diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 6748d79c7a..4f42bb56c0 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -405,18 +405,6 @@ void init(void)
}
#endif
-#ifdef OSD
- if (feature(FEATURE_OSD)) {
-#if defined(USE_MAX7456)
- // if there is a max7456 chip for the OSD then use it, otherwise use MSP
- displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile());
-#elif defined(USE_MSP_DISPLAYPORT)
- displayPort_t *osdDisplayPort = displayPortMspInit();
-#endif
- osdInit(osdDisplayPort);
- }
-#endif
-
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
@@ -461,6 +449,18 @@ void init(void)
rxInit();
+#ifdef OSD
+ if (feature(FEATURE_OSD)) {
+#if defined(USE_MAX7456)
+ // if there is a max7456 chip for the OSD then use it, otherwise use MSP
+ displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile());
+#elif defined(USE_MSP_DISPLAYPORT)
+ displayPort_t *osdDisplayPort = displayPortMspInit();
+#endif
+ osdInit(osdDisplayPort);
+ }
+#endif
+
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit();
diff --git a/src/main/target/KROOZX/config.c b/src/main/target/KROOZX/config.c
new file mode 100755
index 0000000000..6dd1ecef56
--- /dev/null
+++ b/src/main/target/KROOZX/config.c
@@ -0,0 +1,41 @@
+/*
+ * 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 .
+ */
+
+#include
+#include
+
+#include
+
+#include "config/config_master.h"
+
+#define VBAT_SCALE 113
+#define CURRENT_SCALE 1000
+#define CURRENT_OFFSET 0
+
+#define OSD_POS(x,y) (x | (y << 5))
+
+#ifdef TARGET_CONFIG
+void targetConfiguration(master_t *config)
+{
+ config->batteryConfig.vbatscale = VBAT_SCALE;
+ config->batteryConfig.currentMeterScale = CURRENT_SCALE;
+ config->batteryConfig.currentMeterOffset = CURRENT_OFFSET;
+ config->barometerConfig.baro_hardware = 0;
+ config->compassConfig.mag_hardware = 0;
+ config->osdConfig.item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | VISIBLE_FLAG;
+}
+#endif
diff --git a/src/main/target/KROOZX/initialisation.c b/src/main/target/KROOZX/initialisation.c
new file mode 100755
index 0000000000..624615f978
--- /dev/null
+++ b/src/main/target/KROOZX/initialisation.c
@@ -0,0 +1,58 @@
+/*
+ * 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 .
+ */
+
+#include
+#include
+#include "drivers/io.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+
+void targetBusInit(void)
+{
+#ifdef USE_SPI
+ #ifdef USE_SPI_DEVICE_1
+ spiInit(SPIDEV_1);
+ #endif
+ #ifdef USE_SPI_DEVICE_2
+ spiInit(SPIDEV_2);
+ #endif
+ #ifdef USE_SPI_DEVICE_3
+ spiInit(SPIDEV_3);
+ #endif
+ #ifdef USE_SPI_DEVICE_4
+ spiInit(SPIDEV_4);
+ #endif
+#endif
+
+#ifdef USE_I2C
+ #ifdef USE_I2C_DEVICE_1
+ i2cInit(I2CDEV_1);
+ #endif
+ #ifdef USE_I2C_DEVICE_3
+ i2cInit(I2CDEV_3);
+ #endif
+#endif
+}
+
+void targetPreInit(void)
+{
+ IO_t osdChSwitch = IOGetByTag(IO_TAG(OSD_CH_SWITCH));
+ IOInit(osdChSwitch, OWNER_SYSTEM, 0);
+ IOConfigGPIO(osdChSwitch, IOCFG_OUT_PP);
+ IOLo(osdChSwitch);
+}
+
diff --git a/src/main/target/KROOZX/target.c b/src/main/target/KROOZX/target.c
new file mode 100755
index 0000000000..2151586bf6
--- /dev/null
+++ b/src/main/target/KROOZX/target.c
@@ -0,0 +1,38 @@
+/*
+ * 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 .
+ */
+
+#include
+
+#include
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0), // PPM IN
+ DEF_TIM(TIM5, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM1
+ DEF_TIM(TIM5, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM2
+ DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM3
+ DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM4
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM5
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM6
+ DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM7
+ DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM8
+ DEF_TIM(TIM8, CH1, PC6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0), // LED_STRIP
+};
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
new file mode 100755
index 0000000000..8c71b2a12e
--- /dev/null
+++ b/src/main/target/KROOZX/target.h
@@ -0,0 +1,159 @@
+/*
+ * 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 .
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "KROOZX"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+#define TARGET_XTAL_MHZ 16
+
+#define USBD_PRODUCT_STRING "KroozX"
+
+#define TARGET_CONFIG
+#define TARGET_BUS_INIT
+#define TARGET_PREINIT
+
+#define LED0 PA14 // Red LED
+#define LED1 PA13 // Green LED
+
+#define BEEPER PC1
+
+#define INVERTER_PIN_UART1 PB13
+#define INVERTER_PIN_UART6 PB12
+
+#define MPU6000_CS_PIN PB2
+#define MPU6000_SPI_INSTANCE SPI1
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI PA4
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW90_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN CW180_DEG
+#define MAG_I2C_INSTANCE I2CDEV_1
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define USE_SDCARD
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN PC13
+#define SDCARD_SPI_INSTANCE SPI3
+#define SDCARD_SPI_CS_PIN PA15
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+#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
+
+#define OSD
+#ifdef USE_MSP_DISPLAYPORT
+#undef USE_MSP_DISPLAYPORT
+#endif
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI1
+#define MAX7456_SPI_CS_PIN PC4
+#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2)
+#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
+
+#define OSD_CH_SWITCH PC5
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+#define VBAT_ADC_PIN PC3
+#define CURRENT_METER_ADC_PIN PC2
+#define RSSI_ADC_PIN PC0
+
+#define USE_VCP
+//#define VBUS_SENSING_PIN PA9
+
+#define USE_UART1
+#define UART1_RX_PIN PA10
+#define UART1_TX_PIN PA9
+
+#define USE_UART3
+#define UART3_RX_PIN PB11
+#define UART3_TX_PIN PB10
+
+#define USE_UART4
+#define UART4_RX_PIN PC11
+#define UART4_TX_PIN PC10
+
+#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 6
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_3)
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_3
+#define I2C3_SCL PA8
+#define I2C3_SDA PC9
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN PC4
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define RX_CHANNELS_TAER
+#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD)
+
+#define LED_STRIP
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS (TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
diff --git a/src/main/target/KROOZX/target.mk b/src/main/target/KROOZX/target.mk
new file mode 100755
index 0000000000..5c0a34c85a
--- /dev/null
+++ b/src/main/target/KROOZX/target.mk
@@ -0,0 +1,9 @@
+F405_TARGETS += $(TARGET)
+FEATURES += VCP SDCARD
+HSE_VALUE = 16000000
+
+TARGET_SRC = \
+ drivers/accgyro_spi_mpu6000.c \
+ drivers/barometer_ms5611.c \
+ drivers/compass_hmc5883l.c \
+ drivers/max7456.c
\ No newline at end of file