NEW TARGET: AT32 debug targets, ATSTARTF435 and REVO-AT (#12392)

* Never block use of SWD pins

* Split the AT-START-F435 and REVO-AT configs out from AT32F435/target.h

src/config/ATSTARTF435/config.h

@@ -0,0 +1,47 @@
+/*
+ * 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/>.
+ */
+
+#define FC_TARGET_MCU     AT32F435
+
+#define BOARD_NAME        ATSTARTF435
+#define MANUFACTURER_ID   AT
+
+// AT-START-F435 V1.0 LED assignments to use as a default
+#define LED0_PIN                PD13 // Labelled LED2 Red
+#define LED1_PIN                PD14 // Labelled LED3 Amber
+#define LED2_PIN                PD15 // Labelled LED4 Green
+
+// AT-START-F435 J7 connector SPI 2
+#define SPI2_SCK_PIN            PD1
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PD4
+
+#define J7_NSS                  PD0
+
+#define GYRO_1_CS_PIN           J7_NSS
+#define GYRO_1_SPI_INSTANCE     SPI2
+
+#define USE_EXTI
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN         PB11
+
+#define USE_ACCGYRO_BMI160
+

src/config/REVO_AT/config.h

@@ -0,0 +1,50 @@
+/*
+ * 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/>.
+ */
+
+#define FC_TARGET_MCU     AT32F435
+
+// REVO with STM32F405 swapped for an AT32F435
+
+#define BOARD_NAME        REVO_AT
+#define MANUFACTURER_ID   OPEN
+
+#define LED0_PIN                PB5
+
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+#define GYRO_1_CS_PIN           PA4
+#define GYRO_1_SPI_INSTANCE     SPI1
+#define GYRO_1_ALIGN            CW270_DEG
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN         PC4
+
+#define  SPI1_SCK_PIN           PA5
+#define  SPI1_MISO_PIN          PA6
+#define  SPI1_MOSI_PIN          PA7
+
+#define  SPI3_SCK_PIN           PC10
+#define  SPI3_MISO_PIN          PC11
+#define  SPI3_MOSI_PIN          PC12
+
+#define USE_FLASH_M25P16

src/main/config/config_streamer.c

@@ -50,6 +50,10 @@ uint8_t eepromData[EEPROM_SIZE];
 #  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
 # elif defined(STM32F446xx)
 #  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
+# elif defined(AT32F435ZMT7) || defined(AT32F435RMT7)
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x1000) // 4K sectors
+# elif defined(AT32F435RGT7)
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x0800) // 2K sectors
 // F7
 #elif defined(STM32F722xx)
 #  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000) // 16K sectors

src/main/drivers/at32/bus_spi_at32bsp.c

@@ -44,7 +44,7 @@ static spi_init_type defaultInit = {
     .first_bit_transmission = SPI_FIRST_BIT_MSB,
     .mclk_freq_division = SPI_MCLK_DIV_8,
     .clock_polarity = SPI_CLOCK_POLARITY_HIGH,
-    .clock_phase = SPI_CLOCK_PHASE_2EDGE 
+    .clock_phase = SPI_CLOCK_PHASE_2EDGE
 };
 
 static uint16_t spiDivisorToBRbits(spi_type  *instance, uint16_t divisor)

src/main/drivers/at32/debug.c

@@ -23,7 +23,6 @@
 #include "build/debug.h"
 #include "drivers/io.h"
 
-#ifdef DEBUG // DEBUG=GDB on command line
 void debugInit(void)
 {
     IO_t io = IOGetByTag(DEFIO_TAG_E(PA13)); // SWDIO
@@ -35,4 +34,3 @@ void debugInit(void)
         IOInit(io, OWNER_SWD, 0);
     }
 }
-#endif

src/main/drivers/at32/platform_at32.h

@@ -1,3 +1,24 @@
+/*
+ * 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 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
 
 #if defined(AT32F435ZMT7)
 
@@ -70,7 +91,6 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 
 #define USE_LATE_TASK_STATISTICS
 
-/*
 #ifndef SPI1_SCK_PIN
 #define SPI1_SCK_PIN    PA5
 #define SPI1_MISO_PIN   PA6
@@ -106,4 +126,3 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define SPI6_MISO_PIN   NONE
 #define SPI6_MOSI_PIN   NONE
 #endif
-*/

src/main/drivers/stm32/debug.c

@@ -23,7 +23,6 @@
 #include "build/debug.h"
 #include "drivers/io.h"
 
-#ifdef DEBUG // DEBUG=GDB on command line
 void debugInit(void)
 {
     IO_t io = IOGetByTag(DEFIO_TAG_E(PA13)); // SWDIO
@@ -35,4 +34,3 @@ void debugInit(void)
         IOInit(io, OWNER_SWD, 0);
     }
 }
-#endif

src/main/fc/init.c

@@ -1014,9 +1014,7 @@ void init(void)
     spiInitBusDMA();
 #endif
 
-#ifdef DEBUG
     debugInit();
-#endif
 
     unusedPinsInit();
 

src/main/target/AT32F435/target.h

@@ -30,56 +30,31 @@
 #define AT32F435
 #endif
 
-// AT-START-F435 V1.0 LED assignments to use as a default
-#define LED0_PIN                PD13 // Labelled LED2 Red
-#define LED1_PIN                PD14 // Labelled LED3 Amber
-#define LED2_PIN                PD15 // Labelled LED4 Green
-
-//#define USE_I2C_DEVICE_1
-
 #define USE_UART1
-// AT-START-F435 V1.0 UART 1 assignments to use as a default
-#define UART1_RX_PIN PA10
-#define UART1_TX_PIN PA9
-#define USE_MSP_UART SERIAL_PORT_USART1
-
 #define USE_UART2
 #define USE_UART3
 #define SERIAL_PORT_COUNT       (UNIFIED_SERIAL_PORT_COUNT + 3)
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-
-//#define USE_I2C
-//#define I2C_FULL_RECONFIGURABILITY
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
 
 #define USE_SPI
+#define USE_SPI_DEVICE_1
 #define USE_SPI_DEVICE_2
+#define USE_SPI_DEVICE_3
 #define USE_SPI_DMA_ENABLE_LATE
 
-// AT-START-F435 J7 connector SPI 1
-#define SPI2_SCK_PIN            PD1
-#define SPI2_MISO_PIN           PC2
-#define SPI2_MOSI_PIN           PD4
-
-#define J7_NSS                  PD0
-
-#define GYRO_1_CS_PIN           J7_NSS
-#define GYRO_1_SPI_INSTANCE     SPI2
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
 
 #define USE_EXTI
 #define USE_GYRO_EXTI
-#define GYRO_1_EXTI_PIN         PB11
 
-#define USE_ACCGYRO_BMI160
 
 #define USE_USB_DETECT
 #define USE_VCP
-//#define USE_SOFTSERIAL1
-//#define USE_SOFTSERIAL2
-
 
 #define UNIFIED_SERIAL_PORT_COUNT       1
 
@@ -88,6 +63,7 @@
 #define USE_CUSTOM_DEFAULTS
 #define USE_PWM_OUTPUT
 
+// Remove these undefines as support is added
 #undef USE_BEEPER
 #undef USE_LED_STRIP
 #undef USE_TRANSPONDER
@@ -111,13 +87,3 @@
 #undef USE_FLASH
 #undef USE_FLASHFS
 #undef USE_FLASH_CHIP
-
-#if defined(AT32F435ZMT7) || defined(AT32F435RMT7)
-// 4k sectors
-#define FLASH_PAGE_SIZE   ((uint32_t)0x1000)
-#elif defined(AT32F435RGT7)
-// 2K page sectors
-#define FLASH_PAGE_SIZE   ((uint32_t)0x0800)
-#endif
-
-#define USE_EXTI

src/main/target/SITL/sitl.c

@@ -737,6 +737,11 @@ void spektrumBind(rxConfig_t *rxConfig)
     printf("spektrumBind\n");
 }
 
+void debugInit(void)
+{
+    printf("debugInit\n");
+}
+
 void unusedPinsInit(void)
 {
     printf("unusedPinsInit\n");