targets: add BLADE_F4 (STM32F405) and BLADE_PRO_H7 (STM32H743)

src/main/target/BLADE_F4/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(BLADE_F4)

src/main/target/BLADE_F4/config.c

@@ -0,0 +1,28 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <platform.h>
+
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; 
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}

src/main/target/BLADE_F4/target.c

@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <platform.h>
+
+#include "drivers/io.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S1_OUT D2_ST4
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT D2_ST7
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT D2_ST1
+    DEF_TIM(TIM1, CH2, PA9,  TIM_USE_OUTPUT_AUTO, 0, 1), // S4_OUT D2_ST2
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT D2_ST6
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT D1_ST4
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7_OUT D1_ST7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT D1_ST2
+
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED, 0, 0), // D1_ST6
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/BLADE_F4/target.h

@@ -0,0 +1,174 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "BLF4"
+#define USBD_PRODUCT_STRING  "BLADE_F4"
+
+#define USE_TARGET_CONFIG
+
+/*** Indicators ***/
+#define LED0                    PC15
+#define LED1                    PC14
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+/*** SPI/I2C bus ***/
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+#define SPI2_FLASH_PIN          PA15
+
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8      
+#define I2C1_SDA                PB9 
+
+
+/*** IMU sensors ***/
+
+// MPU6000
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+
+
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN       CW270_DEG
+#define ICM42605_SPI_BUS         BUS_SPI1
+#define ICM42605_CS_PIN          SPI1_NSS_PIN
+
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW270_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+
+
+/*** OSD ***/
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+
+/*** Onboard flash ***/
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           SPI2_FLASH_PIN
+#define M25P16_SPI_BUS          BUS_SPI2
+
+// *** PINIO ***
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC2
+#define PINIO2_PIN              PC5
+
+/*** Serial ports ***/
+#define USE_VCP
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+#define INVERTER_PIN_UART2_RX   PC0
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       7
+
+/*** BARO & MAG ***/
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_SPL06
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC3
+
+
+#define VBAT_ADC_CHANNEL                ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_2
+
+
+/*** LED STRIP ***/
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB3
+
+/*** Default settings ***/
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER               SERIALRX_SBUS
+#define CURRENT_METER_SCALE             250
+
+
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY)
+
+/*** Timer/PWM output ***/
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define MAX_PWM_OUTPUT_PORTS            8
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+// ********** Optical Flow and Lidar **************
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+/*** Used pins ***/
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))

src/main/target/BLADE_PRO_H7/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(BLADE_PRO_H7)

src/main/target/BLADE_PRO_H7/config.c

@@ -0,0 +1,32 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    beeperConfigMutable()->pwmMode = true;
+}

src/main/target/BLADE_PRO_H7/target.c

@@ -0,0 +1,59 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it 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.
+ *
+ * INAV 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 INAV.  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_mpu6000_1,  DEVHW_MPU6000,   MPU6000_SPI_BUS_1, MPU6000_CS_PIN_1,  MPU6000_EXTI_PIN_1,   DEVFLAGS_NONE, 0,  IMU_MPU6000_ALIGN_1);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000,   MPU6000_SPI_BUS_2, MPU6000_CS_PIN_2,  MPU6000_EXTI_PIN_2,   DEVFLAGS_NONE, 1,  IMU_MPU6000_ALIGN_2);
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_1, DEVHW_ICM42605, ICM42605_SPI_BUS_1, ICM42605_CS_PIN_1, ICM42605_EXTI_PIN_1,  DEVFLAGS_NONE, 0,  IMU_ICM42605_ALIGN_1);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, ICM42605_SPI_BUS_2, ICM42605_CS_PIN_2, ICM42605_EXTI_PIN_2,  DEVFLAGS_NONE, 1,  IMU_ICM42605_ALIGN_2);
+
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1,   DEVHW_BMI270,   BMI270_SPI_BUS_1,   BMI270_CS_PIN_1,   BMI270_EXTI_PIN_1,    DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2,   DEVHW_BMI270,   BMI270_SPI_BUS_2,   BMI270_CS_PIN_2,   BMI270_EXTI_PIN_2,    DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),   // S2
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 1),   // S1
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 2),   // S4  
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 3),   // S3  
+
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5),   // S6
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7),   // S8
+
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0),   // S12 DMA_NONE
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0),   // S10 DMA_NONE
+	DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0),   // S9
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_BEEPER, 0, 0),  // BEEPER PWM
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);