Merge branch 'master' into 20230319_MSP_1.54

src/main/target/AIKONF4/target.h

@@ -20,8 +20,10 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "AIK4"
-#define USBD_PRODUCT_STRING     "AIKONF4"
+#define BOARD_NAME        AIKONF4
+#define MANUFACTURER_ID   AIKO
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
 
 #define LED0_PIN                PB4
 #define USE_BEEPER
@@ -38,22 +40,32 @@
 #define MPU_INT_EXTI            PC4
 #define USE_MPU_DATA_READY_SIGNAL
 
-#define MPU6000_CS_PIN          SPI1_NSS_PIN
-#define MPU6000_SPI_INSTANCE    SPI1
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM20602
+#define USE_GYRO_SPI_ICM20602
+#define USE_ACCGYRO_BMI270
+#define USE_GYRO_SPI_MPU6500
+#define USE_ACC_SPI_MPU6500
+
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_INSTANCE    SPI1
 #define GYRO_MPU6000_ALIGN      CW0_DEG
 #define ACC_MPU6000_ALIGN       CW0_DEG
 
-#define USE_GYRO_SPI_MPU6500
-#define USE_ACC_SPI_MPU6500
+// ICM2060x detected by MPU6500 driver
 #define MPU6500_CS_PIN          MPU6000_CS_PIN
 #define MPU6500_SPI_INSTANCE    MPU6000_SPI_INSTANCE
 #define GYRO_MPU6500_ALIGN      GYRO_MPU6000_ALIGN
 #define ACC_MPU6500_ALIGN       ACC_MPU6000_ALIGN
 
+#define ACC_BMI270_ALIGN         CW0_DEG
+#define GYRO_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
 #define USE_BARO
 #define USE_BARO_BMP280
 

src/main/target/AIKONF4/target.mk

@@ -4,5 +4,6 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/max7456.c

src/main/target/AIKONF7/target.h

@@ -19,8 +19,11 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER "AIKO"
-#define USBD_PRODUCT_STRING "AIKONF7"
+
+#define BOARD_NAME        AIKONF7
+#define MANUFACTURER_ID   AIKO
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -38,12 +41,16 @@
 #define USE_EXTI
 #define MPU_INT_EXTI              PC4
 #define USE_MPU_DATA_READY_SIGNAL
-//MPU-6000
+
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
 
+//MPU-6000
 #define GYRO_MPU6000_ALIGN      CW0_DEG
 #define ACC_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          PA4
@@ -60,6 +67,18 @@
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
 #define MPU6500_SPI_INSTANCE    SPI1
 
+// ICM42688P
+#define ACC_ICM42688P_ALIGN      CW0_DEG
+#define GYRO_ICM42688P_ALIGN     CW0_DEG
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+// BMI270
+#define ACC_BMI270_ALIGN         CW0_DEG
+#define GYRO_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
 #define USE_MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883

src/main/target/AIKONF7/target.mk

@@ -5,6 +5,8 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \
             drivers/compass/compass_hmc5883l.c \

src/main/target/AIRF7/target.h

@@ -20,8 +20,10 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "RAF7"
-#define USBD_PRODUCT_STRING     "Racerstar AirF7"
+#define MANUFACTURER_ID RAST
+#define BOARD_NAME AIRF7
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
 
 #define LED0_PIN                PA3
 
@@ -44,16 +46,22 @@
 
 #define USE_GYRO
 #define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 #define USE_GYRO_SPI_MPU6500
 #define USE_MPU_DATA_READY_SIGNAL
 
+#define ACC_MPU6000_ALIGN         CW90_DEG
+#define GYRO_MPU6000_ALIGN        CW90_DEG
+#define MPU6000_CS_PIN            PC4
+#define MPU6000_SPI_INSTANCE      SPI1
+
 #define MPU6500_CS_PIN                                   PC4                    //GYRO_1_CS_PIN
 #define MPU6500_SPI_INSTANCE                             SPI1                   //GYRO_1_SPI_INSTANCE
 #define GYRO_MPU6500_ALIGN                               CW90_DEG
 #define ACC_MPU6500_ALIGN                                CW90_DEG
 
-
 // *************** OSD **************************
 
 #define USE_SPI_DEVICE_3

src/main/target/AIRF7/target.mk

@@ -3,6 +3,7 @@ FEATURES        += VCP ONBOARDFLASH
 
 TARGET_SRC = \
 						drivers/accgyro/accgyro_mpu.c \
+						drivers/accgyro/accgyro_spi_mpu6000.c \
 						drivers/accgyro/accgyro_mpu6500.c \
 						drivers/accgyro/accgyro_spi_mpu6500.c \
 						drivers/barometer/barometer_bmp280.c \

src/main/target/ALIENFLIGHTF4/target.h

@@ -19,14 +19,17 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER "AFF4"
+
 #define USE_TARGET_CONFIG
 
+#define BOARD_NAME        ALIENFLIGHTF4
+#define MANUFACTURER_ID   AFNG
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
 
-#define USBD_PRODUCT_STRING "AlienFlight F4"
-
 #define LED0_PIN                PC12
 #define LED1_PIN                PD2
 
@@ -43,16 +46,22 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define MPU6500_CS_PIN          SPI1_NSS_PIN
-#define MPU6500_SPI_INSTANCE    SPI1
-
 #define USE_ACC
-#define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN       CW270_DEG
-
 #define USE_GYRO
+#define USE_ACC_SPI_MPU6500
 #define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_MPU9250
+#define USE_ACC_SPI_MPU9250
+
+#define ACC_MPU6500_ALIGN       CW270_DEG
 #define GYRO_MPU6500_ALIGN      CW270_DEG
+#define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC_MPU9250_ALIGN       CW270_DEG
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+#define MPU9250_CS_PIN          PA4
+#define MPU9250_SPI_INSTANCE    SPI1
 
 #define USE_MAG
 #define USE_MAG_HMC5883

src/main/target/ALIENFLIGHTF4/target.mk

@@ -2,8 +2,10 @@ F405_TARGETS    += $(TARGET)
 FEATURES        += SDCARD VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu9250.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -19,14 +19,17 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER "AFF7"
+
 #define USE_TARGET_CONFIG
 
+#define BOARD_NAME        ALIENFLIGHTNGF7
+#define MANUFACTURER_ID   AFNG
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
 
-#define USBD_PRODUCT_STRING "AlienFlightNG F7"
-
 #define LED0_PIN                PC12
 #define LED1_PIN                PD2
 
@@ -41,16 +44,25 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define MPU6500_CS_PIN          SPI1_NSS_PIN
-#define MPU6500_SPI_INSTANCE    SPI1
+// ICM2060x detected by MPU6500 driver
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN       CW270_DEG
+#define USE_ACC_SPI_MPU9250
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_MPU9250
+
+#define ACC_MPU6500_ALIGN       CW270_DEG
 #define GYRO_MPU6500_ALIGN      CW270_DEG
+#define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC_MPU9250_ALIGN       CW270_DEG
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+#define MPU9250_CS_PIN          PA4
+#define MPU9250_SPI_INSTANCE    SPI1
 
 #define USE_MAG
 #define USE_MAG_HMC5883

src/main/target/ALIENFLIGHTNGF7/target.mk

@@ -4,6 +4,7 @@ FEATURES        += SDCARD VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu9250.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \

src/main/target/AXISFLYINGF7/target.h

@@ -20,9 +20,10 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "S7X7"
-
-#define USBD_PRODUCT_STRING     "AXISFLYINGF7"
+#define BOARD_NAME        AXISFLYINGF7
+#define MANUFACTURER_ID   AXFL
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
 
 #define CAMERA_CONTROL_PIN      PA8
 
@@ -58,20 +59,27 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define MPU6000_CS_PIN          PB12
-#define MPU6000_SPI_INSTANCE    SPI2
-
 //#define USE_EXTI
 //#define MPU_INT_EXTI            NONE
 #define USE_MPU_DATA_READY_SIGNAL
 
+#define USE_ACC
 #define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN      CW0_DEG
 
-#define USE_ACC
+// MPU6000
 #define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW0_DEG
 #define ACC_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
+
+// BMI270
+#define USE_ACCGYRO_BMI270
+#define ACC_BMI270_ALIGN        CW0_DEG
+#define GYRO_BMI270_ALIGN       CW0_DEG
+#define BMI270_CS_PIN           PB12
+#define BMI270_SPI_INSTANCE     SPI2
 
 #define LED0_PIN                PB10
 

src/main/target/AXISFLYINGF7/target.mk

@@ -1,13 +1,14 @@
 F7X2RE_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_qmp6988.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-						drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip.c \
             drivers/max7456.c

src/main/target/BETAFPVF405/config.c

@@ -0,0 +1,34 @@
+/*
+ * 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 <string.h>
+
+#include "platform.h"
+
+#ifdef USE_TARGET_CONFIG
+
+#include "flight/mixer.h"
+
+void targetConfiguration(void) {
+    motorConfigMutable()->motorPoleCount = 12;
+}
+#endif