Further work on gyro SPI selection

Makefile

@@ -113,31 +113,33 @@ VALID_TARGETS  := $(sort $(VALID_TARGETS))
 GROUP_1_TARGETS := \
 	AFROMINI \
 	AIORACERF3 \
-	AIR32  \
+	AIR32 \
-	AIRBOTF4  \
+	AIRBOTF4 \
-	AIRHEROF3  \
+	AIRBOTF4SD \
-	ALIENFLIGHTF1  \
+	AIRHEROF3 \
+	ALIENFLIGHTF1 \
 	ALIENFLIGHTF3 \
 	ALIENFLIGHTF4 \
 	ALIENFLIGHTNGF7 \
-	ANYFCF7  \
+	ANYFCF7 \
-	BEEBRAIN  \
+	BEEBRAIN \
 	BEEROTORF4 \
 	BETAFLIGHTF3 \
+	BLUEJAYF4 \
 	CC3D \
-	CC3D_OPBL  \
+	CC3D_OPBL \
+
+GROUP_2_TARGETS := \
 	CHEBUZZF3 \
 	CJMCU \
 	CL_RACINGF4 \
 	COLIBRI \
-
-GROUP_2_TARGETS := \
 	COLIBRI_OPBL \
 	COLIBRI_RACE \
 	DOGE \
 	ELLE0 \
 	F4BY \
-	FISHDRONEF4  \
+	FISHDRONEF4 \
 	FLIP32F3OSD \
 	FURYF3 \
 	FURYF4 \
@@ -145,35 +147,35 @@ GROUP_2_TARGETS := \
 	IMPULSERCF3 \
 	IRCFUSIONF3 \
 	ISHAPEDF3 \
-	BLUEJAYF4 \
-	KAKUTEF4 \
-	KISSCC \
 
 GROUP_3_TARGETS := \
+	KAKUTEF4 \
+	KISSCC \
 	KIWIF4 \
 	LUX_RACE \
 	LUXV2_RACE \
 	MICROSCISKY \
-	MOTOLAB  \
+	MOTOLAB \
 	MULTIFLITEPICO \
 	NAZE \
 	NERO \
+	NUCLEOF7 \
 	OMNIBUS \
+	OMNIBUSF4 \
 	OMNIBUSF4SD \
 	PIKOBLX \
 	PLUMF4 \
 	PODIUMF4 \
-	RACEBASE  \
+
+GROUP_4_TARGETS := \
 	RCEXPLORERF3 \
 	REVO \
 	REVO_OPBL \
 	REVOLT \
 	REVONANO \
-
-GROUP_4_TARGETS := \
 	RMDO \
 	SINGULARITY \
-	SIRINFPV   \
+	SIRINFPV \
 	SOULF4 \
 	SPARKY \
 	SPARKY2 \
@@ -181,10 +183,8 @@ GROUP_4_TARGETS := \
 	SPRACINGF3EVO \
 	SPRACINGF3MINI \
 	SPRACINGF3NEO \
-	KROOZX \
-	NUCLEOF7 \
-	OMNIBUSF4 \
 	STM32F3DISCOVERY \
+	TINYBEEF3 \
 
 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 

src/main/drivers/accgyro_mpu.h

@@ -175,9 +175,10 @@ typedef enum {
     MPU_65xx_I2C,
     MPU_65xx_SPI,
     MPU_9250_SPI,
-    ICM_20689_SPI,
+    ICM_20601_SPI,
-    ICM_20608_SPI,
     ICM_20602_SPI,
+    ICM_20608_SPI,
+    ICM_20689_SPI,
     BMI_160_SPI,
 } mpuSensor_e;
 

src/main/drivers/accgyro_mpu6500.h

@@ -20,8 +20,9 @@
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
 #define MPU9255_WHO_AM_I_CONST              (0x73)
-#define ICM20608G_WHO_AM_I_CONST            (0xAF)
+#define ICM20601_WHO_AM_I_CONST             (0xAC)
 #define ICM20602_WHO_AM_I_CONST             (0x12)
+#define ICM20608G_WHO_AM_I_CONST            (0xAF)
 
 #define MPU6500_BIT_RESET                   (0x80)
 

src/main/drivers/accgyro_spi_mpu6500.c

@@ -91,12 +91,15 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus)
     case MPU9255_WHO_AM_I_CONST:
         mpuDetected = MPU_9250_SPI;
         break;
-    case ICM20608G_WHO_AM_I_CONST:
+    case ICM20601_WHO_AM_I_CONST:
-        mpuDetected = ICM_20608_SPI;
+        mpuDetected = ICM_20601_SPI;
         break;
     case ICM20602_WHO_AM_I_CONST:
         mpuDetected = ICM_20602_SPI;
         break;
+    case ICM20608G_WHO_AM_I_CONST:
+        mpuDetected = ICM_20608_SPI;
+        break;
     default:
         mpuDetected = MPU_NONE;
     }

src/main/fc/cli.c

@@ -170,9 +170,11 @@ static const char * const lookupTableAccHardware[] = {
     "MPU6000",
     "MPU6500",
     "MPU9250",
-    "ICM20689",
+    "ICM20601",
     "ICM20602",
-	"BMI160",
+    "ICM20608",
+    "ICM20689",
+    "BMI160",
     "FAKE"
 };
 
@@ -207,8 +209,8 @@ static const char * const sensorTypeNames[] = {
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
 static const char * const sensorHardwareNames[4][16] = {
-    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "ICM20608G", "ICM20602", "BMI160", "FAKE", NULL },
+    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",              "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE", NULL },
-    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "MPU9250", "ICM20608G", "ICM20602", "BMI160", "FAKE", NULL },
+    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
     { "", "None", "HMC5883", "AK8975", "AK8963", NULL }
 };

src/main/sensors/acceleration.c

@@ -214,8 +214,9 @@ retry:
 #endif
         ; // fallthrough
     case ACC_MPU6500:
-    case ACC_ICM20608G:
+    case ACC_ICM20601:
     case ACC_ICM20602:
+    case ACC_ICM20608G:
 #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
         if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
@@ -230,12 +231,15 @@ retry:
             case MPU_9250_SPI:
                 accHardware = ACC_MPU9250;
                 break;
-            case ICM_20608_SPI:
+            case ICM_20601_SPI:
-                accHardware = ACC_ICM20608G;
+                accHardware = ACC_ICM20601;
                 break;
             case ICM_20602_SPI:
                 accHardware = ACC_ICM20602;
                 break;
+            case ICM_20608_SPI:
+                accHardware = ACC_ICM20608G;
+                break;
             default:
                 accHardware = ACC_MPU6500;
             }

src/main/sensors/acceleration.h

@@ -32,10 +32,11 @@ typedef enum {
     ACC_LSM303DLHC,
     ACC_MPU6000,
     ACC_MPU6500,
-    ACC_ICM20689,
     ACC_MPU9250,
-    ACC_ICM20608G,
+    ACC_ICM20601,
     ACC_ICM20602,
+    ACC_ICM20608G,
+    ACC_ICM20689,
     ACC_BMI160,
     ACC_FAKE
 } accelerationSensor_e;

src/main/sensors/gyro.c

@@ -87,7 +87,7 @@ static void *notchFilter2[3];
 
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)  || defined(USE_GYRO_SPI_ICM20689)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601)  || defined(USE_GYRO_SPI_ICM20689)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 4
@@ -111,7 +111,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_soft_notch_cutoff_2 = 100
 );
 
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
+#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
 static const extiConfig_t *selectMPUIntExtiConfig(void)
 {
 #if defined(MPU_INT_EXTI)
@@ -204,8 +204,9 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 
 #if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
     case GYRO_MPU6500:
-    case GYRO_ICM20608G:
+    case GYRO_ICM20601:
     case GYRO_ICM20602:
+    case GYRO_ICM20608G:
 #ifdef USE_GYRO_SPI_MPU6500
         if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
 #else
@@ -215,12 +216,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
             case MPU_9250_SPI:
                 gyroHardware = GYRO_MPU9250;
                 break;
-            case ICM_20608_SPI:
+            case ICM_20601_SPI:
-                gyroHardware = GYRO_ICM20608G;
+                gyroHardware = GYRO_ICM20601;
                 break;
             case ICM_20602_SPI:
                 gyroHardware = GYRO_ICM20602;
                 break;
+            case ICM_20608_SPI:
+                gyroHardware = GYRO_ICM20608G;
+                break;
             default:
                 gyroHardware = GYRO_MPU6500;
             }
@@ -289,7 +293,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 bool gyroInit(void)
 {
     memset(&gyro, 0, sizeof(gyro));
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
+#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
     gyroDev0.mpuIntExtiConfig = selectMPUIntExtiConfig();
 #ifdef USE_DUAL_GYRO
     // set cnsPin using GYRO_n_CS_PIN defined in target.h
@@ -308,9 +312,10 @@ bool gyroInit(void)
     switch (gyroHardware) {
     case GYRO_MPU6500:
     case GYRO_MPU9250:
-    case GYRO_ICM20689:
+    case GYRO_ICM20601:
-    case GYRO_ICM20608G:
     case GYRO_ICM20602:
+    case GYRO_ICM20608G:
+    case GYRO_ICM20689:
         // do nothing, as gyro supports 32kHz
         break;
     default:

src/main/sensors/gyro.h

@@ -32,9 +32,10 @@ typedef enum {
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,
-    GYRO_ICM20689,
+    GYRO_ICM20601,
-    GYRO_ICM20608G,
     GYRO_ICM20602,
+    GYRO_ICM20608G,
+    GYRO_ICM20689,
     GYRO_BMI160,
     GYRO_FAKE
 } gyroSensor_e;

src/main/target/REVO/target.h

@@ -21,6 +21,10 @@
 #define TARGET_BOARD_IDENTIFIER "AIR4"
 #define USBD_PRODUCT_STRING     "AirbotF4"
 
+#elif defined(AIRBOTF4SD)
+#define TARGET_BOARD_IDENTIFIER "A4SD"
+#define USBD_PRODUCT_STRING     "AirbotF4SD"
+
 #elif defined(REVOLT)
 #define TARGET_BOARD_IDENTIFIER "RVLT"
 #define USBD_PRODUCT_STRING     "Revolt"
@@ -53,7 +57,7 @@
 #endif
 
 // Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
-#if defined(AIRBOTF4)
+#if defined(AIRBOTF4) || defined(AIRBOTF4SD)
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
 #elif defined(REVOLT)
@@ -68,7 +72,11 @@
 #endif
 
 // PC0 used as inverter select GPIO
+#ifdef AIRBOTF4SD
+#define INVERTER_PIN_UART6      PD2
+#else
 #define INVERTER_PIN_UART1      PC0
+#endif
 
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
@@ -79,6 +87,15 @@
 #define GYRO
 #define ACC
 
+#ifdef AIRBOTF4SD
+#define USE_GYRO_SPI_ICM20601
+#define ICM20601_CS_PIN         PB13 // served through MPU6500 code
+#define ICM20601_SPI_INSTANCE   SPI1
+#define USE_DUAL_GYRO
+#define GYRO_0_CS_PIN           MPU6000_CS_PIN
+#define GYRO_1_CS_PIN           ICM20601_CS_PIN
+#endif
+
 #if defined(SOULF4)
 #define USE_GYRO_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW180_DEG
@@ -126,15 +143,39 @@
 
 #define BARO
 #define USE_BARO_MS5611
-
 #endif
 
+#if defined(AIRBOTF4SD)
+// SDCARD support for AIRBOTF4SD
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define USE_SDCARD
+#define USE_SDCARD_SPI3
+
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN       PC0
+#define SDCARD_SPI_INSTANCE     SPI3
+#define SDCARD_SPI_CS_PIN       SPI3_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+#else
+
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_INSTANCE     SPI3
-
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
+#endif // AIRBOTF4SD
+
+
 #define USE_VCP
 #if defined(PODIUMF4)
 #define VBUS_SENSING_PIN        PA8
@@ -186,6 +227,10 @@
 #define VBAT_ADC_CHANNEL        ADC_Channel_13
 #endif
 
+#if defined(AIRBOTF4SD)
+#define RSSI_ADC_PIN            PA0
+#endif
+
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #if defined(PODIUMF4)
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
@@ -207,12 +252,11 @@
 #ifdef REVOLT
 #define USABLE_TIMER_CHANNEL_COUNT 11
 #define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(12) )
-#else
+#elif defined(AIRBOTF4) || defined(AIRBOTF4SD)
-#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USABLE_TIMER_CHANNEL_COUNT 13
-#ifdef AIRBOTF4
 #define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(12) )
 #else
+#define USABLE_TIMER_CHANNEL_COUNT 12
 #define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(12) )
-#endif // AIRBOTF4
+#endif
-#endif // REVOLT
 

src/main/target/REVO/target.mk

@@ -1,5 +1,9 @@
 F405_TARGETS   += $(TARGET)
-FEATURES       += VCP ONBOARDFLASH
+ifeq ($(TARGET), AIRBOTF4SD)
+FEATURES       = VCP SDCARD
+else
+FEATURES       = VCP ONBOARDFLASH
+endif
 
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \