Add RacePIT mini (#8387)

Add RacePIT mini

docs/boards/Board - FF_RacePIT.md

@@ -1,10 +1,10 @@
-# FuriusFPV RacePIT V1.0
+# FuriusFPV RacePIT (v1.x) and RacePIT mini (V2.x)
 
 ## Features
 - Built-in RealPIT for VTX power.
 - More UARTS (Full 6 Uart) for Simultaneous Connections of USB, Runcam Device, GPS, CRFS Rx, Black-box, Bluetooth
 - Selecting Internal 5V or External 5V ESC
-- 2 Port Camera Control and LED Strip for Simultaneous Connections
+- 2 Port Camera Control and LED Strip for Simultaneous Connections (RacePIT only)
 - Built-in ESC connector - Clean and Easy to Connect 4-in-1 ESC
 - Use MPU6000 accelerometers and gyroscopes
 - Ultra Simplified OSD Interface w/ No PC Necessary
@@ -20,7 +20,7 @@
 - STM32F405 main chip
 - Built-in REALPIT for VTX power supply
 - 6 UARTs 
-- Camera control, support foxxer (built-in capacitor) and another camera (without capacitor)
+- Camera control, support foxxer (built-in capacitor) and another camera (without capacitor) (RacePIT only)
 - LED strip control
 - MPU6000 
 - BEC 5V 1.5A 2-6S 
@@ -29,9 +29,7 @@
 - Current sensor support
 - 4 ESCs signal
 
-## BoardLayout
+## BoardLayout RacePIT
 ![RacePIT](images/FF_RacePIT.jpg)
-## Camera Connections
+## BoardLayout RacePIT mini
-![RacePIT](images/FF_RacePIT_CAM.jpg)
+![RacePIT](images/FF_RacePIT_mini.jpg)
-## Connections
-![RacePIT](images/FF_RacePIT_Connection.jpg)

src/main/target/FF_RACEPIT/config.c

@@ -30,8 +30,21 @@
 #include "pg/pinio.h"
 #include "pg/piniobox.h"
 
+#include "hardware_revision.h"
+
+#include "sensors/gyro.h"
+
+#include "pg/gyrodev.h"
+
 void targetConfiguration(void)
 {	
+    if (hardwareRevision == FF_RACEPIT_REV_1) {
+        gyroDeviceConfigMutable(0)->align = CW180_DEG;
+    }
+    else {
+        gyroDeviceConfigMutable(0)->align = CW90_DEG_FLIP;
+    }
+
     telemetryConfigMutable()->halfDuplex = false;
 
     pinioConfigMutable()->config[1] = PINIO_CONFIG_OUT_INVERTED | PINIO_CONFIG_MODE_OUT_PP;

src/main/target/FF_RACEPIT/hardware_revision.c

@@ -0,0 +1,57 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * 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
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/io.h"
+#include "drivers/time.h"
+
+#include "hardware_revision.h"
+
+#define HW_PIN PC5
+
+uint8_t hardwareRevision = FF_RACEPIT_UNKNOWN;
+
+static IO_t HWDetectPinA = IO_NONE;
+
+void detectHardwareRevision(void)
+{
+    HWDetectPinA = IOGetByTag(IO_TAG(HW_PIN));
+    IOInit(HWDetectPinA, OWNER_SYSTEM, 0);
+    IOConfigGPIO(HWDetectPinA, IOCFG_IPU);
+
+    delayMicroseconds(10);  // allow configuration to settle
+
+    if (!IORead(HWDetectPinA)) {
+        hardwareRevision = FF_RACEPIT_REV_1;
+    } else {
+        hardwareRevision = FF_RACEPIT_REV_2;
+    }
+}
+
+void updateHardwareRevision(void)
+{
+}

src/main/target/FF_RACEPIT/hardware_revision.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * 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
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef enum ffRacapitHardwareRevision_t {
+    FF_RACEPIT_UNKNOWN = 0,
+    FF_RACEPIT_REV_1, // RacePIT
+    FF_RACEPIT_REV_2, // RacePIT mini
+} ffRacepitHardwareRevision_e;
+
+extern uint8_t hardwareRevision;
+
+void updateHardwareRevision(void);
+void detectHardwareRevision(void);

src/main/target/FF_RACEPIT/target.h

@@ -23,6 +23,8 @@
 #define USBD_PRODUCT_STRING     "RacePit"
 #define USE_TARGET_CONFIG
 
+#define USE_HARDWARE_REVISION_DETECTION
+
 /*--------------LED----------------*/
 #define LED0_PIN                PB9
 #define LED1_PIN                PB8
@@ -56,8 +58,6 @@
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN
 #define GYRO_1_SPI_INSTANCE     SPI1
-
-#define GYRO_1_ALIGN            CW90_DEG_FLIP
 /*---------------------------------*/
 
 

unified_targets/configs/FF_RACEPIT.config

@@ -50,7 +50,6 @@ resource OSD_CS 1 B12
 set max7456_spi_bus = 2
 
 # Timers
-# timer is zero origin
 timer B00 AF2
 # pin B00: TIM3 CH3 (AF2)
 timer B01 AF2

unified_targets/configs/FF_RACEPIT_mini.config

@@ -0,0 +1,123 @@
+# Name: FF_RACEPIT_mini
+# Description: FuriousFPV RACEPIT with Blackbox Standard target configuration
+
+# Betaflight / STM32F405 (S405) 4.0.0 Mar  2 2019 / 07:01:01 (29db27584) MSP API: 1.4
+
+board_name FF_RACEPIT
+manufacturer_id FFPV
+
+defaults nosave
+
+# Basic I/O
+resource LED 1 B09
+resource LED 2 B08
+resource BEEPER 1 C03
+set beeper_inversion = ON
+set beeper_od = OFF
+resource PINIO 1 C00
+
+# Buses
+resource I2C_SCL 3 A08
+resource I2C_SDA 3 C09
+set i2c3_pullup = ON
+
+resource SPI_SCK 1 A05
+resource SPI_MISO 1 A06
+resource SPI_MOSI 1 A07
+
+resource SPI_SCK 2 B13
+resource SPI_MISO 2 B14
+resource SPI_MOSI 2 B15
+
+resource SPI_SCK 3 B03
+resource SPI_MISO 3 B04
+resource SPI_MOSI 3 B05
+
+# Acc/gyro
+resource GYRO_CS 1 A04
+resource GYRO_EXTI 1 C04
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW180
+
+# SPI Flash
+set flash_spi_bus = 3
+resource FLASH_CS 1 A15
+
+# OSD
+resource OSD_CS 1 B12
+set max7456_spi_bus = 2
+
+# Timers
+timer B00 AF2
+# pin B00: TIM3 CH3 (AF2)
+timer B01 AF2
+# pin B01: TIM3 CH4 (AF2)
+timer B11 AF1
+# pin B11: TIM2 CH4 (AF1)
+timer B10 AF1
+# pin B10: TIM2 CH3 (AF1)
+timer A10 AF1
+# pin A10: TIM1 CH3 (AF1)
+timer B06 AF2
+# pin B06: TIM4 CH1 (AF2)
+resource MOTOR 1 B00
+resource MOTOR 2 B01
+resource MOTOR 3 B11
+resource MOTOR 4 B10
+resource LED_STRIP 1 B06
+
+# DMA
+dma ADC 2 1      # ADC 2:   DMA2 Stream 3 Channel 1
+dma pin B06 0    # pin B06: DMA1 Stream 0 Channel 2 
+dma pin B00 0    # pin B00: DMA1 Stream 7 Channel 5
+dma pin B01 0    # pin B01: DMA1 Stream 2 Channel 5
+dma pin B10 0    # pin B10: DMA1 Stream 1 Channel 3
+dma pin B11 1    # pin B11: DMA1 Stream 7 Channel 3
+
+set dshot_burst = ON
+set motor_pwm_protocol = Dshot600
+
+# Serial ports
+resource SERIAL_TX 1 A09
+resource SERIAL_RX 1 B07
+
+resource SERIAL_TX 2 A02
+resource SERIAL_RX 2 A03
+
+resource SERIAL_TX 3 C10
+resource SERIAL_RX 3 C11
+resource INVERTER 3 C15
+
+resource SERIAL_TX 4 A00
+resource SERIAL_RX 4 A01
+
+resource SERIAL_TX 5 C12
+resource SERIAL_RX 5 D02
+
+resource SERIAL_TX 6 C06
+resource SERIAL_RX 6 C07
+
+# ADC
+resource ADC_BATT 1 C02
+resource ADC_CURR 1 C01
+
+# Remaining
+resource ESCSERIAL 1 B00
+
+# Some configs
+feature RX_SERIAL
+feature OSD
+serial 0 0 115200 57600 0 115200
+serial 1 0 115200 57600 0 115200
+serial 2 64 115200 57600 0 115200
+serial 3 0 115200 57600 0 115200
+serial 4 0 115200 57600 0 115200
+serial 5 0 115200 57600 0 115200
+set pinio_config = 1,129,1,1
+set pinio_box = 40,41,255,255
+set tlm_halfduplex = OFF
+set blackbox_device = SPIFLASH
+set adc_device = 2
+set battery_meter = ADC
+set current_meter = ADC