add HAKRCH743 target

[HAKRC8899]

User description

User description

Added support for the HAKRCH743 flight control board.

Board hardware verification

Item	Value
Board name	HAKRCH743
Target ID	HK743
MCU	STM32H743
Base board	Custom design
Max PWM outputs	12
LED Strip	PA8 (TIM1_CH1)
Status LEDs	PE3, PE4
Beeper	PE9 (active low)
VBAT ADC	PC0
Current ADC	PC1
RSSI ADC	PC5
UART count	8 + VCP

Folder Structure

src/main/target/HAKRCH743/
 ├── CMakeLists.txt
 ├── target.c
 └── target.h

Hardware Verification

• Dual ICM42688 IMUs
• **OSD is not working properly ！！****（Betaflight can work properly！！）
• SD card blackbox via SDIO (4-bit)
• 12 motor outputs configured (PWM/DSHOT)
• All 8 UARTs + VCP mapped and available
• I2C peripherals (baro/mag) on separate buses
• ADC inputs (VBAT/Current) operational
• LED strip and beeper functional

Notes

• Dual gyro configuration with IMU0 at 0° and IMU1 at 270° alignment
• SBUS configured on UART7 by default
• PinIO functionality available on PD10 and PD11
• Blackbox logging to SD card enabled by default
• Uses separate SPI buses for IMUs and OSD for optimal performance

Description

• Adds support for HAKRCH743 STM32H743 flight controller board
• Implements dual ICM42688 IMU configuration with independent SPI buses
• Defines 12 PWM/DSHOT motor outputs with full timer utilization
• Configures comprehensive I/O including 8 UARTs, I2C, SPI, ADC, and SDIO
• Enables advanced features: OSD, blackbox, telemetry, LED strip, and PinIO

Problem Description

I have checked both the hardware and software parts and found no issues, but the OSD still does not work properly. Therefore, I would like to create this new task to seek help from the development team. I can provide all relevant materials, including test samples.

Before this, I created the related issue: Building the new HAKRCH743 target, OSD cannot function properly · Issue #11135 · iNavFlight/inav

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PR Type

Enhancement

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Description

• Adds support for HAKRCH743 STM32H743 flight controller board

• Configures dual ICM42688 IMU sensors on separate SPI buses

• Defines 12 PWM/DSHOT motor outputs with timer configuration

• Implements comprehensive I/O: 8 UARTs, dual I2C, SPI, ADC, SDIO

• Enables OSD, blackbox logging, LED strip, and PinIO features

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Diagram Walkthrough

flowchart LR
  A["HAKRCH743<br/>STM32H743"] --> B["Dual IMU<br/>ICM42688"]
  A --> C["12 PWM<br/>Outputs"]
  A --> D["8 UARTs<br/>+ VCP"]
  A --> E["OSD<br/>MAX7456"]
  A --> F["Blackbox<br/>SDIO"]
  A --> G["Sensors<br/>Baro/Mag"]

Loading

File Walkthrough

Relevant files

Configuration changes

target.h Complete hardware configuration and pin definitions            src/main/target/HAKRCH743/target.h Defines board identifier HK743 and USB product string Configures three SPI buses (SPI1, SPI3, SPI4) with respective pins Sets up dual I2C buses for barometer and magnetometer Defines dual ICM42688 IMU configuration with CW0 and CW270 alignments Configures MAX7456 OSD on SPI3 bus Maps all 8 UART ports plus VCP with pin assignments Configures ADC channels for VBAT, current, and RSSI measurements Enables LED strip, SDIO blackbox, and PinIO functionality Sets default features including OSD, telemetry, and blackbox logging +178/-0  target.c Timer hardware and IMU bus device registration                      src/main/target/HAKRCH743/target.c Registers ICM42688 IMU on SPI1 bus with CS pin PC15 Defines 12 timer hardware entries for motor PWM outputs Configures TIM5 for outputs S1-S4 on PA0-PA3 Configures TIM4 for outputs S5-S8 on PD12-PD15 Configures TIM15 for outputs S9-S10 on PE5-PE6 Configures TIM3 for outputs S11-S12 on PB0-PB1 Assigns TIM1 CH1 for LED strip on PA8 Assigns TIM1 CH1 for beeper on PE9 +51/-0    config.c Target-specific configuration initialization                          src/main/target/HAKRCH743/config.c Implements targetConfiguration() function for board-specific setup Configures PinIO box permanent IDs for USER1 and USER2 functions +28/-0    CMakeLists.txt Build system configuration                                                              src/main/target/HAKRCH743/CMakeLists.txt Adds CMake build configuration for HAKRCH743 target Specifies STM32H743XI MCU variant +1/-0

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[github-actions]

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

• maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.

• maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

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This is an automated suggestion to help route contributions to the appropriate branch.

[qodo-code-review]

PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

[qodo-code-review]

High-level Suggestion

The PR adds a new hardware target with a known critical bug (broken OSD). It is suggested to close the PR and not merge it until the issue is fixed in a separate fork. [High-level, importance: 10]

Solution Walkthrough:

Before:

// src/main/target/HAKRCH743/target.h
// The PR adds configuration for a new hardware target,
// including enabling the OSD feature.

/*** OSD ***/
#define USE_MAX7456
#define MAX7456_SPI_BUS         BUS_SPI3
#define MAX7456_CS_PIN          PE2

...

#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | ...)

// However, the PR author explicitly states in the description:
// "OSD is not working properly !!"

After:

// No code is merged into the main branch.

// The PR is closed, as it introduces a non-functional hardware target.
// Development on the HAKRCH743 target should continue in a separate fork.
// The PR should only be re-submitted once all critical features,
// including the OSD, are fully functional and verified.

[qodo-code-review]

✅ Suggestion: Change the beeper's timer from TIM1, CH1 to TIM1, CH2 to resolve a resource conflict with the LED strip, which uses the same timer channel. [possible issue, importance: 9]

Suggested change

	DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
	DEF_TIM(TIM1, CH1, PE9, TIM_USE_BEEPER, 0, 0), // BEEPER
	DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
	DEF_TIM(TIM1, CH2, PE9, TIM_USE_BEEPER, 0, 0), // BEEPER

[HAKRC8899]

Thank you for the automated reply from the robot. Based on the feedback you provided, I have further optimized target.c and conducted testing. All functions work normally except for OSD. Therefore, I hope someone from the development team can help check whether there is any problem with my hardware design.

[sensei-hacker]

The bot's suggestion "Correct the duplicated motor output indices" is incorrect and should be ignored.

For the OSD, are you using a MAX7456 chip, or a simulation?

[HAKRC8899]

The bot's suggestion "Correct the duplicated motor output indices" is incorrect and should be ignored.

For the OSD, are you using a MAX7456 chip, or a simulation?

Thank you for your reply. We are using the MAX7456 chip mounted on the flight controller.

[sensei-hacker]

Okay, we can poke around with the OSD using the test sample board. Have you already sent one to a developer?

That may sound like a silly question if this FC happens to be the one in the box on my workbench right now. :)

[HAKRC8899]

Okay, we can poke around with the OSD using the test sample board. Have you already sent one to a developer?

That may sound like a silly question if this FC happens to be the one in the box on my workbench right now. :)

No, I haven't sent the test sample to the development team yet. I emailed this coredev@inavflight.com address, and once I get the mailing address, I will send the test sample as soon as possible.

[sensei-hacker]

No, I haven't sent the test sample to the development team yet. I emailed this coredev@inavflight.com address, and once I get the mailing address, I will send the test sample as soon as possible.

Can you ping me or another developer on the Discord, please?

[HAKRC8899]

No, I haven't sent the test sample to the development team yet. I emailed this coredev@inavflight.com address, and once I get the mailing address, I will send the test sample as soon as possible.

Can you ping me or another developer on the Discord, please?

No problem, I sent you a message on Discord.