From 8d1617016dd30fd9062df51aff5cda91a8c3edc5 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sun, 7 Jun 2026 10:13:16 -0700 Subject: [PATCH 1/2] targets: add commented CAN bus pins to 7 H7 targets Add commented-out CAN1 pin definitions to AETH743Basic, BROTHERHOBBYH743, CORVON743V1, DAKEFPVH743PRO, MICOAIR743, TBS_LUCID_H7, and TBS_LUCID_H7_WING. Pins sourced from the corresponding ArduPilot hwdef files. Blocks are commented by default so normal builds are unaffected; users with CAN-capable hardware can uncomment to enable DroneCAN support via a custom build. CORVON743V1 and MICOAIR743 use PB8/PB9 (no standby pin in AP hwdef). DAKEFPVH743PRO uses PD2 as standby (differs from the usual PD3). Remaining five use PD0/PD1/PD3. --- src/main/target/AETH743Basic/target.h | 8 ++++++++ src/main/target/BROTHERHOBBYH743/target.h | 8 ++++++++ src/main/target/CORVON743V1/target.h | 7 +++++++ src/main/target/DAKEFPVH743PRO/target.h | 8 ++++++++ src/main/target/MICOAIR743/target.h | 7 +++++++ src/main/target/TBS_LUCID_H7/target.h | 8 ++++++++ src/main/target/TBS_LUCID_H7_WING/target.h | 8 ++++++++ 7 files changed, 54 insertions(+) diff --git a/src/main/target/AETH743Basic/target.h b/src/main/target/AETH743Basic/target.h index 642a1f82be5..d9585f8ac2c 100644 --- a/src/main/target/AETH743Basic/target.h +++ b/src/main/target/AETH743Basic/target.h @@ -169,6 +169,14 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PD0 +// #define CAN1_TX PD1 +// #define CAN1_STANDBY PD3 + #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/BROTHERHOBBYH743/target.h b/src/main/target/BROTHERHOBBYH743/target.h index b069f0ccfd0..57e4f56ae6c 100644 --- a/src/main/target/BROTHERHOBBYH743/target.h +++ b/src/main/target/BROTHERHOBBYH743/target.h @@ -176,6 +176,14 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PD0 +// #define CAN1_TX PD1 +// #define CAN1_STANDBY PD3 + #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/CORVON743V1/target.h b/src/main/target/CORVON743V1/target.h index fa5ba03d735..42178357f30 100644 --- a/src/main/target/CORVON743V1/target.h +++ b/src/main/target/CORVON743V1/target.h @@ -139,6 +139,13 @@ #define USE_ESC_SENSOR #define USE_SERIAL_4WAY_BLHELI_INTERFACE +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PB8 +// #define CAN1_TX PB9 + #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/DAKEFPVH743PRO/target.h b/src/main/target/DAKEFPVH743PRO/target.h index 379fd1b9464..1063f83d883 100644 --- a/src/main/target/DAKEFPVH743PRO/target.h +++ b/src/main/target/DAKEFPVH743PRO/target.h @@ -166,6 +166,14 @@ // unkonw #define USE_SERIAL_4WAY_BLHELI_INTERFACE +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PD0 +// #define CAN1_TX PD1 +// #define CAN1_STANDBY PD2 + #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/MICOAIR743/target.h b/src/main/target/MICOAIR743/target.h index 526cf438d08..4b24596740c 100644 --- a/src/main/target/MICOAIR743/target.h +++ b/src/main/target/MICOAIR743/target.h @@ -139,6 +139,13 @@ #define USE_ESC_SENSOR #define USE_SERIAL_4WAY_BLHELI_INTERFACE +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PB8 +// #define CAN1_TX PB9 + #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/TBS_LUCID_H7/target.h b/src/main/target/TBS_LUCID_H7/target.h index 7cecc767868..33d65801749 100644 --- a/src/main/target/TBS_LUCID_H7/target.h +++ b/src/main/target/TBS_LUCID_H7/target.h @@ -174,6 +174,14 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PD0 +// #define CAN1_TX PD1 +// #define CAN1_STANDBY PD3 + #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff diff --git a/src/main/target/TBS_LUCID_H7_WING/target.h b/src/main/target/TBS_LUCID_H7_WING/target.h index 9dd98e1527d..ad12afdf7fb 100644 --- a/src/main/target/TBS_LUCID_H7_WING/target.h +++ b/src/main/target/TBS_LUCID_H7_WING/target.h @@ -173,6 +173,14 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +// *************** CANBUS **************************** +// CAN bus pins - sourced from ArduPilot board definition +// Uncomment to enable DroneCAN support (requires custom build) +// #define USE_DRONECAN +// #define CAN1_RX PD0 +// #define CAN1_TX PD1 +// #define CAN1_STANDBY PD3 + #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff From 6094630a1f71dc7b58dff29e78adb4f2ec61ff88 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Wed, 10 Jun 2026 06:58:40 -0700 Subject: [PATCH 2/2] CANbus pins confirmed and enabled per manufacturers feedback. --- src/main/target/TBS_LUCID_H7/target.h | 11 +++++------ src/main/target/TBS_LUCID_H7_WING/target.h | 10 ++++------ src/main/target/TBS_LUCID_H7_WING_MINI/target.h | 6 ++++++ 3 files changed, 15 insertions(+), 12 deletions(-) diff --git a/src/main/target/TBS_LUCID_H7/target.h b/src/main/target/TBS_LUCID_H7/target.h index 33d65801749..6af7bb0a1e3 100644 --- a/src/main/target/TBS_LUCID_H7/target.h +++ b/src/main/target/TBS_LUCID_H7/target.h @@ -175,12 +175,11 @@ #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT // *************** CANBUS **************************** -// CAN bus pins - sourced from ArduPilot board definition -// Uncomment to enable DroneCAN support (requires custom build) -// #define USE_DRONECAN -// #define CAN1_RX PD0 -// #define CAN1_TX PD1 -// #define CAN1_STANDBY PD3 + +#define USE_DRONECAN +#define CAN1_RX PD0 +#define CAN1_TX PD1 +#define CAN1_STANDBY PD3 #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff diff --git a/src/main/target/TBS_LUCID_H7_WING/target.h b/src/main/target/TBS_LUCID_H7_WING/target.h index ad12afdf7fb..3712e9aa469 100644 --- a/src/main/target/TBS_LUCID_H7_WING/target.h +++ b/src/main/target/TBS_LUCID_H7_WING/target.h @@ -174,12 +174,10 @@ #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT // *************** CANBUS **************************** -// CAN bus pins - sourced from ArduPilot board definition -// Uncomment to enable DroneCAN support (requires custom build) -// #define USE_DRONECAN -// #define CAN1_RX PD0 -// #define CAN1_TX PD1 -// #define CAN1_STANDBY PD3 +#define USE_DRONECAN +#define CAN1_RX PD0 +#define CAN1_TX PD1 +#define CAN1_STANDBY PD3 #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff diff --git a/src/main/target/TBS_LUCID_H7_WING_MINI/target.h b/src/main/target/TBS_LUCID_H7_WING_MINI/target.h index 4f475a46a0f..8df7e2c4a45 100644 --- a/src/main/target/TBS_LUCID_H7_WING_MINI/target.h +++ b/src/main/target/TBS_LUCID_H7_WING_MINI/target.h @@ -172,6 +172,12 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +// *************** CANBUS **************************** +#define USE_DRONECAN +#define CAN1_RX PD0 +#define CAN1_TX PD1 +#define CAN1_STANDBY PD3 + #define TARGET_IO_PORTA (0xffff & ~(BIT(14) | BIT(13))) #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff