Kakute H7 Wing

src/main/drivers/bus_i2c_hal.c

@@ -85,7 +85,7 @@ static i2cDevice_t i2cHardwareMap[I2CDEV_COUNT] = {
     { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1L(I2C2), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn, .af = GPIO_AF4_I2C2 },
     { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1L(I2C3), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn, .af = GPIO_AF4_I2C3 },
 #if defined(USE_I2C_DEVICE_4)
-    { .dev = I2C4, .scl = IO_TAG(I2C4_SCL), .sda = IO_TAG(I2C4_SDA), .rcc = RCC_APB1L(I2C4), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C4_EV_IRQn, .er_irq = I2C4_ER_IRQn, .af = GPIO_AF4_I2C4 }
+    { .dev = I2C4, .scl = IO_TAG(I2C4_SCL), .sda = IO_TAG(I2C4_SDA), .rcc = RCC_APB4(I2C4), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C4_EV_IRQn, .er_irq = I2C4_ER_IRQn, .af = GPIO_AF4_I2C4 }
 #endif
 #endif
 };

src/main/drivers/sdcard/sdmmc_sdio_h7xx.c

@@ -104,8 +104,8 @@ static const sdioHardware_t sdioPinHardware[SDIODEV_COUNT] = {
     {
         .instance = SDMMC2,
         .irqn = SDMMC2_IRQn,
-        .sdioPinCK  = { PINDEF(2, PC1,   9), PINDEF(2, PD6, 11) },
-        .sdioPinCMD = { PINDEF(2, PA0,   9), PINDEF(2, PD7, 11) },
+        .sdioPinCK  = { PINDEF(2, PC1,   9), PINDEF(2, PD6,  11) },
+        .sdioPinCMD = { PINDEF(2, PA0,   9), PINDEF(2, PD7,  11) },
         .sdioPinD0  = { PINDEF(2, PB14,  9) },
         .sdioPinD1  = { PINDEF(2, PB15,  9) },
         .sdioPinD2  = { PINDEF(2, PB3,   9) },
@@ -127,14 +127,22 @@ void sdioPinConfigure(void)
 
     sdioHardware = &sdioPinHardware[SDCARD_SDIO_DEVICE];
 
-    sdioPin[SDIO_PIN_CK] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinCK[0];
-    sdioPin[SDIO_PIN_CMD] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinCMD[0];
-    sdioPin[SDIO_PIN_D0] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD0[0];  
+#ifdef SDCARD_SDIO2_CK_ALT
+    sdioPin[SDIO_PIN_CK] = sdioHardware->sdioPinCK[1];
+#else
+    sdioPin[SDIO_PIN_CK] = sdioHardware->sdioPinCK[0];
+#endif
+#ifdef SDCARD_SDIO2_CMD_ALT
+    sdioPin[SDIO_PIN_CMD] = sdioHardware->sdioPinCMD[1];
+#else
+    sdioPin[SDIO_PIN_CMD] = sdioHardware->sdioPinCMD[0];
+#endif
+    sdioPin[SDIO_PIN_D0] = sdioHardware->sdioPinD0[0];  
 
 #ifdef SDCARD_SDIO_4BIT
-    sdioPin[SDIO_PIN_D1] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD1[0];
-    sdioPin[SDIO_PIN_D2] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD2[0];
-    sdioPin[SDIO_PIN_D3] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD3[0];
+    sdioPin[SDIO_PIN_D1] = sdioHardware->sdioPinD1[0];
+    sdioPin[SDIO_PIN_D2] = sdioHardware->sdioPinD2[0];
+    sdioPin[SDIO_PIN_D3] = sdioHardware->sdioPinD3[0];
 #endif
 }
 
@@ -254,7 +262,11 @@ bool SD_Init(void)
     hsd1.Init.BusWide = SDMMC_BUS_WIDE_1B; // FIXME untested
 #endif
     hsd1.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_ENABLE;
-    hsd1.Init.ClockDiv = 1; // 200Mhz / (2 * 1 ) = 100Mhz, used for "UltraHigh speed SD card" only, see   HAL_SD_ConfigWideBusOperation, SDMMC_HSpeed_CLK_DIV, SDMMC_NSpeed_CLK_DIV
+#ifdef SDCARD_SDIO_NORMAL_SPPED
+        hsd1.Init.ClockDiv = SDMMC_NSpeed_CLK_DIV;
+#else
+        hsd1.Init.ClockDiv = 1; // 200Mhz / (2 * 1 ) = 100Mhz, used for "UltraHigh speed SD card" only, see   HAL_SD_ConfigWideBusOperation, SDMMC_HSpeed_CLK_DIV, SDMMC_NSpeed_CLK_DIV
+#endif
 
     status = HAL_SD_Init(&hsd1); // Will call HAL_SD_MspInit
 

src/main/target/KAKUTEH7WING/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(KAKUTEH7WING HSE_MHZ 16)

src/main/target/KAKUTEH7WING/config.c

@@ -0,0 +1,36 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+#include "drivers/serial.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+    pinioBoxConfigMutable()->permanentId[3] = BOX_PERMANENT_ID_USER4;
+    beeperConfigMutable()->pwmMode = true;
+}

src/main/target/KAKUTEH7WING/hardware_setup.c

@@ -0,0 +1,59 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+
+void initialisePreBootHardware(void)
+{
+    // VDD_3V3_SENSORS_EN
+    IOInit(DEFIO_IO(PB2), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PB2), IOCFG_OUT_PP);
+    // IOLo(DEFIO_IO(PB2));
+    // delay(100);
+    IOHi(DEFIO_IO(PB2));
+
+    // CAM Switch / User3
+    IOInit(DEFIO_IO(PC13), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PC13), IOCFG_OUT_PP);
+    IOLo(DEFIO_IO(PC13));
+
+    // User1
+    IOInit(DEFIO_IO(PD4), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PD4), IOCFG_OUT_PP);
+    IOLo(DEFIO_IO(PD4));
+
+    // VTx 9V Switch / User4
+    IOInit(DEFIO_IO(PE3), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PE3), IOCFG_OUT_PP);
+    IOHi(DEFIO_IO(PE3));
+
+    // User2
+    IOInit(DEFIO_IO(PE4), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PE4), IOCFG_OUT_PP);
+    IOLo(DEFIO_IO(PE4));
+}

src/main/target/KAKUTEH7WING/target.c

@@ -0,0 +1,57 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_gyro, DEVHW_BMI088_GYRO,  BMI088_SPI_BUS,     BMI088_GYRO_CS_PIN,  BMI088_GYRO_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_BMI088_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_acc,  DEVHW_BMI088_ACC,   BMI088_SPI_BUS,     BMI088_ACC_CS_PIN,   BMI088_ACC_EXTI_PIN,   1,  DEVFLAGS_NONE,  IMU_BMI088_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,     ICM42605_EXTI_PIN,     0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+// BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,     NONE,     0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),   // S2
+    DEF_TIM(TIM1, CH3, PE13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3  
+    DEF_TIM(TIM1, CH4, PE14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
+
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S5
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6 DMA_NONE
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S7
+    DEF_TIM(TIM5, CH2, PA1,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S8
+
+    DEF_TIM(TIM15,CH1, PE5,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S9
+    DEF_TIM(TIM15,CH2, PE6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12
+
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S13
+    //DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S14 / LED_2812
+
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0),   // S14 / LED_2812
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);