Merge pull request #10484 from iNavFlight/YI-BOYANG/master

add GEPRC_TAKER_H743 target replacement

.github/workflows/ci.yml

@@ -18,7 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
         matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
 
     steps:
       - uses: actions/checkout@v4

src/main/target/GEPRC_TAKER_H743/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(GEPRC_TAKER_H743)

src/main/target/GEPRC_TAKER_H743/config.c

@@ -0,0 +1,63 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+
+#define BLUETOOTH_MSP_BAUDRATE      BAUD_115200
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOXARM;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER1;
+
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].msp_baudrateIndex = BLUETOOTH_MSP_BAUDRATE;
+}
+

src/main/target/GEPRC_TAKER_H743/target.c

@@ -0,0 +1,52 @@
+/*
+* This file is part of INAV Project.
+*
+* 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/sensor.h"
+
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 1),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 2),
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 3),
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 4),
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 5),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 6),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 7),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 8),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/GEPRC_TAKER_H743/target.h

@@ -0,0 +1,196 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+#define USBD_PRODUCT_STRING     "GEPRC_TAKER_H743"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PC13
+
+#define BEEPER                  PD2
+#define BEEPER_INVERTED
+
+
+//**************** SPI BUS *************************
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+#define USE_IMU_MPU6000
+#define USE_IMU_ICM42605
+
+
+// *****IMU1 MPU6000 & ICM42688 ON  SPI1 **************
+#define IMU1_ALIGN              CW180_DEG
+#define IMU1_SPI_BUS            BUS_SPI1
+#define IMU1_CS_PIN             PA4
+
+
+
+// *****IMU2 MPU6000 & ICM42688 ON  SPI2 **************
+#define IMU2_ALIGN              CW0_DEG
+#define IMU2_SPI_BUS            BUS_SPI2
+#define IMU2_CS_PIN             PB12
+
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+
+// ************PINIO to disable BT*****************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PE13  
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+
+// ************PINIO to other
+#define PINIO2_PIN                  PC14               //Enable vsw
+
+
+// *************** OSD *****************************
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI4
+#define MAX7456_CS_PIN          PE4
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_UART7
+#define UART7_RX_PIN            PE7
+#define UART7_TX_PIN            PE8
+
+#define USE_UART8
+#define UART8_RX_PIN            PE0
+#define UART8_TX_PIN            PE1
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC3
+// #define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC5
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT              1120
+
+//****************************************************
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR