REFACTOR: moving timer definitions to MCU locations. (#12397)

* REFACTOR: moving timer definitions to MCU locations.

* Now that the MCU directory needs to be included in the search path for includes, no need for target.h entry if filenaming is consistent.

* SITL needs the empty include.

make/mcu/AT32F4.mk

@@ -0,0 +1,6 @@
+#
+# AT32F4 Make file include
+#
+
+INCLUDE_DIRS    := $(INCLUDE_DIRS) \
+                   $(ROOT)/src/main/drivers/at32

make/mcu/STM32F4.mk

@@ -94,6 +94,9 @@ endif
 #CMSIS
 VPATH           := $(VPATH):$(CMSIS_DIR)/Core/Include:$(ROOT)/lib/main/STM32F4/Drivers/CMSIS/Device/ST/STM32F4xx
 
+INCLUDE_DIRS    := $(INCLUDE_DIRS) \
+                   $(ROOT)/src/main/drivers/stm32
+
 ifeq ($(PERIPH_DRIVER), HAL)
 CMSIS_SRC       :=
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
@@ -155,6 +158,7 @@ MCU_COMMON_SRC = \
             drivers/stm32/bus_i2c_stm32f4xx.c \
             drivers/stm32/bus_spi_stdperiph.c \
             drivers/stm32/debug.c \
+            drivers/stm32/dma_reqmap_mcu.c \
             drivers/stm32/dma_stm32f4xx.c \
             drivers/stm32/dshot_bitbang.c \
             drivers/stm32/dshot_bitbang_stdperiph.c \

make/mcu/STM32F7.mk

@@ -108,6 +108,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBMSC_DIR)/Inc \
                    $(CMSIS_DIR)/Core/Include \
                    $(ROOT)/lib/main/STM32F7/Drivers/CMSIS/Device/ST/STM32F7xx/Include \
+                   $(ROOT)/src/main/drivers/stm32 \
                    $(ROOT)/src/main/drivers/stm32/vcp_hal
 
 #Flags
@@ -165,6 +166,7 @@ MCU_COMMON_SRC = \
             drivers/stm32/bus_i2c_hal.c \
             drivers/stm32/bus_spi_ll.c \
             drivers/stm32/debug.c \
+            drivers/stm32/dma_reqmap_mcu.c \
             drivers/stm32/dma_stm32f7xx.c \
             drivers/stm32/dshot_bitbang_ll.c \
             drivers/stm32/dshot_bitbang.c \

make/mcu/STM32G4.mk

@@ -111,6 +111,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBMSC_DIR)/Inc \
                    $(CMSIS_DIR)/Core/Include \
                    $(ROOT)/lib/main/STM32G4/Drivers/CMSIS/Device/ST/STM32G4xx/Include \
+                   $(ROOT)/src/main/drivers/stm32 \
                    $(ROOT)/src/main/drivers/stm32/vcp_hal
 
 #Flags
@@ -151,6 +152,7 @@ MCU_COMMON_SRC = \
             drivers/stm32/bus_i2c_hal.c \
             drivers/stm32/bus_spi_ll.c \
             drivers/stm32/debug.c \
+            drivers/stm32/dma_reqmap_mcu.c \
             drivers/stm32/dma_stm32g4xx.c \
             drivers/stm32/dshot_bitbang_ll.c \
             drivers/stm32/dshot_bitbang.c \

make/mcu/STM32H7.mk

@@ -131,6 +131,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBMSC_DIR)/Inc \
                    $(CMSIS_DIR)/Core/Include \
                    $(ROOT)/lib/main/STM32H7/Drivers/CMSIS/Device/ST/STM32H7xx/Include \
+                   $(ROOT)/src/main/drivers/stm32 \
                    $(ROOT)/src/main/drivers/stm32/vcp_hal
 
 #Flags
@@ -307,6 +308,7 @@ MCU_COMMON_SRC = \
             drivers/stm32/bus_quadspi_hal.c \
             drivers/stm32/bus_octospi_stm32h7xx.c \
             drivers/stm32/debug.c \
+            drivers/stm32/dma_reqmap_mcu.c \
             drivers/stm32/dma_stm32h7xx.c \
             drivers/stm32/dshot_bitbang_ll.c \
             drivers/stm32/dshot_bitbang.c \

make/source.mk

@@ -29,7 +29,6 @@ COMMON_SRC = \
             drivers/display.c \
             drivers/display_canvas.c \
             drivers/dma_common.c \
-            drivers/dma_reqmap.c \
             drivers/io.c \
             drivers/light_led.c \
             drivers/mco.c \

src/main/drivers/at32/dma_reqmap_mcu.c

@@ -0,0 +1,286 @@
+/*
+ * 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/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_DMA_SPEC
+
+#include "timer_def.h"
+#include "drivers/adc.h"
+#include "drivers/bus_spi.h"
+#include "drivers/dma_reqmap.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+
+#include "pg/timerio.h"
+
+typedef struct dmaPeripheralMapping_s {
+    dmaPeripheral_e device;
+    uint8_t index;
+    uint8_t dmaRequest;
+} dmaPeripheralMapping_t;
+
+typedef struct dmaTimerMapping_s {
+    TIM_TypeDef *tim;
+    uint8_t channel;
+    uint8_t dmaRequest;
+} dmaTimerMapping_t;
+
+#define REQMAP_SGL(periph) { DMA_PERIPH_ ## periph, 0, DMA_REQUEST_ ## periph }
+#define REQMAP(periph, device) { DMA_PERIPH_ ## periph, periph ## DEV_ ## device, DMA_REQUEST_ ## periph ## device }
+#define REQMAP_DIR(periph, device, dir) { DMA_PERIPH_ ## periph ## _ ## dir, periph ## DEV_ ## device, DMA_REQUEST_ ## periph ## device ## _ ## dir }
+#define REQMAP_TIMUP(periph, timno) { DMA_PERIPH_TIMUP, timno - 1, DMAMUX_DMAREQ_ID_ ## TMR ## timno ## _OVERFLOW }
+
+#define DMA_REQUEST_UART1_RX DMAMUX_DMAREQ_ID_USART1_RX
+#define DMA_REQUEST_UART1_TX DMAMUX_DMAREQ_ID_USART1_TX
+#define DMA_REQUEST_UART2_RX DMAMUX_DMAREQ_ID_USART2_RX
+#define DMA_REQUEST_UART2_TX DMAMUX_DMAREQ_ID_USART2_TX
+#define DMA_REQUEST_UART3_RX DMAMUX_DMAREQ_ID_USART3_RX
+#define DMA_REQUEST_UART3_TX DMAMUX_DMAREQ_ID_USART3_TX
+#define DMA_REQUEST_UART4_RX DMAMUX_DMAREQ_ID_UART4_RX
+#define DMA_REQUEST_UART4_TX DMAMUX_DMAREQ_ID_UART4_TX
+#define DMA_REQUEST_UART5_RX DMAMUX_DMAREQ_ID_UART5_RX
+#define DMA_REQUEST_UART5_TX DMAMUX_DMAREQ_ID_UART5_TX
+
+#define DMA_REQUEST_UART6_RX DMAMUX_DMAREQ_ID_USART6_RX
+#define DMA_REQUEST_UART6_TX DMAMUX_DMAREQ_ID_USART6_TX
+
+// Resolve our preference for MOSI/MISO rather than TX/RX
+#define DMA_REQUEST_SPI1_MOSI DMAMUX_DMAREQ_ID_SPI1_TX
+#define DMA_REQUEST_SPI1_MISO DMAMUX_DMAREQ_ID_SPI1_RX
+#define DMA_REQUEST_SPI2_MOSI DMAMUX_DMAREQ_ID_SPI2_TX
+#define DMA_REQUEST_SPI2_MISO DMAMUX_DMAREQ_ID_SPI2_RX
+#define DMA_REQUEST_SPI3_MOSI DMAMUX_DMAREQ_ID_SPI3_TX
+#define DMA_REQUEST_SPI3_MISO DMAMUX_DMAREQ_ID_SPI3_RX
+#define DMA_REQUEST_SPI4_MOSI DMAMUX_DMAREQ_ID_SPI4_TX
+#define DMA_REQUEST_SPI4_MISO DMAMUX_DMAREQ_ID_SPI4_RX
+
+#define DMA_REQUEST_ADC1 DMAMUX_DMAREQ_ID_ADC1
+#define DMA_REQUEST_ADC2 DMAMUX_DMAREQ_ID_ADC2
+#define DMA_REQUEST_ADC3 DMAMUX_DMAREQ_ID_ADC3
+
+static const dmaPeripheralMapping_t dmaPeripheralMapping[] = {
+#ifdef USE_SPI
+    REQMAP_DIR(SPI, 1, MOSI),
+    REQMAP_DIR(SPI, 1, MISO),
+    REQMAP_DIR(SPI, 2, MOSI),
+    REQMAP_DIR(SPI, 2, MISO),
+    REQMAP_DIR(SPI, 3, MOSI),
+    REQMAP_DIR(SPI, 3, MISO),
+    REQMAP_DIR(SPI, 4, MOSI),
+    REQMAP_DIR(SPI, 4, MISO),
+#endif // USE_SPI
+
+#ifdef USE_ADC
+    REQMAP(ADC, 1),
+    REQMAP(ADC, 2),
+    REQMAP(ADC, 3),
+#endif
+
+#ifdef USE_UART
+    REQMAP_DIR(UART, 1, TX),
+    REQMAP_DIR(UART, 1, RX),
+    REQMAP_DIR(UART, 2, TX),
+    REQMAP_DIR(UART, 2, RX),
+    REQMAP_DIR(UART, 3, TX),
+    REQMAP_DIR(UART, 3, RX),
+    REQMAP_DIR(UART, 4, TX),
+    REQMAP_DIR(UART, 4, RX),
+    REQMAP_DIR(UART, 5, TX),
+    REQMAP_DIR(UART, 5, RX),
+    REQMAP_DIR(UART, 6, TX),
+    REQMAP_DIR(UART, 6, RX),
+#endif
+
+#ifdef USE_TIMER
+    REQMAP_TIMUP(TIMUP, 1),
+    REQMAP_TIMUP(TIMUP, 2),
+    REQMAP_TIMUP(TIMUP, 3),
+    REQMAP_TIMUP(TIMUP, 4),
+    REQMAP_TIMUP(TIMUP, 5),
+    REQMAP_TIMUP(TIMUP, 6),
+    REQMAP_TIMUP(TIMUP, 7),
+    REQMAP_TIMUP(TIMUP, 8),
+    REQMAP_TIMUP(TIMUP, 20),
+#endif
+};
+
+#undef REQMAP_TIMUP
+#undef REQMAP
+#undef REQMAP_SGL
+#undef REQMAP_DIR
+
+#define TC(chan) DEF_TIM_CHANNEL(CH_ ## chan)
+
+#define REQMAP_TIM(tim, chan) { tim, TC(chan), DMAMUX_DMAREQ_ID_ ## tim ## _ ## chan }
+
+static const dmaTimerMapping_t dmaTimerMapping[] = {
+    REQMAP_TIM(TMR1, CH1),
+    REQMAP_TIM(TMR1, CH2),
+    REQMAP_TIM(TMR1, CH3),
+    REQMAP_TIM(TMR1, CH4),
+    REQMAP_TIM(TMR2, CH1),
+    REQMAP_TIM(TMR2, CH2),
+    REQMAP_TIM(TMR2, CH3),
+    REQMAP_TIM(TMR2, CH4),
+    REQMAP_TIM(TMR3, CH1),
+    REQMAP_TIM(TMR3, CH2),
+    REQMAP_TIM(TMR3, CH3),
+    REQMAP_TIM(TMR3, CH4),
+    REQMAP_TIM(TMR4, CH1),
+    REQMAP_TIM(TMR4, CH2),
+    REQMAP_TIM(TMR4, CH3),
+    REQMAP_TIM(TMR4, CH4),
+    REQMAP_TIM(TMR5, CH1),
+    REQMAP_TIM(TMR5, CH2),
+    REQMAP_TIM(TMR5, CH3),
+    REQMAP_TIM(TMR5, CH4),
+    REQMAP_TIM(TMR8, CH1),
+    REQMAP_TIM(TMR8, CH2),
+    REQMAP_TIM(TMR8, CH3),
+    REQMAP_TIM(TMR8, CH4),
+    REQMAP_TIM(TMR20, CH1),
+    REQMAP_TIM(TMR20, CH2),
+    REQMAP_TIM(TMR20, CH3),
+    REQMAP_TIM(TMR20, CH4),
+    // XXX Check non-CH1 for TIM15,16,17 and 20
+};
+
+#undef TC
+#undef REQMAP_TIM
+
+#define DMA(d, c) { DMA_CODE(d, 0, c), (dmaResource_t *) DMA ## d ## _CHANNEL ## c , 0 }
+
+static dmaChannelSpec_t dmaChannelSpec[MAX_PERIPHERAL_DMA_OPTIONS] = {
+    DMA(1, 1),
+    DMA(1, 2),
+    DMA(1, 3),
+    DMA(1, 4),
+    DMA(1, 5),
+    DMA(1, 6),
+    DMA(1, 7),
+    DMA(2, 1),
+    DMA(2, 2),
+    DMA(2, 3),
+    DMA(2, 4),
+    DMA(2, 5),
+    DMA(2, 6),
+    DMA(2, 7),
+};
+
+#undef DMA
+
+static void dmaSetupRequest(dmaChannelSpec_t *dmaSpec, uint8_t request)
+{
+    dmaSpec->dmaMuxId = request;
+    dmaCode_t code = dmaSpec->code;
+    dmaSpec->code = DMA_CODE(DMA_CODE_CONTROLLER(code), DMA_CODE_STREAM(code), dmaSpec->dmaMuxId);
+}
+
+const dmaChannelSpec_t *dmaGetChannelSpecByPeripheral(dmaPeripheral_e device, uint8_t index, int8_t opt)
+{
+    if (opt < 0 || opt >= MAX_PERIPHERAL_DMA_OPTIONS) {
+        return NULL;
+    }
+
+    for (unsigned i = 0 ; i < ARRAYLEN(dmaPeripheralMapping) ; i++) {
+        const dmaPeripheralMapping_t *periph = &dmaPeripheralMapping[i];
+        if (periph->device == device && periph->index == index) {
+            dmaChannelSpec_t *dmaSpec = &dmaChannelSpec[opt];
+            dmaSetupRequest(dmaSpec, periph->dmaRequest);
+            return dmaSpec;
+        }
+    }
+
+    return NULL;
+}
+
+dmaoptValue_t dmaoptByTag(ioTag_t ioTag)
+{
+#ifdef USE_TIMER_MGMT
+    for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
+        if (timerIOConfig(i)->ioTag == ioTag) {
+            return timerIOConfig(i)->dmaopt;
+        }
+    }
+#else
+    UNUSED(ioTag);
+#endif
+
+    return DMA_OPT_UNUSED;
+}
+
+const dmaChannelSpec_t *dmaGetChannelSpecByTimerValue(TIM_TypeDef *tim, uint8_t channel, dmaoptValue_t dmaopt)
+{
+    if (dmaopt < 0 || dmaopt >= MAX_TIMER_DMA_OPTIONS) {
+        return NULL;
+    }
+
+    for (unsigned i = 0 ; i < ARRAYLEN(dmaTimerMapping) ; i++) {
+        const dmaTimerMapping_t *timerMapping = &dmaTimerMapping[i];
+        if (timerMapping->tim == tim && timerMapping->channel == channel) {
+            dmaChannelSpec_t *dmaSpec = &dmaChannelSpec[dmaopt];
+            dmaSetupRequest(dmaSpec, timerMapping->dmaRequest);
+            return dmaSpec;
+        }
+    }
+
+    return NULL;
+}
+
+const dmaChannelSpec_t *dmaGetChannelSpecByTimer(const timerHardware_t *timer)
+{
+    if (!timer) {
+        return NULL;
+    }
+
+    dmaoptValue_t dmaopt = dmaoptByTag(timer->tag);
+    return dmaGetChannelSpecByTimerValue(timer->tim, timer->channel, dmaopt);
+}
+
+// dmaGetOptionByTimer is called by pgResetFn_timerIOConfig to find out dmaopt for pre-configured timer.
+
+dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
+{
+    for (unsigned opt = 0; opt < ARRAYLEN(dmaChannelSpec); opt++) {
+        if (timer->dmaRefConfigured == dmaChannelSpec[opt].ref) {
+                return (dmaoptValue_t)opt;
+        }
+    }
+
+    return DMA_OPT_UNUSED;
+}
+
+// A variant of dmaGetOptionByTimer that looks for matching dmaTimUPRef
+dmaoptValue_t dmaGetUpOptionByTimer(const timerHardware_t *timer)
+{
+    for (unsigned opt = 0; opt < ARRAYLEN(dmaChannelSpec); opt++) {
+        if (timer->dmaTimUPRef == dmaChannelSpec[opt].ref) {
+                return (dmaoptValue_t)opt;
+        }
+    }
+
+    return DMA_OPT_UNUSED;
+}
+
+#endif // USE_DMA_SPEC

src/main/drivers/at32/dma_reqmap_mcu.h

@@ -0,0 +1,27 @@
+/*
+ * 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 MAX_PERIPHERAL_DMA_OPTIONS  14
+#define MAX_TIMER_DMA_OPTIONS       22
+
+#define USE_DMA_MUX

src/main/drivers/at32/timer_at32f43x.c

@@ -24,10 +24,9 @@
 
 #include "common/utils.h"
 
+#include "timer_def.h"
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/timer_def.h"
-
 #include "drivers/rcc.h"
 #include "drivers/timer.h"
 

src/main/drivers/at32/timer_def.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * 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.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * 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
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/main/drivers/dma_reqmap.h

@@ -25,15 +25,17 @@
 #include "drivers/dma.h"
 #include "drivers/timer.h"
 
+#include "dma_reqmap_mcu.h"
+
 typedef uint16_t dmaCode_t;
 
 typedef struct dmaChannelSpec_s {
     dmaCode_t             code;
     dmaResource_t         *ref;
-#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
+#if defined(USE_DMA_MUX)
-    uint32_t              channel;
-#elif defined(AT32F4)
     uint32_t              dmaMuxId;
+#else
+    uint32_t              channel;
 #endif
 } dmaChannelSpec_t;
 
@@ -57,17 +59,6 @@ typedef int8_t dmaoptValue_t;
 
 #define DMA_OPT_UNUSED (-1)
 
-#if defined(STM32H7) || defined(STM32G4)
-#define MAX_PERIPHERAL_DMA_OPTIONS 16
-#define MAX_TIMER_DMA_OPTIONS 16
-#elif defined(AT32F4)
-#define MAX_PERIPHERAL_DMA_OPTIONS 14
-#define MAX_TIMER_DMA_OPTIONS 22
-#else
-#define MAX_PERIPHERAL_DMA_OPTIONS 2
-#define MAX_TIMER_DMA_OPTIONS 3
-#endif
-
 struct timerHardware_s;
 
 dmaoptValue_t dmaoptByTag(ioTag_t ioTag);

src/main/drivers/stm32/dma_reqmap_mcu.c

@@ -24,20 +24,19 @@
 
 #ifdef USE_DMA_SPEC
 
+#include "timer_def.h"
 #include "drivers/adc.h"
 #include "drivers/bus_spi.h"
+#include "drivers/dma_reqmap.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
-#include "drivers/timer_def.h"
 
 #include "pg/timerio.h"
 
-#include "dma_reqmap.h"
-
 typedef struct dmaPeripheralMapping_s {
     dmaPeripheral_e device;
     uint8_t index;
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
     uint8_t dmaRequest;
 #else
     dmaChannelSpec_t channelSpec[MAX_PERIPHERAL_DMA_OPTIONS];
@@ -47,161 +46,13 @@ typedef struct dmaPeripheralMapping_s {
 typedef struct dmaTimerMapping_s {
     TIM_TypeDef *tim;
     uint8_t channel;
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
     uint8_t dmaRequest;
 #else
     dmaChannelSpec_t channelSpec[MAX_TIMER_DMA_OPTIONS];
 #endif
 } dmaTimerMapping_t;
 
-#if defined(AT32F43x)
-
-#define REQMAP_SGL(periph) { DMA_PERIPH_ ## periph, 0, DMA_REQUEST_ ## periph }
-#define REQMAP(periph, device) { DMA_PERIPH_ ## periph, periph ## DEV_ ## device, DMA_REQUEST_ ## periph ## device }
-#define REQMAP_DIR(periph, device, dir) { DMA_PERIPH_ ## periph ## _ ## dir, periph ## DEV_ ## device, DMA_REQUEST_ ## periph ## device ## _ ## dir }
-#define REQMAP_TIMUP(periph, timno) { DMA_PERIPH_TIMUP, timno - 1, DMAMUX_DMAREQ_ID_ ## TMR ## timno ## _OVERFLOW }
-
-#define DMA_REQUEST_UART1_RX DMAMUX_DMAREQ_ID_USART1_RX
-#define DMA_REQUEST_UART1_TX DMAMUX_DMAREQ_ID_USART1_TX
-#define DMA_REQUEST_UART2_RX DMAMUX_DMAREQ_ID_USART2_RX
-#define DMA_REQUEST_UART2_TX DMAMUX_DMAREQ_ID_USART2_TX
-#define DMA_REQUEST_UART3_RX DMAMUX_DMAREQ_ID_USART3_RX
-#define DMA_REQUEST_UART3_TX DMAMUX_DMAREQ_ID_USART3_TX
-#define DMA_REQUEST_UART4_RX DMAMUX_DMAREQ_ID_UART4_RX
-#define DMA_REQUEST_UART4_TX DMAMUX_DMAREQ_ID_UART4_TX
-#define DMA_REQUEST_UART5_RX DMAMUX_DMAREQ_ID_UART5_RX
-#define DMA_REQUEST_UART5_TX DMAMUX_DMAREQ_ID_UART5_TX
-
-#define DMA_REQUEST_UART6_RX DMAMUX_DMAREQ_ID_USART6_RX
-#define DMA_REQUEST_UART6_TX DMAMUX_DMAREQ_ID_USART6_TX
-
-// Resolve our preference for MOSI/MISO rather than TX/RX
-#define DMA_REQUEST_SPI1_MOSI DMAMUX_DMAREQ_ID_SPI1_TX
-#define DMA_REQUEST_SPI1_MISO DMAMUX_DMAREQ_ID_SPI1_RX
-#define DMA_REQUEST_SPI2_MOSI DMAMUX_DMAREQ_ID_SPI2_TX
-#define DMA_REQUEST_SPI2_MISO DMAMUX_DMAREQ_ID_SPI2_RX
-#define DMA_REQUEST_SPI3_MOSI DMAMUX_DMAREQ_ID_SPI3_TX
-#define DMA_REQUEST_SPI3_MISO DMAMUX_DMAREQ_ID_SPI3_RX
-#define DMA_REQUEST_SPI4_MOSI DMAMUX_DMAREQ_ID_SPI4_TX
-#define DMA_REQUEST_SPI4_MISO DMAMUX_DMAREQ_ID_SPI4_RX
-
-#define DMA_REQUEST_ADC1 DMAMUX_DMAREQ_ID_ADC1
-#define DMA_REQUEST_ADC2 DMAMUX_DMAREQ_ID_ADC2
-#define DMA_REQUEST_ADC3 DMAMUX_DMAREQ_ID_ADC3
-
-static const dmaPeripheralMapping_t dmaPeripheralMapping[] = {
-#ifdef USE_SPI
-    REQMAP_DIR(SPI, 1, MOSI),
-    REQMAP_DIR(SPI, 1, MISO),
-    REQMAP_DIR(SPI, 2, MOSI),
-    REQMAP_DIR(SPI, 2, MISO),
-    REQMAP_DIR(SPI, 3, MOSI),
-    REQMAP_DIR(SPI, 3, MISO),
-    REQMAP_DIR(SPI, 4, MOSI),
-    REQMAP_DIR(SPI, 4, MISO),
-#endif // USE_SPI
-
-#ifdef USE_ADC
-    REQMAP(ADC, 1),
-    REQMAP(ADC, 2),
-    REQMAP(ADC, 3),
-#endif
-
-#ifdef USE_UART
-    REQMAP_DIR(UART, 1, TX),
-    REQMAP_DIR(UART, 1, RX),
-    REQMAP_DIR(UART, 2, TX),
-    REQMAP_DIR(UART, 2, RX),
-    REQMAP_DIR(UART, 3, TX),
-    REQMAP_DIR(UART, 3, RX),
-    REQMAP_DIR(UART, 4, TX),
-    REQMAP_DIR(UART, 4, RX),
-    REQMAP_DIR(UART, 5, TX),
-    REQMAP_DIR(UART, 5, RX),
-    REQMAP_DIR(UART, 6, TX),
-    REQMAP_DIR(UART, 6, RX),
-#endif
-
-#ifdef USE_TIMER
-    REQMAP_TIMUP(TIMUP, 1),
-    REQMAP_TIMUP(TIMUP, 2),
-    REQMAP_TIMUP(TIMUP, 3),
-    REQMAP_TIMUP(TIMUP, 4),
-    REQMAP_TIMUP(TIMUP, 5),
-    REQMAP_TIMUP(TIMUP, 6),
-    REQMAP_TIMUP(TIMUP, 7),
-    REQMAP_TIMUP(TIMUP, 8),
-    REQMAP_TIMUP(TIMUP, 20),
-#endif
-};
-
-#undef REQMAP_TIMUP
-#undef REQMAP
-#undef REQMAP_SGL
-#undef REQMAP_DIR
-
-#define TC(chan) DEF_TIM_CHANNEL(CH_ ## chan) //Tc 还不能映射
-
-#define REQMAP_TIM(tim, chan) { tim, TC(chan), DMAMUX_DMAREQ_ID_ ## tim ## _ ## chan }
-
-static const dmaTimerMapping_t dmaTimerMapping[] = {
-    REQMAP_TIM(TMR1, CH1),
-    REQMAP_TIM(TMR1, CH2),
-    REQMAP_TIM(TMR1, CH3),
-    REQMAP_TIM(TMR1, CH4),
-    REQMAP_TIM(TMR2, CH1),
-    REQMAP_TIM(TMR2, CH2),
-    REQMAP_TIM(TMR2, CH3),
-    REQMAP_TIM(TMR2, CH4),
-    REQMAP_TIM(TMR3, CH1),
-    REQMAP_TIM(TMR3, CH2),
-    REQMAP_TIM(TMR3, CH3),
-    REQMAP_TIM(TMR3, CH4),
-    REQMAP_TIM(TMR4, CH1),
-    REQMAP_TIM(TMR4, CH2),
-    REQMAP_TIM(TMR4, CH3),
-    REQMAP_TIM(TMR4, CH4),
-    REQMAP_TIM(TMR5, CH1),
-    REQMAP_TIM(TMR5, CH2),
-    REQMAP_TIM(TMR5, CH3),
-    REQMAP_TIM(TMR5, CH4),
-    REQMAP_TIM(TMR8, CH1),
-    REQMAP_TIM(TMR8, CH2),
-    REQMAP_TIM(TMR8, CH3),
-    REQMAP_TIM(TMR8, CH4),
-    REQMAP_TIM(TMR20, CH1),
-    REQMAP_TIM(TMR20, CH2),
-    REQMAP_TIM(TMR20, CH3),
-    REQMAP_TIM(TMR20, CH4),
-    // XXX Check non-CH1 for TIM15,16,17 and 20
-};
-
-#undef TC
-#undef REQMAP_TIM
-
-#define DMA(d, c) { DMA_CODE(d, 0, c), (dmaResource_t *) DMA ## d ## _CHANNEL ## c , 0 }
-
-static dmaChannelSpec_t dmaChannelSpec[MAX_PERIPHERAL_DMA_OPTIONS] = {
-    DMA(1, 1),
-    DMA(1, 2),
-    DMA(1, 3),
-    DMA(1, 4),
-    DMA(1, 5),
-    DMA(1, 6),
-    DMA(1, 7),
-    DMA(2, 1),
-    DMA(2, 2),
-    DMA(2, 3),
-    DMA(2, 4),
-    DMA(2, 5),
-    DMA(2, 6),
-    DMA(2, 7),
-};
-
-#undef DMA
-
-#endif
-
 #if defined(STM32G4)
 
 #define REQMAP_SGL(periph) { DMA_PERIPH_ ## periph, 0, DMA_REQUEST_ ## periph }
@@ -628,15 +479,6 @@ static void dmaSetupRequest(dmaChannelSpec_t *dmaSpec, uint8_t request)
 }
 #endif
 
-#if defined(AT32F4)
-static void dmaSetupRequest(dmaChannelSpec_t *dmaSpec, uint8_t request)
-{
-    dmaSpec->dmaMuxId = request;
-    dmaCode_t code = dmaSpec->code;
-    dmaSpec->code = DMA_CODE(DMA_CODE_CONTROLLER(code), DMA_CODE_STREAM(code), dmaSpec->dmaMuxId);
-}
-#endif
-
 const dmaChannelSpec_t *dmaGetChannelSpecByPeripheral(dmaPeripheral_e device, uint8_t index, int8_t opt)
 {
     if (opt < 0 || opt >= MAX_PERIPHERAL_DMA_OPTIONS) {
@@ -645,7 +487,7 @@ const dmaChannelSpec_t *dmaGetChannelSpecByPeripheral(dmaPeripheral_e device, ui
 
     for (unsigned i = 0 ; i < ARRAYLEN(dmaPeripheralMapping) ; i++) {
         const dmaPeripheralMapping_t *periph = &dmaPeripheralMapping[i];
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
         if (periph->device == device && periph->index == index) {
             dmaChannelSpec_t *dmaSpec = &dmaChannelSpec[opt];
             dmaSetupRequest(dmaSpec, periph->dmaRequest);
@@ -684,7 +526,7 @@ const dmaChannelSpec_t *dmaGetChannelSpecByTimerValue(TIM_TypeDef *tim, uint8_t
 
     for (unsigned i = 0 ; i < ARRAYLEN(dmaTimerMapping) ; i++) {
         const dmaTimerMapping_t *timerMapping = &dmaTimerMapping[i];
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
         if (timerMapping->tim == tim && timerMapping->channel == channel) {
             dmaChannelSpec_t *dmaSpec = &dmaChannelSpec[dmaopt];
             dmaSetupRequest(dmaSpec, timerMapping->dmaRequest);
@@ -714,7 +556,7 @@ const dmaChannelSpec_t *dmaGetChannelSpecByTimer(const timerHardware_t *timer)
 
 dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
 {
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
     for (unsigned opt = 0; opt < ARRAYLEN(dmaChannelSpec); opt++) {
         if (timer->dmaRefConfigured == dmaChannelSpec[opt].ref) {
                 return (dmaoptValue_t)opt;
@@ -741,7 +583,7 @@ dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
     return DMA_OPT_UNUSED;
 }
 
-#if defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
+#if defined(STM32H7) || defined(STM32G4)
 // A variant of dmaGetOptionByTimer that looks for matching dmaTimUPRef
 dmaoptValue_t dmaGetUpOptionByTimer(const timerHardware_t *timer)
 {

src/main/drivers/stm32/dma_reqmap_mcu.h

@@ -0,0 +1,30 @@
+/*
+ * 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
+
+#if defined(STM32H7) || defined(STM32G4)
+#define MAX_PERIPHERAL_DMA_OPTIONS 16
+#define MAX_TIMER_DMA_OPTIONS 16
+#else
+#define MAX_PERIPHERAL_DMA_OPTIONS 2
+#define MAX_TIMER_DMA_OPTIONS 3
+#endif

src/main/drivers/stm32/timer_def.h

@@ -1124,3 +1124,39 @@
 
 #endif
 
+#if defined(STM32F7)
+
+#define FULL_TIMER_CHANNEL_COUNT 78
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11) | TIM_N(12) | TIM_N(13) | TIM_N(14) )
+#define HARDWARE_TIMER_DEFINITION_COUNT 14
+
+#elif defined(STM32F4)
+
+#if defined(STM32F411xE)
+#define FULL_TIMER_CHANNEL_COUNT 59
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(9) | TIM_N(10) | TIM_N(11) )
+#define HARDWARE_TIMER_DEFINITION_COUNT 10
+
+#else
+
+#define FULL_TIMER_CHANNEL_COUNT 78
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11) | TIM_N(12) | TIM_N(13) | TIM_N(14) )
+#define HARDWARE_TIMER_DEFINITION_COUNT 14
+
+#endif //STM32F411xE
+
+#elif defined(STM32H7)
+
+#define FULL_TIMER_CHANNEL_COUNT 87
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(12) | TIM_N(13) | TIM_N(14) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+#define HARDWARE_TIMER_DEFINITION_COUNT 17
+#define TIMUP_TIMERS ( BIT(1) | BIT(2) | BIT(3) | BIT(4) | BIT(5) | BIT(6) | BIT(7) | BIT(8) | BIT(15) | BIT(16) | BIT(17) )
+
+#elif defined(STM32G4)
+
+#define FULL_TIMER_CHANNEL_COUNT 93 // XXX Need review
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17) | TIM_N(20) )
+#define HARDWARE_TIMER_DEFINITION_COUNT 12
+#define TIMUP_TIMERS ( BIT(1) | BIT(2) | BIT(3) | BIT(4) | BIT(5) | BIT(6) | BIT(7) | BIT(8) | BIT(15) | BIT(16) | BIT(17) | BIT(20))
+
+#endif

src/main/drivers/stm32/timer_stm32f4xx.c

@@ -26,7 +26,7 @@
 
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/timer_def.h"
+#include "timer_def.h"
 
 #include "stm32f4xx.h"
 #include "drivers/rcc.h"

src/main/drivers/stm32/timer_stm32f7xx.c

@@ -26,7 +26,7 @@
 
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/timer_def.h"
+#include "timer_def.h"
 
 #include "stm32f7xx.h"
 #include "drivers/rcc.h"

src/main/drivers/stm32/timer_stm32g4xx.c

@@ -26,7 +26,7 @@
 
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/timer_def.h"
+#include "timer_def.h"
 
 #include "stm32g4xx.h"
 #include "drivers/rcc.h"

src/main/drivers/stm32/timer_stm32h7xx.c

@@ -26,7 +26,7 @@
 
 #include "drivers/dma.h"
 #include "drivers/io.h"
-#include "drivers/timer_def.h"
+#include "timer_def.h"
 
 #include "stm32h7xx.h"
 #include "drivers/rcc.h"

src/main/drivers/timer.h

@@ -27,11 +27,8 @@
 #include "drivers/io_types.h"
 #include "drivers/rcc_types.h"
 #include "drivers/resource.h"
-#if defined(USE_ATBSP_DRIVER)
+
-#include "drivers/at32/timer_def_at32.h"
+#include "timer_def.h"
-#else
-#include "drivers/timer_def.h"
-#endif
 
 #include "pg/timerio.h"
 
@@ -86,27 +83,19 @@ typedef struct timerHardware_s {
     uint8_t channel;
     timerUsageFlag_e usageFlags;
     uint8_t output;
-#if defined(USE_TIMER_AF)
     uint8_t alternateFunction;
-#endif
 
 #if defined(USE_TIMER_DMA)
 
 #if defined(USE_DMA_SPEC)
-#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
     dmaResource_t *dmaRefConfigured;
     uint32_t dmaChannelConfigured;
-#endif
 #else // USE_DMA_SPEC
     dmaResource_t *dmaRef;
-#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
     uint32_t dmaChannel; // XXX Can be much smaller (e.g. uint8_t)
-#endif
 #endif // USE_DMA_SPEC
     dmaResource_t *dmaTimUPRef;
-#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4)
     uint32_t dmaTimUPChannel;
-#endif
     uint8_t dmaTimUPIrqHandler;
 #endif
 } timerHardware_t;
@@ -117,77 +106,13 @@ typedef enum {
     TIMER_OUTPUT_N_CHANNEL = (1 << 1),
 } timerFlag_e;
 
-#if defined(STM32F411xE)
-#define HARDWARE_TIMER_DEFINITION_COUNT 10
-#elif defined(STM32F4)
-#define HARDWARE_TIMER_DEFINITION_COUNT 14
-#elif defined(STM32F7)
-#define HARDWARE_TIMER_DEFINITION_COUNT 14
-#elif defined(STM32H7)
-#define HARDWARE_TIMER_DEFINITION_COUNT 17
-#define TIMUP_TIMERS ( BIT(1) | BIT(2) | BIT(3) | BIT(4) | BIT(5) | BIT(6) | BIT(7) | BIT(8) | BIT(15) | BIT(16) | BIT(17) )
-#elif defined(STM32G4)
-#define HARDWARE_TIMER_DEFINITION_COUNT 12
-#define TIMUP_TIMERS ( BIT(1) | BIT(2) | BIT(3) | BIT(4) | BIT(5) | BIT(6) | BIT(7) | BIT(8) | BIT(15) | BIT(16) | BIT(17) | BIT(20))
-#endif
-
 #define MHZ_TO_HZ(x) ((x) * 1000000)
 
-#if defined(USE_TIMER_MGMT)
-#if defined(STM32F4)
-
-#if defined(STM32F411xE)
-#define FULL_TIMER_CHANNEL_COUNT 59
-#else
-#define FULL_TIMER_CHANNEL_COUNT 78
-#endif
-
-#elif defined(STM32F7)
-
-#define FULL_TIMER_CHANNEL_COUNT 78
-
-#elif defined(STM32H7)
-
-#define FULL_TIMER_CHANNEL_COUNT 87
-
-#elif defined(STM32G4)
-
-#define FULL_TIMER_CHANNEL_COUNT 93 // XXX Need review
-
-#endif
-
 extern const timerHardware_t fullTimerHardware[];
 
 #define TIMER_CHANNEL_COUNT FULL_TIMER_CHANNEL_COUNT
 #define TIMER_HARDWARE fullTimerHardware
 
-#if defined(STM32F7) || defined(STM32F4)
-
-#if defined(STM32F411xE)
-#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(9) | TIM_N(10) | TIM_N(11) )
-#else
-#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11) | TIM_N(12) | TIM_N(13) | TIM_N(14) )
-#endif
-
-#elif defined(STM32H7)
-
-#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(12) | TIM_N(13) | TIM_N(14) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
-
-#elif defined(STM32G4)
-
-#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(6) | TIM_N(7) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17) | TIM_N(20) )
-
-#endif
-
-#else
-
-#ifdef USABLE_TIMER_CHANNEL_COUNT
-#define TIMER_CHANNEL_COUNT USABLE_TIMER_CHANNEL_COUNT
-#define TIMER_HARDWARE timerHardware
-#endif
-
-#endif // USE_TIMER_MGMT
-
 extern const timerDef_t timerDefinitions[];
 
 typedef enum {

src/main/platform.h

@@ -32,6 +32,9 @@
 #include "config.h"
 #endif
 
+// MCU specific platform from drivers/XX
+#include "platform_mcu.h"
+
 #include "target.h"
 #include "target/common_post.h"
 #include "target/common_defaults_post.h"

src/main/target/AT32F435/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/at32/platform_at32.h"
-
 #define TARGET_BOARD_IDENTIFIER "A435"
 
 #define USBD_PRODUCT_STRING     "Betaflight AT32F435"

src/main/target/SITL/dma_reqmap_mcu.h

@@ -0,0 +1,22 @@
+/*
+ * 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

src/main/target/SITL/platform_mcu.h

@@ -0,0 +1,22 @@
+/*
+ * 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

src/main/target/SITL/sitl.c

@@ -39,7 +39,7 @@
 #include "drivers/light_led.h"
 
 #include "drivers/timer.h"
-#include "drivers/timer_def.h"
+#include "timer_def.h"
 
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/barometer/barometer_fake.h"
@@ -92,6 +92,7 @@ int targetParseArgs(int argc, char * argv[])
            simulator_ip, PORT_PWM, simulator_ip, PORT_PWM_RAW);
     return 0;
 }
+
 int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y);
 
 int lockMainPID(void)
@@ -102,10 +103,12 @@ int lockMainPID(void)
 #define RAD2DEG (180.0 / M_PI)
 #define ACC_SCALE (256 / 9.80665)
 #define GYRO_SCALE (16.4)
+
 void sendMotorUpdate(void)
 {
     udpSend(&pwmLink, &pwmPkt, sizeof(servo_packet));
 }
+
 void updateState(const fdm_packet* pkt)
 {
     static double last_timestamp = 0; // in seconds

src/main/target/SITL/timer_def.h

@@ -0,0 +1,22 @@
+/*
+ * 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

src/main/target/STM32F405/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "S405"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32F405"

src/main/target/STM32F411/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "S411"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32F411"

src/main/target/STM32F745/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "S745"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32F745"

src/main/target/STM32F7X2/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "S7X2"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32F7x2"

src/main/target/STM32G47X/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "SG47"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32G47x"

src/main/target/STM32H723/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #ifndef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "SH72"
 #endif

src/main/target/STM32H730/target.h

@@ -35,8 +35,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #ifndef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "S730"
 #endif

src/main/target/STM32H743/target.h

@@ -20,8 +20,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #define TARGET_BOARD_IDENTIFIER "SH74"
 
 #define USBD_PRODUCT_STRING     "Betaflight STM32H743"

src/main/target/STM32H750/target.h

@@ -35,8 +35,6 @@
 
 #pragma once
 
-#include "drivers/stm32/platform_stm32.h"
-
 #ifndef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "S750"
 #endif

src/test/unit/dma_reqmap_mcu.h

@@ -0,0 +1,22 @@
+/*
+ * 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

src/test/unit/ledstrip_unittest.cc

@@ -36,7 +36,7 @@ extern "C" {
     #include "drivers/io.h"
     #include "drivers/light_ws2811strip.h"
     #include "drivers/timer.h"
-    #include "drivers/timer_def.h"
+    #include "timer_def.h"
 
     #include "config/config.h"
     #include "fc/rc_controls.h"

src/test/unit/timer_def.h

@@ -0,0 +1,22 @@
+/*
+ * 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