Add new target ORBITF435

src/main/drivers/bus_spi.h

@@ -67,6 +67,10 @@ typedef enum SPIDevice {
 #define SPIDEV_COUNT 4
 #endif
 
+#if defined(AT32F43x)
+typedef spi_type SPI_TypeDef;
+#endif
+
 typedef struct SPIDevice_s {
 #if defined(AT32F43x)
      spi_type *dev;

src/main/target/ORBITF435/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_at32f43x_xGT7(ORBITF435)
+target_at32f43x_xGT7(ORBITF435_SD)

src/main/target/ORBITF435/config.c

@@ -0,0 +1,67 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <platform.h>
+
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+void targetConfiguration(void)
+{
+
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_GPS;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; //VTX power switch
+}

src/main/target/ORBITF435/target.c

@@ -0,0 +1,52 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS,  ICM42688_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42688_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 4), // M1
+    DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 5), // M2
+    DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 2), // M3
+    DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 3), // M4
+    DEF_TIM(TMR2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // M5
+    DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 6), // M6
+    DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 7), // M7
+    DEF_TIM(TMR2, CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 1), // M8
+
+    //DEF_TIM(TMR9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
+    //DEF_TIM(TMR12, CH1, PB14,  TIM_USE_CAMERA_CONTROL, 0, -1), // Camera Control
+    DEF_TIM(TMR5, CH1, PA0,  TIM_USE_LED ,   0, 8) //2812LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ORBITF435/target.h

@@ -0,0 +1,193 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#ifdef ORBITF435
+#define TARGET_BOARD_IDENTIFIER "ORB4"
+#define USBD_PRODUCT_STRING     "ORBITF435"
+#else
+#define TARGET_BOARD_IDENTIFIER "ORB4SD"
+#define USBD_PRODUCT_STRING     "ORBITF435_SD"
+#endif
+
+/*** Indicators ***/
+#define LED0                    PC13  //Blue  
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC8
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PC9
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+#define INVERTER_PIN_UART2_RX   PB2
+
+#define UART3_TX_PIN            PC10 // No connection
+#define UART3_RX_PIN            PC11 // ESC TLM
+
+#define UART4_TX_PIN            PH3
+#define UART4_RX_PIN            PH2 
+
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2  
+
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       7 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** Gyro & ACC **********************
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_ICM42605        //Using ICM42688
+#define IMU_ICM42688_ALIGN      CW270_DEG
+#define ICM42688_CS_PIN         PA4
+#define ICM42688_SPI_BUS        BUS_SPI1
+
+// *************** I2C(Baro & I2C) **************************
+#define USE_I2C
+#define USE_BARO
+#define USE_MAG
+#define USE_RANGEFINDER
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** Internal SD card && FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#if defined(ORBITF435_SD)
+//SDCARD Definations
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC14
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN       PA8
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#else
+//FLASHFS Definations
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI3
+#define M25P16_CS_PIN                   PB15
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#endif
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define USE_OSD
+
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC5
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT      1010
+#define CURRENT_METER_SCALE     125
+
+// *************** LED *****************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA0
+
+#define DEFAULT_FEATURES                (FEATURE_TX_PROF_SEL  | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT  | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
+
+
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESCSERIAL
+#define USE_ESC_SENSOR
+#define USE_RPM_FILTER
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define MAX_PWM_OUTPUT_PORTS        11
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE BIT(2)
+#define TARGET_IO_PORTH (BIT(1)|BIT(2)|BIT(3))