIO controls, and metering configuration.

84-85: Manual verification required for UART4 pin assignment.

The UART4 configuration uses PD1 (TX) and PA1 (RX). While these pins appear in multiple Betaflight STM32H743 board configurations (including HGLRC_H743_LITE and others), the definitive validation source (serial_uart_stm32h7xx.c) could not be located in the codebase search. Verify this pin combination is supported for UART4 on STM32H743 before merging.

47-48: Verify PC6 timer index for GYRO_CLKIN functionality.

PC6 on the STM32H743 can be used as a timer channel for TIM3_CH1 or TIM8_CH1. Your configuration assigns PC6 with timer index 1. While AEROH7DIGITAL documents this as TIM3_CH1 (a suitable channel for GYRO_CLKIN), other H743 boards (SPRACINGH7EVO, SPRACINGH7EXTREME) use index 2 for the same pin. Confirm that timer index 1 is the intended mapping for your board variant, or verify against the target board's timer definitions if available.

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haslinghuis
haslinghuis requested changes Nov 3, 2025
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HGLRC-T and others added 2 commits November 5, 2025 20:09
haslinghuis
haslinghuis reviewed Nov 5, 2025
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@haslinghuis haslinghuis requested a review from ot0tot November 5, 2025 18:41
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@haslinghuis haslinghuis haslinghuis requested changes

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