Add HGLRCF435AIO config.h #952

ot0tot · 2025-11-07T14:30:39Z

Checklist (✓/✕, or y/n)

Summary by CodeRabbit

New Features
- Added support for the HGLRC F435 AIO flight controller.
- Enables onboard gyro/accelerometer, barometer options, and flash-based Blackbox logging.
- Preconfigured motor outputs, UARTs, and I2C/SPI peripherals for plug-and-play setup.
- LED strip and beeper supported out of the box.
- ADC-based voltage and current sensing enabled by default.
- DShot output enabled by default for ESCs.
- Gyro clock-in supported for improved performance.

coderabbitai · 2025-11-07T14:30:58Z

Walkthrough

A new hardware configuration header for the HGLRCF435AIO flight controller is added, defining the AT32F435G MCU, board identity (manufacturer: HGLR), peripheral enablement (ICM42688P gyro/accelerometer, M25P16 flash, BMP280/DPS310 barometers), comprehensive pin mappings for motors and communication interfaces, timer-to-pin assignments, and default device presets (Flash blackbox, DSHOT, ADC metering).

Changes

Cohort / File(s)	Change Summary
HGLRCF435AIO Hardware Configuration `configs/HGLRCF435AIO/config.h`	New board configuration file with 60+ macro definitions including MCU target (AT32F435G), peripheral enablement (ACC/GYRO via ICM42688P, flash via M25P16, barometer via BMP280/DPS310), pin mappings for motors (PB6–PB9), UARTs (1–4), I2C, SPI instances (1–3), ADCs (VBAT, CURR), LEDs, beeper, and LED strip. Includes TIMER_PIN_MAPPING macro assigning motors, LED strip, and gyro clock to timer channels, and default device configurations (BLACKBOX_DEVICE_FLASH, DSHOT_BITBANG_ON, ADC metering).

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~12 minutes

Verify pin assignment correctness against hardware schematic (motors, UARTs, SPI, I2C, ADC)
Confirm peripheral instance assignments and SPI/I2C device mappings
Validate TIMER_PIN_MAPPING macro for motor and LED strip channel assignments
Check compatibility of dual barometer configuration (BMP280 + DPS310)

Possibly related PRs

PRs #849, #913, #841: Also add AT32F435G board configurations with ICM42688P sensors and overlapping peripheral/pin macro definitions
PR #884: Adds HGLRC F435 AIO series configuration with identical MCU, sensors, and pin mappings
PR #872: Adds multiple HGLRC board headers with shared macro patterns (USE_ACC/USE_GYRO, SPI/UART/I2C mappings, TIMER_PIN_MAPPING)

Suggested labels

Schematics approved, Uses BF connector standard, Awaiting prototype samples

Suggested reviewers

haslinghuis
nerdCopter

Pre-merge checks and finishing touches

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Description check	⚠️ Warning	The description contains only a partial checklist with minimal content, omitting required sections such as hardware compliance details, design guidelines adherence, and rationale for the new flight controller configuration.	Expand the description to include hardware compliance details, explanation of the HGLRCF435AIO design, how it adheres to guidelines, schematics review status, and addressing incomplete checklist items (hardware testing, flight testing, comments resolution).

✅ Passed checks (2 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title 'Add HGLRCF435AIO config.h' is concise, clear, and directly describes the main change: adding a new hardware configuration file for the HGLRCF435AIO flight controller.
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 38e51b0 and 9b3021d.

📒 Files selected for processing (1)

configs/HGLRCF435AIO/config.h (1 hunks)

🧰 Additional context used

🧠 Learnings (15)

📓 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: 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: 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: 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: 883
File: configs/HGLRCF435_AIO/config.h:50-58
Timestamp: 2025-08-26T14:26:11.863Z
Learning: For AT32F435 in Betaflight, UART4 can use PH2 (UART4_RX) and PH3 (UART4_TX) as confirmed in the official Betaflight codebase at src/platform/AT32/serial_uart_at32f43x.c lines 183-212. This is a valid pin mapping for the AT32F435 platform.

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.

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.

Learnt from: haslinghuis
Repo: betaflight/config PR: 883
File: configs/HGLRCF435_AIO/config.h:50-58
Timestamp: 2025-08-26T14:26:11.863Z
Learning: For AT32F435 in Betaflight, UART4 supports multiple pin options including PH2 (UART4_RX) and PH3 (UART4_TX) with GPIO_MUX_8, as confirmed in the official Betaflight codebase at src/platform/AT32/serial_uart_at32f43x.c. The AT32 platform has broader pin support than initially apparent from basic searches.

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.

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.

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.

📚 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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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 use valid identifiers from the serialPortIdentifier_e enum in src/main/io/serial.h. Valid identifiers include: SERIAL_PORT_USB_VCP (20), SERIAL_PORT_SOFTSERIAL1 (30), SERIAL_PORT_SOFTSERIAL2 (31), SERIAL_PORT_LPUART1 (40), SERIAL_PORT_UART0 (50, if SERIAL_UART_FIRST_INDEX == 0), SERIAL_PORT_USART1 (51 or 50), SERIAL_PORT_USART2, SERIAL_PORT_USART3, SERIAL_PORT_UART4, SERIAL_PORT_UART5, SERIAL_PORT_USART6, SERIAL_PORT_USART7, SERIAL_PORT_USART8, SERIAL_PORT_UART9, SERIAL_PORT_USART10. While some aliases exist (like SERIAL_PORT_UART3 = SERIAL_PORT_USART3), prefer using the primary identifiers as referenced in the serialPortIdentifiers array to avoid build failures.

Applied to files:

configs/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/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/HGLRCF435AIO/config.h

🔇 Additional comments (8)

configs/HGLRCF435AIO/config.h (8)

1-22: LGTM!

The GPL v3 license header and pragma once directive are correct.

24-28: LGTM!

The MCU target (AT32F435G), board name (HGLRCF435AIO), and manufacturer ID (HGLR) are properly defined. Board name correctly matches the directory name.

29-38: LGTM!

Peripheral enables are appropriate: ICM42688P gyro/accelerometer, M25P16 flash, dual barometer support (BMP280/DPS310) for runtime detection, and gyro clock-in.

40-53: LGTM!

Motor pins (PB6-PB9) and UART configurations are correctly defined. UART4 on PH2/PH3 is valid for AT32F435 platform.

55-73: LGTM!

I2C1 and all three SPI buses are properly configured with appropriate CS, EXTI, and CLKIN pins for the gyro, MAX7456 OSD, and flash memory. No pin conflicts detected.

75-80: LGTM!

ADC voltage/current sense pins, status LEDs, beeper, and LED strip pins are properly defined with no pin conflicts.

90-105: Configuration looks reasonable but board testing status requires attention.

The ADC, peripheral instances, and default settings are properly configured. However, per the PR objectives, hardware sample testing and flight testing have not been completed. Please ensure thorough testing before merging.

Based on PR objectives checklist.

82-88: Verify timer assignments against AT32F435 firmware definitions.

This config-only repository cannot definitively confirm the timer channel mappings. To verify the assignment of PB6/PB7/PB8/PB9 to timers 1-2 and channels 1-4, and to confirm no DMA conflicts exist with PA3 (LED_STRIP) and PB2 (GYRO_1_CLKIN) on timer 1:

Reference the Betaflight firmware source at src/platform/AT32/timer_stm32f4xx.c (or AT32-specific equivalent) for definitive AT32F435 timer-to-pin mappings.

Cross-check the AT32F435 datasheet I/O alternate function table to confirm each pin supports the assigned timer and channel.

Ensure DMA streams used by SPI peripherals do not conflict with the timer assignments.

Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out.

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haslinghuis · 2025-11-07T16:25:23Z

configs/HGLRCF435AIO/config.h

+
+#define BARO_I2C_INSTANCE       I2CDEV_1
+#define MAG_I2C_INSTANCE        I2CDEV_1
+//#define GYRO_1_ALIGN            CW90_DEG


Awaiting correct gyro alignment

Create HGLRCF435AIO config.h

9b3021d

coderabbitai bot approved these changes Nov 7, 2025

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haslinghuis assigned ot0tot Nov 7, 2025

haslinghuis approved these changes Nov 7, 2025

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haslinghuis added Awaiting prototype samples Awaiting prototype samples Schematics approved Uses BF connector standard labels Nov 7, 2025

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Add HGLRCF435AIO config.h #952

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Summary by CodeRabbit

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Walkthrough

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Estimated code review effort

Possibly related PRs

Suggested labels

Suggested reviewers

Pre-merge checks and finishing touches

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