Merge pull request #7129 from Asizon/master

Add target OMNIBUSF4V6

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 BARO_SPI_INSTANCE       SPI3
 #define BARO_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))