Add PrincipIoT H7 Pi target

configs/PRINCIPIOTH7PI/config.h

@@ -0,0 +1,206 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * Betaflight 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU        STM32H743
+
+#define BOARD_NAME           PRINCIPIOTH7PI
+#define MANUFACTURER_ID      PRIN
+
+#define USB_DETECT_PIN       PE2
+
+#define BEEPER_PIN           PA15
+#define MOTOR1_PIN           PA0
+#define MOTOR2_PIN           PA1
+#define MOTOR3_PIN           PA2
+#define MOTOR4_PIN           PA3
+#define MOTOR5_PIN           PB1
+#define MOTOR6_PIN           PB0
+#define SERVO1_PIN           PE5
+#define SERVO2_PIN           PE6
+#define LED_STRIP_PIN        PA8
+
+// Debug connector
+#define UART2_TX_PIN         PD5
+#define UART2_RX_PIN         PD6
+
+// Telem to Raspberry Pi
+#define UART3_TX_PIN         PD8
+#define UART3_RX_PIN         PD9
+
+// GPS
+#define UART4_TX_PIN         PB9
+#define UART4_RX_PIN         PB8
+
+// VTX
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+
+// ESC Telem in (RX only)
+#define UART7_TX_PIN         PE8  // Not connected
+#define UART7_RX_PIN         PE7
+
+// Receiver
+#define UART8_TX_PIN         PE1
+#define UART8_RX_PIN         PE0
+
+// Baro I2C
+#define I2C1_SCL_PIN         PB6
+#define I2C1_SDA_PIN         PB7
+
+// Mag and GPS (External) I2C
+#define I2C2_SCL_PIN         PB10
+#define I2C2_SDA_PIN         PB11
+
+// LED pins, active low
+#define LED0_PIN             PE3 // Blue
+#define LED1_PIN             PE4 // Green
+
+// ICM-42688P IMU
+#define SPI1_SCK_PIN         PA5
+#define SPI1_SDI_PIN         PA6
+#define SPI1_SDO_PIN         PD7
+
+// Unused
+//#define SPI2_SCK_PIN         PB13
+//#define SPI2_SDI_PIN         PB14
+//#define SPI2_SDO_PIN         PB15
+
+// FRAM (Unused for BF)
+#define SPI3_SCK_PIN         PB3
+#define SPI3_SDI_PIN         PB4
+#define SPI3_SDO_PIN         PB5
+// CS pin for SPI3 connection: PD4
+
+// IIM-42653 IMU
+#define SPI4_SCK_PIN         PE12
+#define SPI4_SDI_PIN         PE13
+#define SPI4_SDO_PIN         PE14
+
+// ADC pins
+#define ADC_VBAT_PIN         PC0
+#define ADC_CURR_PIN         PC1
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+
+#define ADC1_DMA_OPT         9
+#define ADC3_DMA_OPT         10
+
+// SD card
+#define USE_SDCARD
+#define SDIO_CK_PIN          PC12
+#define SDIO_CMD_PIN         PD2
+#define SDIO_D0_PIN          PC8
+#define SDIO_D1_PIN          PC9
+#define SDIO_D2_PIN          PC10
+#define SDIO_D3_PIN          PC11
+#define SDCARD_DETECT_PIN    PD15
+#define SDCARD_DETECT_INVERTED
+
+#define SDIO_DEVICE SDIODEV_1
+#define SDIO_USE_4BIT 1
+
+#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SDCARD
+
+// Sensors
+#define USE_ACC
+#define USE_GYRO
+#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
+
+// IMU 1 (ICM-42688P)
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+
+#define GYRO_1_EXTI_PIN      PB2
+#define GYRO_1_CS_PIN        PC15
+#define GYRO_1_SPI_INSTANCE  SPI1
+#define GYRO_1_ALIGN         CW0_DEG
+//#define GYRO_1_ALIGN_PITCH 1800
+
+// IMU 2 (IIM-42653)
+#define USE_ACCGYRO_IIM42653
+
+#define GYRO_2_EXTI_PIN      PE15
+#define GYRO_2_CS_PIN        PE11
+#define GYRO_2_SPI_INSTANCE  SPI4
+#define GYRO_2_ALIGN         CW0_DEG
+//#define GYRO_2_ALIGN_PITCH 1800
+
+// Baro
+#define USE_BARO
+#define USE_BARO_DPS310 // DPS368, but it's equivalent
+#define BARO_I2C_INSTANCE    I2CDEV_1
+
+// Mag
+#ifndef USE_MAG
+#define USE_MAG
+#endif
+#define USE_MAG_LIS2MDL
+#define MAG_I2C_INSTANCE     I2CDEV_2
+#define MAG_ALIGN            CW90_DEG
+
+/*
+Pin mapping:
+Motor 1 (TIM5 CH1)
+Motor 2 (TIM5 CH2)
+Motor 3 (TIM5 CH3)
+Motor 4 (TIM5 CH4)
+Motor 5 (TIM3 CH3)
+Motor 6 (TIM3 CH4)
+Servo 1 (TIM15 CH1)
+Servo 2 (TIM15 CH2)
+LED strip (TIM1 CH1)
+Beeper (TIM2 CH1)
+*/
+
+#define TIMER_PIN_MAPPING \
+    TIMER_PIN_MAP( 0, PA0 , 2,  0) \
+    TIMER_PIN_MAP( 1, PA1 , 2,  1) \
+    TIMER_PIN_MAP( 2, PA2 , 2,  2) \
+    TIMER_PIN_MAP( 3, PA3 , 2,  3) \
+    TIMER_PIN_MAP( 4, PB0 , 2,  4) \
+    TIMER_PIN_MAP( 5, PB1 , 2,  5) \
+    TIMER_PIN_MAP( 6, PE5 , 1,  6) \
+    TIMER_PIN_MAP( 7, PE6 , 1,  7) \
+    TIMER_PIN_MAP( 8, PA8 , 1,  8) \
+    TIMER_PIN_MAP( 9, PA15, 1, -1)
+
+#define TIMUP3_DMA_OPT      11
+#define TIMUP5_DMA_OPT      12
+
+// Other features:
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_UART      SERIAL_PORT_USART8
+#define GPS_UART           SERIAL_PORT_UART4
+
+// PINIO
+// PINIO 1 is the 10V enable pin for VTX power
+#define PINIO1_PIN           PD10
+#define PINIO1_CONFIG        129 // PINIO_CONFIG_MODE_OUT_PP, 10V enable, active low
+#define PINIO1_BOX           40 // USER1
+#define BOX_USER1_NAME       "VTX PWR"
+
+#define PINIO2_PIN           PD11
+#define PINIO2_CONFIG        1 // PINIO_CONFIG_MODE_OUT_PP
+#define PINIO2_BOX           41 // USER2