Updates to the MATEKF722 target.

src/main/target/MATEKF722/target.c

@@ -35,5 +35,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR, 0, 0), // S5   DMA1_ST2
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MOTOR, 0, 0), // S6   DMA2_ST6
 
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR, 0, 0), // PWM
+
     DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED,   0, 0), // LED STRIP  DMA1_ST5
 };

src/main/target/MATEKF722/target.h

@@ -35,6 +35,9 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
+#define MPU6500_CS_PIN          PC2
+#define MPU6500_SPI_INSTANCE    SPI1
+
 #define ICM20689_CS_PIN         PC2
 #define ICM20689_SPI_INSTANCE   SPI1
 
@@ -43,13 +46,33 @@
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW180_DEG
+
 #define USE_GYRO_SPI_ICM20689
 #define GYRO_ICM20689_ALIGN     CW90_DEG
 
 #define USE_ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW180_DEG
+
 #define USE_ACC_SPI_ICM20689
 #define ACC_ICM20689_ALIGN      CW90_DEG
 
+// *************** Baro **************************
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE              (I2CDEV_1)
+#define I2C1_SCL                PB6        // SCL pad
+#define I2C1_SDA                PB7        // SDA pad
+#define BARO_I2C_INSTANCE       (I2CDEV_1)
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+
 // *************** SD Card **************************
 #define USE_SDCARD
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
@@ -125,13 +148,12 @@
 #define CURRENT_METER_ADC_PIN   PC4
 #define RSSI_ADC_PIN            PB0
 
-#define DEFAULT_FEATURES        (FEATURE_OSD )
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY )
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 
 #define USE_LED_STRIP
 
-#define USE_SPEKTRUM_BIND
-#define BIND_PIN                PA1 // USART4 RX
-
 #define USE_ESCSERIAL
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
@@ -140,5 +162,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 8
-#define USED_TIMERS             (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(5)|TIM_N(8))
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(5)|TIM_N(8))

src/main/target/MATEKF722/target.mk

@@ -2,5 +2,10 @@ F7X2RE_TARGETS += $(TARGET)
 FEATURES       += SDCARD VCP
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
             drivers/max7456.c