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Merge pull request #11324 from joshperry/master
Add NEXUS target for RadioMaster Nexus (Original) flight controller
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‎src/main/drivers/serial_uart_hal.c‎

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@@ -52,6 +52,13 @@ static void usartConfigurePinInversion(uartPort_t *uartPort) {
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uartPort->Handle.AdvancedInit.TxPinLevelInvert = UART_ADVFEATURE_TXINV_ENABLE;
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}
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}
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#ifdef USE_UART4_SWAP
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if (uartPort->Handle.Instance == UART4) {
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uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_SWAP_INIT;
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uartPort->Handle.AdvancedInit.Swap = UART_ADVFEATURE_SWAP_ENABLE;
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}
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#endif
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}
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static void uartReconfigure(uartPort_t *uartPort)

‎src/main/target/NEXUS/CMakeLists.txt‎

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target_stm32f722xe(NEXUS)

‎src/main/target/NEXUS/README.md‎

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# RadioMaster Nexus (Original)
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Flight controller originally designed for helicopters using Rotorflight.
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Based on STM32F722RET6. This is the **original** (discontinued) Nexus,
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not the Nexus-X or Nexus-XR.
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For the Nexus-X and Nexus-XR, use the `NEXUSX` target instead.
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## Hardware
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| Component | Spec |
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|-----------|------|
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| MCU | STM32F722RET6 (216MHz, 256KB RAM, 512KB flash) |
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| IMU | ICM-42688-P (SPI1), CW90 alignment |
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| Barometer | SPL06-001 (I2C1, internal) |
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| Blackbox | W25N01G 128MB (SPI2) |
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| Input voltage | 5 - 12.6V |
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| BEC output | 5V / 2A on Port A, B, C |
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| DSM power | 3.3V / 0.5A |
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| Dimensions | 41.3 x 25.4 x 13.1mm |
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| Weight | 16.8g |
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## Differences from Nexus-X/XR
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| | OG Nexus | Nexus-X/XR |
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|---|----------|------------|
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| IMU EXTI | PA15 | PB8 |
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| IMU alignment | CW90 | CW180 |
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| Baro I2C | I2C1 (PB8/PB9) | I2C2 (PB10/PB11) |
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| Flash | W25N01G (128MB) | W25N02K (256MB) |
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| Internal ELRS RX | None | RP4TD-M on UART5 |
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| PINIO1 (RX power) | None | PC8 |
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| UART1 pins | PA9/PA10 | PB6/PB7 |
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| Voltage sense | Vin ADC only (5-12.6V) | EXT-V input (3.6-70V) |
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| Servo outputs | 5 | 7 default (9 max) |
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| Rotorflight target | NEXUS_F7 | NEXUSX |
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## Pin Functions
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### Default Output Assignment
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| Output | Pin | Timer | Connector |
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|--------|-----|-------|-----------|
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| S1 | PB4 | TIM3_CH1 | Servo header |
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| S2 | PB5 | TIM3_CH2 | Servo header |
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| S3 | PB0 | TIM3_CH3 | Servo header |
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| S4 | PB3 | TIM2_CH2 | Servo header (Tail) |
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| M1 | PB6 | TIM4_CH1 | ESC header |
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### UART Ports
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| UART | Label | TX | RX | Notes |
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|------|-------|----|----|-------|
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| UART1 | DSM | PA9 | PA10 | |
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| UART2 | SBUS | PA2 | PA3 | Shared with FREQ/PPM |
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| UART3 | Port C | PB11 | PB10 | Shared with I2C2 |
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| UART4 | Port A | PA1 | PA0 | Primary receiver (CRSF) |
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| UART6 | Port B | PC7 | PC6 | |
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### I2C Buses
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| Bus | SCL | SDA | Usage |
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|-----|-----|-----|-------|
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| I2C1 | PB8 | PB9 | Internal barometer (SPL06) |
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| I2C2 | PB10 | PB11 | External sensors via Port C |
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### ADC Channels
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| Channel | Pin | Divider | Usage |
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|---------|-----|---------|-------|
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| BUS | PC2 | 320 | Vin rail, 5-12.6V (mapped as VBAT) |
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| BEC | PC1 | 160 | 5V BEC rail monitoring |
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Note: Unlike the Nexus-X/XR, the OG Nexus has no dedicated EXT-V
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high-voltage battery sense input. VBAT monitors the board input power.
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### Connector Pinouts
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**Port A (UART4 - CRSF receiver):**
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1. GND
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2. 5V
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3. RX (PA0, connect to receiver TX)
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4. TX (PA1, connect to receiver RX / telemetry)
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**Port B (UART6):**
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1. GND
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2. 5V
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3. TX (PC7)
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4. RX (PC6)
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**Port C (UART3 / I2C2):**
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1. GND
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2. 5V
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3. SDA/TX (PB11)
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4. SCL/RX (PB10)
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**ESC Header:**
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- Signal: PB6 (TIM4_CH1 PWM)
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## Typical Glider Setup (Elevon / Flying Wing)
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For a 5-channel elevon glider like the Kunai:
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1. Flash NEXUS target via DFU
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2. Set aircraft type: **Flying Wing**
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3. Connect RP3-H receiver to **Port A** (CRSF on UART4)
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4. Connect ESC to **ESC header** (M1)
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5. Connect left elevon servo to **S1**
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6. Connect right elevon servo to **S2**
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7. Configure elevon mixing in the Mixer tab
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8. Vario: SPL06 baro provides altitude-based vario out of the box
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9. GPS (Phase 2): Connect to **Port B** (UART6)
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## Verified on Hardware
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- [x] MCU boots, LEDs active (PC14, PC15)
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- [x] USB CDC enumeration and iNAV CLI
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- [x] IMU (gyro + accel) detected and responding
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- [x] Gyro alignment (CW90) confirmed
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- [x] Accelerometer working
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- [x] Barometer (SPL06 on I2C1) working
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- [x] VBAT ADC (PC2) working (scale 320)
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- [x] All UART ports (1-4, 6) verified
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- [x] UART4 CRSF receiver working (TX/RX swap confirmed)
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- [x] DShot on all motor outputs
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- [x] Servo outputs working
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- [x] Blackbox logging working
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- [x] LEDs working
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- [x] I2C2 bus working
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## Building
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Requires NixOS flake (included in repo root) or standard iNAV build deps.
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```sh
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nix develop --impure # or set up arm-none-eabi-gcc manually
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mkdir -p build && cd build
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cmake -GNinja -DCOMPILER_VERSION_CHECK=OFF ..
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ninja NEXUS
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```
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## Flashing via DFU
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Hold button while connecting USB, then:
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```sh
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arm-none-eabi-objcopy -O binary build/bin/NEXUS.elf build/NEXUS.bin
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dfu-util -a 0 -s 0x08000000:leave -D build/NEXUS.bin
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```

‎src/main/target/NEXUS/config.c‎

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/*
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* RadioMaster Nexus (Original) - Target configuration defaults
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*
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* Unlike the Nexus-X/XR, the OG Nexus has no internal ELRS receiver,
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* so there is no PINIO / USER1 box configuration needed here.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "drivers/pwm_mapping.h"
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void targetConfiguration(void)
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{
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// Force M1/ESC (PB6/TIM4) to motor mode so the PWM auto-allocator
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// picks it as the motor output first. Without this, it walks the
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// timer table in order, converts TIM3 (S1/S2/S3) to motors via
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// pwmClaimTimer(), and leaves no timers available for servos.
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timerOverridesMutable(timer2id(TIM4))->outputMode = OUTPUT_MODE_MOTORS;
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}

‎src/main/target/NEXUS/target.c‎

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/*
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* RadioMaster Nexus (Original) - Timer/PWM hardware configuration
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*
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* Timer allocation (from Rotorflight NEXUS_F7 dump):
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* TIM3: S1 (PB4/CH1), S2 (PB5/CH2), S3 (PB0/CH3)
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* TIM2: S4 (PB3/CH2)
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* TIM4: M1 (PB6/CH1) - ESC output
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*
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* Note: PA2/PA3 are FREQ/PPM inputs in Rotorflight. In iNAV they
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* can be repurposed as servo outputs when UART2 is not assigned.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "drivers/io.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_mapping.h"
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timerHardware_t timerHardware[] = {
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DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
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DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
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DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
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DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
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DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // M1/ESC
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DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // shared w/ UART2 TX
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DEF_TIM(TIM9, CH2, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // shared w/ UART2 RX
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};
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const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

‎src/main/target/NEXUS/target.h‎

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/*
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* RadioMaster Nexus (Original) - iNAV target
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*
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* Based on the NEXUSX target by functionpointer, adapted for the
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* original (discontinued) Nexus hardware.
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*
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* Key differences from Nexus-X/XR:
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* - IMU EXTI on PA15 (X/XR uses PB8)
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* - IMU alignment CW180 (Rotorflight uses CW90 with a different
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* board orientation reference; iNAV uses the arrow on the case)
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* - Flash is W25N01G 128MB (X/XR uses W25N02K 256MB)
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* - No internal ELRS receiver (X/XR has RP4TD-M on UART5)
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* - No PINIO1 receiver power gate
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* - Voltage input 5-12.6V (X/XR supports 3.6-70V)
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* - 5 servo/motor outputs vs 7-9 on X/XR
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* - Baro on I2C1 (PB8/PB9), not I2C2
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* - UART1 on PA9/PA10, not PB6/PB7
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*
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* Pin mapping derived from:
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* - Rotorflight NEXUS_F7 target (authoritative)
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* - groundflight project (joshperry/groundflight)
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* - RadioMaster documentation
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*/
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#pragma once
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#define TARGET_BOARD_IDENTIFIER "NEXS"
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#define USBD_PRODUCT_STRING "RadioMaster Nexus"
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/* ---- LEDs ---- */
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#define LED0 PC14 // active low
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#define LED1 PC15 // active low
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/* ---- Beeper ---- */
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// No dedicated beeper pin on Nexus hardware
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/* ---- SPI ---- */
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#define USE_SPI
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#define USE_SPI_DEVICE_1
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#define SPI1_SCK_PIN PA5
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#define SPI1_MISO_PIN PA6
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#define SPI1_MOSI_PIN PA7
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#define USE_SPI_DEVICE_2
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#define SPI2_SCK_PIN PB13
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#define SPI2_MISO_PIN PB14
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#define SPI2_MOSI_PIN PB15
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/* ---- IMU: ICM-42688-P ---- */
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// iNAV uses ICM42605 driver which is register-compatible with ICM42688P
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#define USE_IMU_ICM42605
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#define IMU_ICM42605_ALIGN CW180_DEG
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#define ICM42605_CS_PIN PA4
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#define ICM42605_SPI_BUS BUS_SPI1
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#define ICM42605_EXTI_PIN PA15
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/* ---- I2C ---- */
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// I2C1: PB8/PB9 - internal, used for barometer
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#define USE_I2C
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#define USE_I2C_DEVICE_1
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#define I2C1_SCL PB8
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#define I2C1_SDA PB9
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// I2C2: PB10/PB11 - external via Port C connector (shared with UART3)
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// Available for external sensors (magnetometer, rangefinder, etc.)
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#define USE_I2C_DEVICE_2
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#define I2C2_SCL PB10
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#define I2C2_SDA PB11
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#define I2C_DEVICE_2_SHARES_UART3
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/* ---- Barometer: SPL06-001 ---- */
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// Confirmed on I2C1 per Rotorflight NEXUS_F7 dump
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#define USE_BARO
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#define USE_BARO_SPL06
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#define BARO_I2C_BUS BUS_I2C1
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/* ---- Magnetometer (external, optional via Port C / I2C2) ---- */
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#define USE_MAG
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#define USE_MAG_ALL
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#define MAG_I2C_BUS BUS_I2C2
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/* ---- Flash: W25N01G (128MB) ---- */
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#define USE_FLASHFS
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#define USE_FLASH_W25N01G
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#define W25N01G_SPI_BUS BUS_SPI2
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#define W25N01G_CS_PIN PB12
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#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
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/* ---- UARTs ---- */
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// OG Nexus UART layout (confirmed from Rotorflight NEXUS_F7 dump):
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// UART1 [DSM port] : PA9 (TX) / PA10 (RX)
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// UART2 [SBUS/FREQ] : PA2 (TX) / PA3 (RX) - shared with RPM/TLM pins
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// UART3 [Port C] : PB11 (TX) / PB10 (RX) - shared with I2C2
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// UART4 [Port A] : PA1 (TX) / PA0 (RX) - primary CRSF receiver
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// UART6 [Port B] : PC7 (TX) / PC6 (RX)
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//
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// NOTE: No UART5 on OG Nexus (X/XR uses UART5 for internal ELRS)
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#define USE_VCP
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#define USE_USB_DETECT
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#define USB_DETECT_PIN NONE
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#define USE_UART1
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#define UART1_TX_PIN PA9
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#define UART1_RX_PIN PA10
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#define USE_UART2
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#define UART2_TX_PIN PA2
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#define UART2_RX_PIN PA3
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#define USE_UART3
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#define UART3_TX_PIN PB11
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#define UART3_RX_PIN PB10
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#define USE_UART4
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#define USE_UART4_SWAP
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#define UART4_TX_PIN PA1
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#define UART4_RX_PIN PA0
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#define USE_UART6
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#define UART6_TX_PIN PC7
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#define UART6_RX_PIN PC6
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#define SERIAL_PORT_COUNT 6 // VCP + UART1-4 + UART6
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/* ---- Default serial receiver ---- */
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#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
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#define SERIALRX_PROVIDER SERIALRX_CRSF
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#define SERIALRX_UART SERIAL_PORT_USART4
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/* ---- ADC ---- */
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// OG Nexus has no EXT-V input (unlike X/XR which has a dedicated
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// high-voltage sense on PC0). Only two ADC channels:
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// ADC_BUS = PC2, divider 320 (Vin rail, 5-12.6V)
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// ADC_BEC = PC1, divider 160 (BEC 5V rail)
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// Map Vin as VBAT since it's the primary power input
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#define USE_ADC
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#define ADC_INSTANCE ADC1
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#define ADC_CHANNEL_1_PIN PC2 // Vin (input power rail)
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#define VBAT_ADC_CHANNEL ADC_CHN_1
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#define ADC_CHANNEL_2_PIN PC1 // BEC 5V rail
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// VBAT scale: hardware-verified value (divider ratio ~320)
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#define VBAT_SCALE_DEFAULT 320
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/* ---- Sensors ---- */
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#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO)
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/* ---- PWM / Servo / Motor outputs ---- */
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// OG Nexus outputs (from Rotorflight dump):
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// S1: PB4 (TIM3_CH1) - Servo header
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// S2: PB5 (TIM3_CH2) - Servo header
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// S3: PB0 (TIM3_CH3) - Servo header
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// S4: PB3 (TIM2_CH2) - Servo header (Tail)
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// M1: PB6 (TIM4_CH1) - ESC header (motor only, NOT UART1)
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//
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// Pin multiplexing when UARTs freed:
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// PA2 (TIM5_CH3) - shared with UART2 TX / FREQ input
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// PA3 (TIM9_CH2) - shared with UART2 RX / PPM input
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#define MAX_PWM_OUTPUT_PORTS 7
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/* ---- No internal receiver ---- */
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// OG Nexus has no internal ELRS receiver.
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// No UART5, no PINIO1 power gate.
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/* ---- Platform ---- */
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)

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