Add target OMNIBUSF4V6

I add target of Airbot Omnibus F4 V6, it is tested and functional at 100%

Update target OmnibusF4V6 to Fireworks variant

Update target.h

Update target.c

Update target.c

Fix motor output resources for Typhoon32 V2

Revert motor changes

Enable SCL and SDA pins

I have enabled the resources I2C2_SCL and I2C2_SDA, in Omnibus F4 V6 they are independent, they do not share with UART3TX / UART3RX

Requested changes

I have reviewed the requested changes, default gyro first and swapping of gyro1 and 2

Removing two linefeed

Add I2C Definitions and Timers

Added definitions and timers for I2C1 device(Baro, Mag)

Update target.c target.h

Some requested changes

Remove I2C Timers

Waiting to find compatible timers for SCL and SDA(I2C)

Update USABLE_TIMER_CHANNEL_COUNT

src/main/target/OMNIBUSF4FW/OMNIBUSF4V6.mk

@@ -0,0 +1 @@
+#OMNIBUSF4V6

src/main/target/OMNIBUSF4FW/config.c

@@ -32,8 +32,12 @@
 #include "config_helper.h"
 
 static targetSerialPortFunction_t targetSerialPortFunction[] = {
+#ifdef OMNIBUSF4V6
+    { SERIAL_PORT_USART6, FUNCTION_RX_SERIAL },   
+#else
     { SERIAL_PORT_USART1, FUNCTION_RX_SERIAL },
     { SERIAL_PORT_UART4,  FUNCTION_ESC_SENSOR },    
+#endif
 };
 
 void targetConfiguration(void)

src/main/target/OMNIBUSF4FW/target.c

@@ -32,22 +32,29 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,           0, 0), // D(1,7) U(1,2)
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,           0, 0), // D(1,2) U(1,2)
     DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_MOTOR,           0, 1), // D(1,6) U(1,7)
-#if defined(OMNIBUSF4FW)
+#if defined(OMNIBUSF4FW1)
-    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_MOTOR,           0, 0), // D(1,5) U(1,2)
-#elif defined(OMNIBUSF4FW1)
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,           0, 0),
+#else
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_MOTOR,           0, 0), // D(1,5) U(1,2)
 #endif
 
+    // Additional motors/servos
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_NONE,            0, 0), // SJ1/M5
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_NONE,            0, 0), // SJ2/M6
+
     // Other functions
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,             0, 0), // D(1,0)
-    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,             0, 0), // PPM
+    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,             0, 0), // PPM Collision with I2C2_SCL
+	
+#if defined(OMNIBUSF4V6)
+    DEF_TIM(TIM11, CH1, PB7,  TIM_USE_CAMERA_CONTROL,  0, 0), // CAM_CTL,timer collision with I2C1_SDA
+#else 
     DEF_TIM(TIM11, CH1, PB9,  TIM_USE_CAMERA_CONTROL,  0, 0), // CAM_CTL
+#endif
 
     // Spare pins and backdoor timer
     DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_NONE,            0, 0), // UART6_TX
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_NONE,            0, 0), // UART6_RX
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_NONE,            0, 0), // SJ1
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_NONE,            0, 0), // SJ2
 
     // Backdoor timers on UARTs
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_NONE,            0, 0), // UART1_TX

src/main/target/OMNIBUSF4FW/target.h

@@ -25,19 +25,28 @@
 // OMNIBUSF4FW for Version 2
 // OMNIBUSF4FW1/OFW1 for Public Test Version
 // (Not a valid target, .mk file must be supplied by a user)
+// OMNIBUSF4V6
 
-#if defined(OMNIBUSF4FW)
+#if defined(OMNIBUSF4V6)
-#define TARGET_BOARD_IDENTIFIER "OBFW"
+#define TARGET_BOARD_IDENTIFIER "OBV6"
-#define USBD_PRODUCT_STRING "OmnibusF4 Fireworks"
 #elif defined(OMNIBUSF4FW1)
 #define TARGET_BOARD_IDENTIFIER "OFW1"
-#define USBD_PRODUCT_STRING "OmnibusF4 FWProto1"
+#else 
+#define TARGET_BOARD_IDENTIFIER "OBFW"
 #endif
 
-#if defined(OMNIBUSF4FW)
+#if defined(OMNIBUSF4FW1)
-#define LED0_PIN                PA8
+#define USBD_PRODUCT_STRING "OmnibusF4 FWProto1"
-#elif defined(OMNIBUSF4FW1)
+#elif defined(OMNIBUSF4V6)
+#define USBD_PRODUCT_STRING "OmnibusF4 V6"
+#else
+#define USBD_PRODUCT_STRING "OmnibusF4 Fireworks"
+#endif
+
+#if defined(OMNIBUSF4FW1)
 #define LED0_PIN                PB5
+#else
+#define LED0_PIN                PA8
 #endif
 
 #define USE_BEEPER
@@ -54,15 +63,28 @@
 
 #define USE_DUAL_GYRO
 
+#if defined(OMNIBUSF4V6)
+#define GYRO_1_CS_PIN           PA4   // Onboard IMU  
+#define GYRO_1_SPI_INSTANCE     SPI1
+#define GYRO_2_CS_PIN           PC14  // External IMU
+#define GYRO_2_SPI_INSTANCE     SPI1
+#else
 #define GYRO_1_CS_PIN           PD2
 #define GYRO_1_SPI_INSTANCE     SPI3
 #define GYRO_2_CS_PIN           PA4
 #define GYRO_2_SPI_INSTANCE     SPI1
+#endif
 
 #define GYRO_1_ALIGN            CW180_DEG
 #define ACC_1_ALIGN             CW180_DEG
+
+#if defined(OMNIBUSF4V6)
+#define GYRO_2_ALIGN            CW180_DEG
+#define ACC_2_ALIGN             CW180_DEG
+#else
 #define GYRO_2_ALIGN            CW0_DEG_FLIP
 #define ACC_2_ALIGN             CW0_DEG_FLIP
+#endif
 
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
@@ -74,11 +96,13 @@
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_MAG
+#define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG_HMC5883
 #define USE_MAG_LIS3MDL
 #define MAG_HMC5883_ALIGN       CW90_DEG
 
 #define USE_BARO
+#define BARO_I2C_INSTANCE       (I2CDEV_1)
 #define USE_BARO_SPI_BMP280
 #define BMP280_SPI_INSTANCE     SPI3
 #define BMP280_CS_PIN           PB3
@@ -147,11 +171,19 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
+#if defined(OMNIBUSF4V6)
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8 // SCL PIN,alt MST8
+#define I2C1_SDA                PB9 // SDA PIN,alt MST7
+#define I2C_DEVICE              (I2CDEV_1)
+#else
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C2_SCL                NONE // PB10, shared with UART3TX
 #define I2C2_SDA                NONE // PB11, shared with UART3RX
 #define I2C_DEVICE              (I2CDEV_2)
+#endif
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC2
@@ -181,9 +213,6 @@
 #define TARGET_IO_PORTC (0xffff & ~(BIT(15)))
 #define TARGET_IO_PORTD BIT(2)
 
-#if defined(OMNIBUSF4FW) || defined(OMNIBUSF4FW1)
 #define USABLE_TIMER_CHANNEL_COUNT 15
-#else
+
-#define USABLE_TIMER_CHANNEL_COUNT 14
-#endif
 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11))