Merge pull request #1447 from blckmn/REVOLT

Adding both AirbotF4 and Revolt targets

src/main/drivers/accgyro_mpu6500.h

@@ -15,9 +15,12 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
+
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
+#define ICM20602_WHO_AM_I_CONST             (0x12)
 
 #define MPU6500_BIT_RESET                   (0x80)
 #define MPU6500_BIT_INT_ANYRD_2CLEAR        (1 << 4)
@@ -25,8 +28,6 @@
 #define MPU6500_BIT_I2C_IF_DIS              (1 << 4)
 #define MPU6500_BIT_RAW_RDY_EN              (0x01)
 
-#pragma once
-
 bool mpu6500AccDetect(acc_t *acc);
 bool mpu6500GyroDetect(gyro_t *gyro);
 

src/main/drivers/accgyro_spi_mpu6500.c

@@ -84,7 +84,10 @@ bool mpu6500SpiDetect(void)
 
     mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
 
-    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
+    if (tmp == MPU6500_WHO_AM_I_CONST || 
+        tmp == MPU9250_WHO_AM_I_CONST || 
+        tmp == ICM20608G_WHO_AM_I_CONST || 
+        tmp == ICM20602_WHO_AM_I_CONST) {
         return true;
     }
 

src/main/drivers/dma.h

@@ -15,6 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
 
 struct dmaChannelDescriptor_s;
 typedef void (*dmaCallbackHandlerFuncPtr)(struct dmaChannelDescriptor_s *channelDescriptor);

src/main/target/REVO/target.c

@@ -34,6 +34,10 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           TIM_USE_MOTOR, 1, GPIO_AF_TIM3,  DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER  },  // S2_OUT
     { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,           TIM_USE_MOTOR, 1, GPIO_AF_TIM2,  DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER  },  // S3_OUT
     { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           TIM_USE_MOTOR, 1, GPIO_AF_TIM2,  DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER  },  // S4_OUT
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5,  DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER  },  // S5_OUT
+#ifdef REVOLT
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,           TIM_USE_LED,   0, GPIO_AF_TIM4,  DMA1_Stream0, DMA_Channel_2, DMA1_ST0_HANDLER  },  // LED for REVOLT
+#else
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5,  DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER  },  // S5_OUT / LED for REVO
     { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           TIM_USE_MOTOR, 1, GPIO_AF_TIM5,  DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER  },  // S6_OUT
+#endif
 };

src/main/target/REVO/target.h

@@ -17,43 +17,71 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "REVO"
-
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
+#if defined(AIRBOTF4)
+#define TARGET_BOARD_IDENTIFIER "AIR4"
+#define USBD_PRODUCT_STRING     "AirbotF4"
+
+#elif defined(REVOLT)
+#define TARGET_BOARD_IDENTIFIER "RVLT"
+#define USBD_PRODUCT_STRING     "Revolt"
+
+#else
+#define TARGET_BOARD_IDENTIFIER "REVO"
 #define USBD_PRODUCT_STRING     "Revolution"
+
 #ifdef OPBL
 #define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
+#endif
+
 #define USE_DSHOT
 
 #define LED0                    PB5
-// Disable LED1, conflicts with AirbotF4/Flip32F4 beeper
+// Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
-//#define LED1                    PB4
+#if defined(AIRBOTF4) || defined(REVOLT)
-
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
+#else
+#define LED1                    PB4
+// Leave beeper here but with none as io - so disabled unless mapped.
+#define BEEPER                  NONE
+#endif
 
-#define INVERTER                PC0 // PC0 used as inverter select GPIO
+// PC0 used as inverter select GPIO
+#define INVERTER                PC0 
 #define INVERTER_USART          USART1
 
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
 
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
 #define ACC
 #define USE_ACC_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW270_DEG
 
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG
+
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW270_DEG
 
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+
 // MPU6000 interrupts
 #define USE_EXTI
 #define MPU_INT_EXTI            PC4
 #define USE_MPU_DATA_READY_SIGNAL
 
+#if !defined(AIRBOTF4) && !defined(REVOLT)
 #define MAG
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
@@ -67,6 +95,7 @@
 //#define PITOT
 //#define USE_PITOT_MS4525
 //#define MS4525_BUS I2C_DEVICE_EXT
+#endif
 
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_INSTANCE     SPI3
@@ -78,8 +107,8 @@
 #define VBUS_SENSING_PIN        PC5
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
+#define UART1_RX_PIN            PA10
-#define UART1_TX_PIN PA9
+#define UART1_TX_PIN            PA9
 #define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART3
@@ -106,7 +135,7 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
 
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN   PC1
@@ -126,7 +155,7 @@
 #define WS2811_DMA_FLAG                 DMA_FLAG_TCIF4
 #define WS2811_DMA_IT                   DMA_IT_TCIF4
 
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
@@ -140,7 +169,12 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
 
+#ifdef REVOLT
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#else
 #define USABLE_TIMER_CHANNEL_COUNT 12
+#endif
+
 #define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )

src/main/target/REVO/target.mk

@@ -3,5 +3,7 @@ FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
             drivers/barometer_ms5611.c \
             drivers/compass_hmc5883l.c