Code re-organisation: src/platform/xxx for the MCU type (#13955)

Makefile

@@ -56,14 +56,13 @@ FORKNAME      = betaflight
 
 # Working directories
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+PLATFORM_DIR	:= $(ROOT)/src/platform
 SRC_DIR         := $(ROOT)/src/main
 OBJECT_DIR      := $(ROOT)/obj/main
 BIN_DIR         := $(ROOT)/obj
 CMSIS_DIR       := $(ROOT)/lib/main/CMSIS
-INCLUDE_DIRS    := $(SRC_DIR) \
+INCLUDE_DIRS    := $(SRC_DIR)
-                   $(ROOT)/src/main/target
 
-LINKER_DIR      := $(ROOT)/src/link
 MAKE_SCRIPT_DIR := $(ROOT)/mk
 
 ## V                 : Set verbosity level based on the V= parameter
@@ -89,7 +88,8 @@ MAKE_PARALLEL 		= $(if $(filter -j%, $(MAKEFLAGS)),$(EMPTY),-j$(DEFAULT_PARALLEL
 include $(MAKE_SCRIPT_DIR)/checks.mk
 
 # basic target list
-BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/target.mk)))))
+PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
+BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
 
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR  ?= $(ROOT)/tools
@@ -109,7 +109,7 @@ include $(MAKE_SCRIPT_DIR)/$(OSFAMILY).mk
 include $(MAKE_SCRIPT_DIR)/tools.mk
 
 # Search path for sources
-VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
+VPATH           := $(SRC_DIR)
 FATFS_DIR        = $(ROOT)/lib/main/FatFS
 FATFS_SRC        = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
@@ -132,9 +132,15 @@ endif
 # default xtal value
 HSE_VALUE       ?= 8000000
 
-CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/main/target/*/.exclude)))))
+CI_EXCLUDED_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exclude)))))
-CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter CRAZYBEEF4SX1280 CRAZYBEEF4FR STM32F4DISCOVERY IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
+CI_TARGETS          := $(filter-out $(CI_EXCLUDED_TARGETS), $(BASE_TARGETS)) $(filter STM32F4DISCOVERY CRAZYBEEF4SX1280 CRAZYBEEF4FR IFLIGHT_BLITZ_F722 NUCLEOF446 SPRACINGH7EXTREME SPRACINGH7RF, $(BASE_CONFIGS))
-include $(ROOT)/src/main/target/$(TARGET)/target.mk
+
+TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(dir $(wildcard $(PLATFORM_DIR)/*/target/$(TARGET)/target.mk)))))
+TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
+LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
+VPATH               := $(VPATH):$(TARGET_PLATFORM_DIR):$(TARGET_PLATFORM_DIR)/startup
+
+include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
 
 REVISION := norevision
 ifeq ($(shell git diff --shortstat),)
@@ -173,7 +179,6 @@ OPTIMISE_SIZE         := -Os
 LTO_FLAGS             := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
 endif
 
-VPATH 			:= $(VPATH):$(MAKE_SCRIPT_DIR)/mcu
 VPATH 			:= $(VPATH):$(MAKE_SCRIPT_DIR)
 
 # start specific includes
@@ -185,13 +190,13 @@ ifeq ($(TARGET_MCU_FAMILY),)
 $(error No TARGET_MCU_FAMILY specified. Is the target.mk valid for $(TARGET)?)
 endif
 
-TARGET_FLAGS  	:= -D$(TARGET) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
+TARGET_FLAGS := -D$(TARGET) -D$(TARGET_PLATFORM) -D$(TARGET_MCU_FAMILY) $(TARGET_FLAGS)
 
 ifneq ($(CONFIG),)
 TARGET_FLAGS := $(TARGET_FLAGS) -DUSE_CONFIG
 endif
 
-include $(MAKE_SCRIPT_DIR)/mcu/$(TARGET_MCU_FAMILY).mk
+include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
 
 # openocd specific includes
 include $(MAKE_SCRIPT_DIR)/openocd.mk
@@ -211,8 +216,7 @@ ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
-TARGET_DIR     = $(ROOT)/src/main/target/$(TARGET)
+TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
-TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 
 .DEFAULT_GOAL := hex
 

mk/source.mk

@@ -48,7 +48,6 @@ COMMON_SRC = \
             build/debug.c \
             build/debug_pin.c \
             build/version.c \
-            $(TARGET_DIR_SRC) \
             main.c \
             $(PG_SRC) \
             common/bitarray.c \
@@ -98,6 +97,7 @@ COMMON_SRC = \
             drivers/bus_spi_config.c \
             drivers/bus_spi_pinconfig.c \
             drivers/buttons.c \
+            drivers/camera_control.c \
             drivers/display.c \
             drivers/display_canvas.c \
             drivers/dma_common.c \

src/main/drivers/camera_control.c

@@ -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/>.
  */
@@ -29,30 +30,17 @@
 #include <math.h>
 
 #include "drivers/camera_control_impl.h"
-#include "drivers/rcc.h"
 #include "drivers/io.h"
-#include "drivers/nvic.h"
 #include "drivers/pwm_output.h"
 #include "drivers/time.h"
 #include "pg/pg_ids.h"
 
-#define CAMERA_CONTROL_PWM_RESOLUTION   128
-#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
-
 #ifdef CURRENT_TARGET_CPU_VOLTAGE
 #define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
 #else
 #define ADC_VOLTAGE 3.3f
 #endif
 
-#if !defined(STM32F411xE) && !defined(STM32F7) && !defined(STM32H7) && !defined(STM32G4)
-#define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-#include "build/atomic.h"
-#endif
-
-#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-#include "drivers/timer.h"
-
 #ifdef USE_OSD
 #include "osd/osd.h"
 #endif
@@ -85,7 +73,7 @@ static struct {
 static uint32_t endTimeMillis;
 
 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-static void cameraControlHi(void)
+void cameraControlHi(void)
 {
     if (cameraControlRuntime.inverted) {
         IOLo(cameraControlRuntime.io);
@@ -94,7 +82,7 @@ static void cameraControlHi(void)
     }
 }
 
-static void cameraControlLo(void)
+void cameraControlLo(void)
 {
     if (cameraControlRuntime.inverted) {
         IOHi(cameraControlRuntime.io);
@@ -102,19 +90,6 @@ static void cameraControlLo(void)
         IOLo(cameraControlRuntime.io);
     }
 }
-
-void TIM6_DAC_IRQHandler(void)
-{
-    cameraControlHi();
-    TIM6->SR = 0;
-}
-
-void TIM7_IRQHandler(void)
-{
-    cameraControlLo();
-
-    TIM7->SR = 0;
-}
 #endif
 
 void cameraControlInit(void)
@@ -136,7 +111,7 @@ void cameraControlInit(void)
 
         IOConfigGPIOAF(cameraControlRuntime.io, IOCFG_AF_PP, timerHardware->alternateFunction);
 
-        pwmOutConfig(&cameraControlRuntime.channel, timerHardware, timerClock(TIM6), CAMERA_CONTROL_PWM_RESOLUTION, 0, cameraControlRuntime.inverted);
+        cameraControlHardwarePwmInit(&cameraControlRuntime.channel, timerHardware, cameraControlRuntime.inverted);
 
         cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
         *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
@@ -151,19 +126,7 @@ void cameraControlInit(void)
         cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
         cameraControlRuntime.enabled = true;
 
-
+        cameraControlSoftwarePwmInit();
-        NVIC_InitTypeDef nvicTIM6 = {
-            TIM6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
-        };
-        NVIC_Init(&nvicTIM6);
-        NVIC_InitTypeDef nvicTIM7 = {
-            TIM7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
-        };
-        NVIC_Init(&nvicTIM7);
-
-        RCC->APB1ENR |= RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7;
-        TIM6->PSC = 0;
-        TIM7->PSC = 0;
 #endif
     } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
         // @todo not yet implemented
@@ -183,13 +146,14 @@ void cameraControlProcess(uint32_t currentTimeUs)
     }
 }
 
+#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
+
 static float calculateKeyPressVoltage(const cameraControlKey_e key)
 {
     const int buttonResistance = cameraControlConfig()->buttonResistanceValues[key] * 100;
     return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
 }
 
-#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
 static float calculatePWMDutyCycle(const cameraControlKey_e key)
 {
     const float voltage = calculateKeyPressVoltage(key);
@@ -231,21 +195,7 @@ void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
             delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
             cameraControlHi();
         } else {
-            TIM6->CNT = hiTime;
+            cameraControlSoftwarePwmEnable(hiTime, cameraControlRuntime.period);
-            TIM6->ARR = cameraControlRuntime.period;
-
-            TIM7->CNT = 0;
-            TIM7->ARR = cameraControlRuntime.period;
-
-            // Start two timers as simultaneously as possible
-            ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
-                TIM6->CR1 = TIM_CR1_CEN;
-                TIM7->CR1 = TIM_CR1_CEN;
-            }
-
-            // Enable interrupt generation
-            TIM6->DIER = TIM_IT_Update;
-            TIM7->DIER = TIM_IT_Update;
 
             const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
 
@@ -253,10 +203,7 @@ void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
             while (millis() < endTime);
 
             // Disable timers and interrupt generation
-            TIM6->CR1 &= ~TIM_CR1_CEN;
+            cameraControlSoftwarePwmDisable();
-            TIM7->CR1 &= ~TIM_CR1_CEN;
-            TIM6->DIER = 0;
-            TIM7->DIER = 0;
 
             // Reset to idle state
             IOHi(cameraControlRuntime.io);
@@ -267,4 +214,4 @@ void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
     }
 }
 
-#endif
+#endif // USE_CAMERA_CONTROL

src/main/drivers/camera_control_impl.h

@@ -22,6 +22,10 @@
 
 #include "io_types.h"
 #include "pg/pg.h"
+#include "drivers/pwm_output.h"
+
+#define CAMERA_CONTROL_PWM_RESOLUTION      128
+#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
 
 typedef enum {
     CAMERA_CONTROL_KEY_ENTER,
@@ -58,3 +62,11 @@ void cameraControlInit(void);
 
 void cameraControlProcess(uint32_t currentTimeUs);
 void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs);
+
+void cameraControlHi(void);
+void cameraControlLo(void);
+
+void cameraControlSoftwarePwmInit(void);
+void cameraControlSoftwarePwmEnable(uint32_t hiTime, uint32_t period);
+void cameraControlSoftwarePwmDisable(void);
+void cameraControlHardwarePwmInit(timerChannel_t *channel, const timerHardware_t *timerHardware, uint8_t inverted);

src/main/drivers/dma.h

@@ -23,11 +23,11 @@
 #include "drivers/resource.h"
 
 #if defined(USE_ATBSP_DRIVER)
-#include "drivers/mcu/at32/dma_atbsp.h"
+#include "dma_atbsp.h"
 #endif
 
 #if defined(APM32F4)
-#include "drivers/mcu/apm32/dma_apm32.h"
+#include "dma_apm32.h"
 #endif
 
 #define CACHE_LINE_SIZE 32

src/main/drivers/mcu/apm32/camera_control.c

@@ -1,268 +0,0 @@
-/*
- * 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 "platform.h"
-
-#ifdef USE_CAMERA_CONTROL
-
-#ifndef CAMERA_CONTROL_PIN
-#define CAMERA_CONTROL_PIN NONE
-#endif
-
-#include <math.h>
-
-#include "drivers/camera_control_impl.h"
-#include "drivers/rcc.h"
-#include "drivers/io.h"
-#include "drivers/nvic.h"
-#include "drivers/pwm_output.h"
-#include "drivers/time.h"
-#include "pg/pg_ids.h"
-
-#define CAMERA_CONTROL_PWM_RESOLUTION   128
-#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
-
-#ifdef CURRENT_TARGET_CPU_VOLTAGE
-#define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
-#else
-#define ADC_VOLTAGE 3.3f
-#endif
-
-#if !defined(STM32F411xE) && !defined(STM32F7) && !defined(STM32H7) && !defined(STM32G4)
-#define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-#include "build/atomic.h"
-#endif
-
-#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-#include "drivers/timer.h"
-
-#ifdef USE_OSD
-#include "osd/osd.h"
-#endif
-
-PG_REGISTER_WITH_RESET_FN(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
-
-void pgResetFn_cameraControlConfig(cameraControlConfig_t *cameraControlConfig)
-{
-    cameraControlConfig->mode = CAMERA_CONTROL_MODE_HARDWARE_PWM;
-    cameraControlConfig->refVoltage = 330;
-    cameraControlConfig->keyDelayMs = 180;
-    cameraControlConfig->internalResistance = 470;
-    cameraControlConfig->ioTag = IO_TAG(CAMERA_CONTROL_PIN);
-    cameraControlConfig->inverted = 0;   // Output is inverted externally
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_ENTER] = 450;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_LEFT]  = 270;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_UP]    = 150;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_RIGHT] = 68;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_DOWN]  = 0;
-}
-
-static struct {
-    bool enabled;
-    IO_t io;
-    timerChannel_t channel;
-    uint32_t period;
-    uint8_t inverted;
-} cameraControlRuntime;
-
-static uint32_t endTimeMillis;
-
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-static void cameraControlHi(void)
-{
-    if (cameraControlRuntime.inverted) {
-        IOLo(cameraControlRuntime.io);
-    } else {
-        IOHi(cameraControlRuntime.io);
-    }
-}
-
-static void cameraControlLo(void)
-{
-    if (cameraControlRuntime.inverted) {
-        IOHi(cameraControlRuntime.io);
-    } else {
-        IOLo(cameraControlRuntime.io);
-    }
-}
-
-void TMR6_DAC_IRQHandler(void)
-{
-    cameraControlHi();
-    TMR6->STS = 0;
-}
-
-void TMR7_IRQHandler(void)
-{
-    cameraControlLo();
-
-    TMR7->STS = 0;
-}
-#endif
-
-void cameraControlInit(void)
-{
-    if (cameraControlConfig()->ioTag == IO_TAG_NONE)
-        return;
-
-    cameraControlRuntime.inverted = cameraControlConfig()->inverted;
-    cameraControlRuntime.io = IOGetByTag(cameraControlConfig()->ioTag);
-    IOInit(cameraControlRuntime.io, OWNER_CAMERA_CONTROL, 0);
-
-    if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-        const timerHardware_t *timerHardware = timerAllocate(cameraControlConfig()->ioTag, OWNER_CAMERA_CONTROL, 0);
-
-        if (!timerHardware) {
-            return;
-        }
-
-        IOConfigGPIOAF(cameraControlRuntime.io, IOCFG_AF_PP, timerHardware->alternateFunction);
-
-        pwmOutConfig(&cameraControlRuntime.channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, cameraControlRuntime.inverted);
-
-        cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
-        *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
-        cameraControlRuntime.enabled = true;
-#endif
-    } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-
-        IOConfigGPIO(cameraControlRuntime.io, IOCFG_OUT_PP);
-        cameraControlHi();
-
-        cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
-        cameraControlRuntime.enabled = true;
-
-        DAL_NVIC_SetPriority(TMR6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
-        DAL_NVIC_EnableIRQ(TMR6_DAC_IRQn);
-
-        DAL_NVIC_SetPriority(TMR7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
-        DAL_NVIC_EnableIRQ(TMR7_IRQn);
-
-        __DAL_RCM_TMR6_CLK_ENABLE();
-        __DAL_RCM_TMR7_CLK_ENABLE();
-        DDL_TMR_SetPrescaler(TMR6, 0);
-        DDL_TMR_SetPrescaler(TMR7, 0);
-#endif
-    } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
-        // @todo not yet implemented
-    }
-}
-
-void cameraControlProcess(uint32_t currentTimeUs)
-{
-    if (endTimeMillis && currentTimeUs >= 1000 * endTimeMillis) {
-        if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-            *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
-        } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-
-        }
-
-        endTimeMillis = 0;
-    }
-}
-
-static float calculateKeyPressVoltage(const cameraControlKey_e key)
-{
-    const int buttonResistance = cameraControlConfig()->buttonResistanceValues[key] * 100;
-    return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
-}
-
-#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
-static float calculatePWMDutyCycle(const cameraControlKey_e key)
-{
-    const float voltage = calculateKeyPressVoltage(key);
-
-    return voltage / ADC_VOLTAGE;
-}
-#endif
-
-void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
-{
-    if (!cameraControlRuntime.enabled)
-        return;
-
-    if (key >= CAMERA_CONTROL_KEYS_COUNT)
-        return;
-
-#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
-    const float dutyCycle = calculatePWMDutyCycle(key);
-#else
-    (void) holdDurationMs;
-#endif
-
-#ifdef USE_OSD
-    // Force OSD timeout so we are alone on the display.
-    resumeRefreshAt = 0;
-#endif
-
-    if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-        *cameraControlRuntime.channel.ccr = lrintf(dutyCycle * cameraControlRuntime.period);
-        endTimeMillis = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
-#endif
-    } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-        const uint32_t hiTime = lrintf(dutyCycle * cameraControlRuntime.period);
-
-        if (0 == hiTime) {
-            cameraControlLo();
-            delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
-            cameraControlHi();
-        } else {
-            DDL_TMR_SetCounter(TMR6, hiTime);
-            DDL_TMR_SetAutoReload(TMR6, cameraControlRuntime.period);
-
-            DDL_TMR_SetCounter(TMR7, 0);
-            DDL_TMR_SetAutoReload(TMR7, cameraControlRuntime.period);
-
-            // Start two timers as simultaneously as possible
-            ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
-                DDL_TMR_EnableCounter(TMR6);
-                DDL_TMR_EnableCounter(TMR7);
-            }
-
-            // Enable interrupt generation
-            DDL_TMR_EnableIT_UPDATE(TMR6);
-            DDL_TMR_EnableIT_UPDATE(TMR7);
-
-            const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
-
-            // Wait to give the camera a chance at registering the key press
-            while (millis() < endTime);
-
-            // Disable timers and interrupt generation
-            DDL_TMR_DisableCounter(TMR6);
-            DDL_TMR_DisableCounter(TMR7);
-
-            TMR6->DIEN = 0;
-            TMR7->DIEN = 0;
-
-            // Reset to idle state
-            IOHi(cameraControlRuntime.io);
-        }
-#endif
-    } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
-        // @todo not yet implemented
-    }
-}
-
-#endif // USE_CAMERA_CONTROL

src/main/drivers/mcu/at32/camera_control.c

@@ -1,269 +0,0 @@
-/*
- * 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 "platform.h"
-
-#ifdef USE_CAMERA_CONTROL
-
-#ifndef CAMERA_CONTROL_PIN
-#define CAMERA_CONTROL_PIN NONE
-#endif
-
-#include <math.h>
-
-#include "drivers/camera_control_impl.h"
-#include "drivers/rcc.h"
-#include "drivers/io.h"
-#include "drivers/nvic.h"
-#include "drivers/pwm_output.h"
-#include "drivers/time.h"
-#include "pg/pg_ids.h"
-
-#define CAMERA_CONTROL_PWM_RESOLUTION   128
-#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
-
-#ifdef CURRENT_TARGET_CPU_VOLTAGE
-#define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
-#else
-#define ADC_VOLTAGE 3.3f
-#endif
-
-#if !defined(STM32F411xE) && !defined(STM32F7) && !defined(STM32H7) && !defined(STM32G4)
-#define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-#include "build/atomic.h"
-#endif
-
-#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-#include "drivers/timer.h"
-
-#ifdef USE_OSD
-#include "osd/osd.h"
-#endif
-
-PG_REGISTER_WITH_RESET_FN(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
-
-void pgResetFn_cameraControlConfig(cameraControlConfig_t *cameraControlConfig)
-{
-    cameraControlConfig->mode = CAMERA_CONTROL_MODE_HARDWARE_PWM;
-    cameraControlConfig->refVoltage = 330;
-    cameraControlConfig->keyDelayMs = 180;
-    cameraControlConfig->internalResistance = 470;
-    cameraControlConfig->ioTag = IO_TAG(CAMERA_CONTROL_PIN);
-    cameraControlConfig->inverted = 0;   // Output is inverted externally
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_ENTER] = 450;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_LEFT]  = 270;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_UP]    = 150;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_RIGHT] = 68;
-    cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_DOWN]  = 0;
-}
-
-static struct {
-    bool enabled;
-    IO_t io;
-    timerChannel_t channel;
-    uint32_t period;
-    uint8_t inverted;
-} cameraControlRuntime;
-
-static uint32_t endTimeMillis;
-
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-static void cameraControlHi(void)
-{
-    if (cameraControlRuntime.inverted) {
-        IOLo(cameraControlRuntime.io);
-    } else {
-        IOHi(cameraControlRuntime.io);
-    }
-}
-
-static void cameraControlLo(void)
-{
-    if (cameraControlRuntime.inverted) {
-        IOHi(cameraControlRuntime.io);
-    } else {
-        IOLo(cameraControlRuntime.io);
-    }
-}
-
-void TIM6_DAC_IRQHandler(void)
-{
-    cameraControlHi();
-
-    tmr_flag_clear(TMR6, TMR_OVF_FLAG);
-}
-
-void TIM7_IRQHandler(void)
-{
-    cameraControlLo();
-
-    tmr_flag_clear(TMR7, TMR_OVF_FLAG);
-
-}
-#endif
-
-void cameraControlInit(void)
-{
-    if (cameraControlConfig()->ioTag == IO_TAG_NONE)
-        return;
-
-    cameraControlRuntime.inverted = cameraControlConfig()->inverted;
-    cameraControlRuntime.io = IOGetByTag(cameraControlConfig()->ioTag);
-    IOInit(cameraControlRuntime.io, OWNER_CAMERA_CONTROL, 0);
-
-    if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-        const timerHardware_t *timerHardware = timerAllocate(cameraControlConfig()->ioTag, OWNER_CAMERA_CONTROL, 0);
-
-        if (!timerHardware) {
-            return;
-        }
-
-        IOConfigGPIOAF(cameraControlRuntime.io, IOCFG_AF_PP, timerHardware->alternateFunction);
-
-        pwmOutConfig(&cameraControlRuntime.channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, cameraControlRuntime.inverted);
-
-
-        cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
-        *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
-        cameraControlRuntime.enabled = true;
-#endif
-    } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-
-        IOConfigGPIO(cameraControlRuntime.io, IOCFG_OUT_PP);
-        cameraControlHi();
-
-        cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
-        cameraControlRuntime.enabled = true;
-
-        nvic_irq_enable(TMR6_DAC_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
-        RCC_ClockCmd(RCC_APB1(TMR6), ENABLE);
-        tmr_div_value_set(TMR6, 0);
-
-        nvic_irq_enable(TMR7_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
-        RCC_ClockCmd(RCC_APB1(TMR7), ENABLE);
-        tmr_div_value_set(TMR7, 0);
-
-#endif
-    } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
-        // @todo not yet implemented
-    }
-}
-
-void cameraControlProcess(uint32_t currentTimeUs)
-{
-    if (endTimeMillis && currentTimeUs >= 1000 * endTimeMillis) {
-        if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-            *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
-        } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-
-        }
-
-        endTimeMillis = 0;
-    }
-}
-
-static float calculateKeyPressVoltage(const cameraControlKey_e key)
-{
-    const int buttonResistance = cameraControlConfig()->buttonResistanceValues[key] * 100;
-    return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
-}
-
-#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
-static float calculatePWMDutyCycle(const cameraControlKey_e key)
-{
-    const float voltage = calculateKeyPressVoltage(key);
-
-    return voltage / ADC_VOLTAGE;
-}
-#endif
-
-void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
-{
-    if (!cameraControlRuntime.enabled)
-        return;
-
-    if (key >= CAMERA_CONTROL_KEYS_COUNT)
-        return;
-
-#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
-    const float dutyCycle = calculatePWMDutyCycle(key);
-#else
-    (void) holdDurationMs;
-#endif
-
-#ifdef USE_OSD
-    // Force OSD timeout so we are alone on the display.
-    resumeRefreshAt = 0;
-#endif
-
-    if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-        *cameraControlRuntime.channel.ccr = lrintf(dutyCycle * cameraControlRuntime.period);
-        endTimeMillis = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
-#endif
-    } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
-#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
-        const uint32_t hiTime = lrintf(dutyCycle * cameraControlRuntime.period);
-
-        if (0 == hiTime) {
-            cameraControlLo();
-            delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
-            cameraControlHi();
-        } else {
-            tmr_counter_value_set(TMR6, hiTime);
-            tmr_period_value_set(TMR6, cameraControlRuntime.period);
-
-            tmr_counter_value_set(TMR7, 0);
-            tmr_period_value_set(TMR7, cameraControlRuntime.period);
-
-            ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
-                tmr_counter_enable(TMR6, TRUE);
-                tmr_counter_enable(TMR7, TRUE);
-            }
-
-            tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
-            tmr_interrupt_enable(TMR7, TMR_OVF_INT, TRUE);
-
-            const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
-
-            // Wait to give the camera a chance at registering the key press
-            while (millis() < endTime);
-
-            // Disable timers and interrupt generation
-            ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
-                tmr_counter_enable(TMR6, FALSE);
-                tmr_counter_enable(TMR7, FALSE);
-            }
-
-            tmr_interrupt_enable(TMR6, TMR_OVF_INT, FALSE);
-            tmr_interrupt_enable(TMR7, TMR_OVF_INT, FALSE);
-
-            // Reset to idle state
-            IOHi(cameraControlRuntime.io);
-        }
-#endif
-    } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
-        // @todo not yet implemented
-    }
-}
-
-#endif

src/main/target/APM32F407/target.mk

@@ -1,3 +0,0 @@
-TARGET_MCU        := APM32F405xx
-TARGET_MCU_FAMILY := APM32F4
-

src/platform/APM32/camera_control_apm32.c

@@ -0,0 +1,99 @@
+/*
+ * 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 "platform.h"
+
+#ifdef USE_CAMERA_CONTROL
+
+#include <math.h>
+
+#include "drivers/camera_control_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/pwm_output.h"
+
+#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
+#include "build/atomic.h"
+#endif
+
+#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
+void cameraControlHardwarePwmInit(timerChannel_t *channel, const timerHardware_t *timerHardware, uint8_t inverted)
+{
+	pwmOutConfig(channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, inverted);
+}
+#endif
+
+#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
+void TMR6_DAC_IRQHandler(void)
+{
+    cameraControlHi();
+    TMR6->STS = 0;
+}
+
+void TMR7_IRQHandler(void)
+{
+    cameraControlLo();
+    TMR7->STS = 0;
+}
+
+void cameraControlSoftwarePwmInit(void)
+{
+    DAL_NVIC_SetPriority(TMR6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
+    DAL_NVIC_EnableIRQ(TMR6_DAC_IRQn);
+
+    DAL_NVIC_SetPriority(TMR7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
+    DAL_NVIC_EnableIRQ(TMR7_IRQn);
+
+    __DAL_RCM_TMR6_CLK_ENABLE();
+    __DAL_RCM_TMR7_CLK_ENABLE();
+    DDL_TMR_SetPrescaler(TMR6, 0);
+    DDL_TMR_SetPrescaler(TMR7, 0);
+}
+
+void cameraControlSoftwarePwmEnable(uint32_t hiTime, uint32_t period)
+{
+    DDL_TMR_SetCounter(TMR6, hiTime);
+    DDL_TMR_SetAutoReload(TMR6, period);
+
+    DDL_TMR_SetCounter(TMR7, 0);
+    DDL_TMR_SetAutoReload(TMR7, period);
+
+    // Start two timers as simultaneously as possible
+    ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
+        DDL_TMR_EnableCounter(TMR6);
+        DDL_TMR_EnableCounter(TMR7);
+    }
+
+    // Enable interrupt generation
+    DDL_TMR_EnableIT_UPDATE(TMR6);
+    DDL_TMR_EnableIT_UPDATE(TMR7);
+}
+
+void cameraControlSoftwarePwmDisable(void)
+{
+    DDL_TMR_DisableCounter(TMR6);
+    DDL_TMR_DisableCounter(TMR7);
+
+    TMR6->DIEN = 0;
+    TMR7->DIEN = 0;
+}
+#endif
+
+#endif // USE_CAMERA_CONTROL

src/platform/APM32/link/apm32_flash_f405.ld

@@ -37,4 +37,4 @@ REGION_ALIAS("VECTAB", RAM)
 
 REGION_ALIAS("MOVABLE_FLASH", FLASH1)
 
-INCLUDE "stm32_flash_f4_split.ld"
+INCLUDE "../../STM32/link/stm32_flash_f4_split.ld"

src/platform/APM32/link/apm32_flash_f407.ld

@@ -37,4 +37,4 @@ REGION_ALIAS("VECTAB", RAM)
 
 REGION_ALIAS("MOVABLE_FLASH", FLASH1)
 
-INCLUDE "stm32_flash_f4_split.ld"
+INCLUDE "../../STM32/link/stm32_flash_f4_split.ld"

src/platform/APM32/mk/APM32F4.mk

@@ -111,8 +111,8 @@ DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 VPATH           := $(VPATH):$(ROOT)/lib/main/APM32F4/Libraries/Device/Geehy/APM32F4xx
 
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
-                   $(SRC_DIR)/startup/apm32 \
+                   $(TARGET_PLATFORM_DIR)/startup \
-                   $(SRC_DIR)/drivers/mcu/apm32
+                   $(TARGET_PLATFORM_DIR)
 
 CMSIS_SRC       :=
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
@@ -121,9 +121,9 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBCDC_DIR)/Inc \
                    $(USBMSC_DIR)/Inc \
                    $(CMSIS_DIR)/Geehy/APM32F4xx/Include \
-                   $(SRC_DIR)/drivers/mcu/apm32/usb/vcp \
+                   $(TARGET_PLATFORM_DIR)/usb/vcp \
-                   $(SRC_DIR)/drivers/mcu/apm32/usb/msc \
+                   $(TARGET_PLATFORM_DIR)/usb/msc \
-                   $(SRC_DIR)/drivers/mcu/apm32/usb \
+                   $(TARGET_PLATFORM_DIR)/usb \
                    $(ROOT)/lib/main/CMSIS/Core/Include \
                    $(SRC_DIR)/msc
 
@@ -135,59 +135,59 @@ DEVICE_FLAGS    = -DUSE_DAL_DRIVER -DHSE_VALUE=$(HSE_VALUE) -DAPM32
 ifeq ($(TARGET_MCU),APM32F405xx)
 DEVICE_FLAGS    += -DAPM32F405xx
 LD_SCRIPT       = $(LINKER_DIR)/apm32_flash_f405.ld
-STARTUP_SRC     = apm32/startup_apm32f405xx.S
+STARTUP_SRC     = startup/startup_apm32f405xx.S
 MCU_FLASH_SIZE  := 1024
 
 else ifeq ($(TARGET_MCU),APM32F407xx)
 DEVICE_FLAGS    += -DAPM32F407xx
 LD_SCRIPT       = $(LINKER_DIR)/apm32_flash_f407.ld
-STARTUP_SRC     = apm32/startup_apm32f407xx.S
+STARTUP_SRC     = startup/startup_apm32f407xx.S
 MCU_FLASH_SIZE  := 1024
 else
-$(error TARGET_MCU [$(TARGET_MCU] is not supported)
+$(error TARGET_MCU [$(TARGET_MCU)] is not supported)
 endif
 
 MCU_COMMON_SRC = \
-            startup/apm32/system_apm32f4xx.c \
+            startup/system_apm32f4xx.c \
             drivers/inverter.c \
             drivers/dshot_bitbang_decode.c \
             drivers/pwm_output_dshot_shared.c \
-            drivers/mcu/apm32/bus_spi_apm32.c \
+            bus_spi_apm32.c \
-            drivers/mcu/apm32/bus_i2c_apm32.c \
+            bus_i2c_apm32.c \
-            drivers/mcu/apm32/bus_i2c_apm32_init.c \
+            bus_i2c_apm32_init.c \
-            drivers/mcu/apm32/camera_control.c \
+            camera_control_apm32.c \
-            drivers/mcu/apm32/debug.c \
+            debug.c \
-            drivers/mcu/apm32/dma_reqmap_mcu.c \
+            dma_reqmap_mcu.c \
-            drivers/mcu/apm32/dshot_bitbang.c \
+            dshot_bitbang.c \
-            drivers/mcu/apm32/dshot_bitbang_ddl.c \
+            dshot_bitbang_ddl.c \
-            drivers/mcu/apm32/eint_apm32.c \
+            eint_apm32.c \
-            drivers/mcu/apm32/io_apm32.c \
+            io_apm32.c \
-            drivers/mcu/apm32/light_ws2811strip_apm32.c \
+            light_ws2811strip_apm32.c \
-            drivers/mcu/apm32/persistent_apm32.c \
+            persistent_apm32.c \
-            drivers/mcu/apm32/pwm_output_apm32.c \
+            pwm_output_apm32.c \
-            drivers/mcu/apm32/pwm_output_dshot_apm32.c \
+            pwm_output_dshot_apm32.c \
-            drivers/mcu/apm32/rcm_apm32.c \
+            rcm_apm32.c \
-            drivers/mcu/apm32/serial_uart_apm32.c \
+            serial_uart_apm32.c \
-            drivers/mcu/apm32/timer_apm32.c \
+            timer_apm32.c \
-            drivers/mcu/apm32/transponder_ir_io_apm32.c \
+            transponder_ir_io_apm32.c \
-            drivers/mcu/apm32/timer_apm32f4xx.c \
+            timer_apm32f4xx.c \
-            drivers/mcu/apm32/adc_apm32f4xx.c \
+            adc_apm32f4xx.c \
-            drivers/mcu/apm32/dma_apm32f4xx.c \
+            dma_apm32f4xx.c \
-            drivers/mcu/apm32/serial_uart_apm32f4xx.c \
+            serial_uart_apm32f4xx.c \
-            drivers/mcu/apm32/system_apm32f4xx.c
+            system_apm32f4xx.c
 
 VCP_SRC = \
-            drivers/mcu/apm32/usb/vcp/usbd_cdc_descriptor.c \
+            usb/vcp/usbd_cdc_descriptor.c \
-            drivers/mcu/apm32/usb/usbd_board_apm32f4.c \
+            usb/usbd_board_apm32f4.c \
-            drivers/mcu/apm32/usb/vcp/usbd_cdc_vcp.c \
+            usb/vcp/usbd_cdc_vcp.c \
-            drivers/mcu/apm32/usb/vcp/serial_usb_vcp.c \
+            usb/vcp/serial_usb_vcp.c \
             drivers/usb_io.c
 
 MSC_SRC = \
             drivers/usb_msc_common.c \
-            drivers/mcu/apm32/usb/msc/usb_msc_apm32f4xx.c \
+            usb/msc/usb_msc_apm32f4xx.c \
-            drivers/mcu/apm32/usb/msc/usbd_memory.c \
+            usb/msc/usbd_memory.c \
-            drivers/mcu/apm32/usb/msc/usbd_msc_descriptor.c \
+            usb/msc/usbd_msc_descriptor.c \
             msc/usbd_storage.c \
             msc/usbd_storage_emfat.c \
             msc/emfat.c \

src/platform/APM32/target/APM32F405/target.mk

@@ -0,0 +1,2 @@
+TARGET_MCU        	:= APM32F405xx
+TARGET_MCU_FAMILY 	:= APM32F4

src/platform/AT32/camera_control_at32.c

@@ -0,0 +1,97 @@
+/*
+ * 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 "platform.h"
+
+#ifdef USE_CAMERA_CONTROL
+
+#include <math.h>
+
+#include "drivers/camera_control_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/pwm_output.h"
+#include "drivers/rcc.h"
+
+#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
+#include "build/atomic.h"
+#endif
+
+#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
+void cameraControlHardwarePwmInit(timerChannel_t *channel, const timerHardware_t *timerHardware, uint8_t inverted)
+{
+    pwmOutConfig(channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, inverted);
+}
+#endif
+
+#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
+void TIM6_DAC_IRQHandler(void)
+{
+    cameraControlHi();
+    tmr_flag_clear(TMR6, TMR_OVF_FLAG);
+}
+
+void TIM7_IRQHandler(void)
+{
+    cameraControlLo();
+    tmr_flag_clear(TMR7, TMR_OVF_FLAG);
+}
+
+void cameraControlSoftwarePwmInit(void)
+{
+    nvic_irq_enable(TMR6_DAC_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
+    RCC_ClockCmd(RCC_APB1(TMR6), ENABLE);
+    tmr_div_value_set(TMR6, 0);
+
+    nvic_irq_enable(TMR7_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
+    RCC_ClockCmd(RCC_APB1(TMR7), ENABLE);
+    tmr_div_value_set(TMR7, 0);
+}
+
+void cameraControlSoftwarePwmEnable(uint32_t hiTime, uint32_t period)
+{
+    tmr_counter_value_set(TMR6, hiTime);
+    tmr_period_value_set(TMR6, period);
+
+    tmr_counter_value_set(TMR7, 0);
+    tmr_period_value_set(TMR7, period);
+
+    ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
+        tmr_counter_enable(TMR6, TRUE);
+        tmr_counter_enable(TMR7, TRUE);
+    }
+
+    tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
+    tmr_interrupt_enable(TMR7, TMR_OVF_INT, TRUE);
+}
+
+void cameraControlSoftwarePwmDisable(void)
+{
+    ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
+        tmr_counter_enable(TMR6, FALSE);
+        tmr_counter_enable(TMR7, FALSE);
+    }
+
+    tmr_interrupt_enable(TMR6, TMR_OVF_INT, FALSE);
+    tmr_interrupt_enable(TMR7, TMR_OVF_INT, FALSE);
+}
+#endif
+
+#endif // USE_CAMERA_CONTROL

src/platform/AT32/mk/AT32F4.mk

@@ -45,7 +45,7 @@ STDPERIPH_SRC   = \
         usbd_class/msc/msc_class.c \
         usbd_class/msc/msc_desc.c
 
-STARTUP_SRC     = at32/startup_at32f435_437.s
+STARTUP_SRC     = startup/startup_at32f435_437.s
 
 VPATH           := $(VPATH):$(ROOT)/lib/main/AT32F43x/cmsis/cm4/core_support:$(STDPERIPH_DIR)/src:$(MIDDLEWARES_DIR):$(SRC_DIR)/startup/at32
 
@@ -61,9 +61,8 @@ VCP_INCLUDES = \
 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
-                   $(SRC_DIR)/startup/at32 \
+                   $(TARGET_PLATFORM_DIR)/startup \
-                   $(SRC_DIR)/drivers \
+                   $(TARGET_PLATFORM_DIR) \
-                   $(SRC_DIR)/drivers/mcu/at32 \
                    $(STDPERIPH_DIR)/inc \
                    $(CMSIS_DIR)/cm4/core_support \
                    $(CMSIS_DIR)/cm4 \
@@ -81,32 +80,32 @@ ARCH_FLAGS      = -std=c99  -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=
 DEVICE_FLAGS   += -DUSE_ATBSP_DRIVER -DAT32F43x -DHSE_VALUE=$(HSE_VALUE) -DAT32 -DUSE_OTG_HOST_MODE
 
 MCU_COMMON_SRC = \
-            startup/at32/at32f435_437_clock.c \
+            startup/at32f435_437_clock.c \
-            startup/at32/system_at32f435_437.c \
+            startup/system_at32f435_437.c \
-            drivers/mcu/at32/adc_at32f43x.c \
+            adc_at32f43x.c \
-            drivers/mcu/at32/bus_i2c_atbsp.c \
+            bus_i2c_atbsp.c \
-            drivers/mcu/at32/bus_i2c_atbsp_init.c \
+            bus_i2c_atbsp_init.c \
-            drivers/mcu/at32/bus_spi_at32bsp.c \
+            bus_spi_at32bsp.c \
-            drivers/mcu/at32/camera_control.c \
+            camera_control_at32.c \
-            drivers/mcu/at32/debug.c \
+            debug.c \
-            drivers/mcu/at32/dma_at32f43x.c \
+            dma_at32f43x.c \
-            drivers/mcu/at32/dma_reqmap_mcu.c \
+            dma_reqmap_mcu.c \
-            drivers/mcu/at32/dshot_bitbang.c \
+            dshot_bitbang.c \
-            drivers/mcu/at32/dshot_bitbang_stdperiph.c \
+            dshot_bitbang_stdperiph.c \
-            drivers/mcu/at32/exti_at32.c \
+            exti_at32.c \
-            drivers/mcu/at32/io_at32.c \
+            io_at32.c \
-            drivers/mcu/at32/light_ws2811strip_at32f43x.c \
+            light_ws2811strip_at32f43x.c \
-            drivers/mcu/at32/persistent_at32bsp.c \
+            persistent_at32bsp.c \
-            drivers/mcu/at32/pwm_output_at32bsp.c \
+            pwm_output_at32bsp.c \
-            drivers/mcu/at32/pwm_output_dshot.c \
+            pwm_output_dshot.c \
-            drivers/mcu/at32/rcc_at32.c \
+            rcc_at32.c \
-            drivers/mcu/at32/serial_uart_at32bsp.c \
+            serial_uart_at32bsp.c \
-            drivers/mcu/at32/serial_uart_at32f43x.c \
+            serial_uart_at32f43x.c \
-            drivers/mcu/at32/serial_usb_vcp_at32f4.c \
+            serial_usb_vcp_at32f4.c \
-            drivers/mcu/at32/system_at32f43x.c \
+            system_at32f43x.c \
-            drivers/mcu/at32/timer_at32bsp.c \
+            timer_at32bsp.c \
-            drivers/mcu/at32/timer_at32f43x.c \
+            timer_at32f43x.c \
-            drivers/mcu/at32/usb_msc_at32f43x.c \
+            usb_msc_at32f43x.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/dshot_bitbang_decode.c \
             drivers/inverter.c \