SYNERGYF4 updated target for 4.0 and unified targets

Updated the existing 3.5.x maintenance branch SYNERGYF4 target to be 4.0 and unified target compatible.

Including:
- Legacy target for 4.0
- Unified target for future releases
- Documentation

docs/boards/Board - SYNERGYF4.md

@@ -0,0 +1,49 @@
+### Specifications
+- Processor: STM32F405 (F4 processor)
+- Gyro: MPU6000
+- Loop: 8k/8k
+- Input: 2-6S (Max 28V)
+- Regulator: Filtered 5V 3A
+- Receiver: 3.3V or 5V selectable. Inverted and non-inverted selectable receiver input
+- Connectors: 8 pin JST-SH main connector.  2x 3 pin JST-SH Addressable LED connectors (mirrored output)
+- Telemetry: Current Sensor and ESC Telemetry Input
+- Blackbox: 128Mbit flash (16Megabytes)
+- Motor: 4 pwm motor outputs with D-Shot and Multishot support
+- Mounting: M3 30.5x30.5mm holes with soft mounting
+- Dimensions: 37x37mm
+- Weight: 7.5g
+- Camera: Filtered 5V output
+
+### Features
+- Direct mounting for Unify Pro (5V), Unify Nano, Unify Pro Nano32  (Nano VTXs use adapter board included)
+- Direct mounting for TBS CrossFire Nano RX, TBS CrossFire Nano Diversity  RX, FR Sky XM+, and FR Sky R9m Mini (R9m Mini Adapter Included From Tiny's LEDs)
+- Header holes for direct receiver installation.
+- Built in camera control via single wire (analog only)
+- Built in BetaFlight OSD
+- Buzzer: Dedicated pads for 5V (100mA max) buzzers
+- Onboard addressable LED
+- Built in Tiny’s LEDs RealPit VTX power switch (selectable between ON-OFF-Remote)
+- Receiver can be powered on via USB (VTX stays off)
+- SmartAudio: Selectable between internal (FC controlled) and external (receiver).
+
+### UART info
+- UART1: Receiver (FrSky, Spektrum, Crossfire, etc)
+- UART3: SmartAudio (or any other desired output if SmartAudio is selected to pull signal from the “external” pad, designated RX SA on the top of the FC)
+- UART6: ESC Telemetry (if applicable).
+
+### Top
+![Top](images/SYNERGYF4-top.png)
+
+### Bottom
+![Bottom](images/SYNERGYF4-bottom.png)
+
+### Photo
+![Main](images/SYNERGYF4-main.jpg)
+
+`*** The flight controller does not include a receiver or VTX. The picture is for illustration only!`
+### Installation
+- Video: https://www.facebook.com/kevinslee106/videos/10156338569116234
+
+### Where to get
+- WhitenoiseFPV: https://whitenoisefpv.com/products/synergyf4
+- Tiny's LEDs: https://tinysleds.com/products/synergy-f4-flight-controller

src/main/target/OMNIBUSF4/SYNERGYF4.mk

@@ -0,0 +1 @@
+#SYNERGYF4

src/main/target/OMNIBUSF4/config.c

@@ -32,6 +32,23 @@
 #include "pg/max7456.h"
 #include "pg/pg.h"
 
+#ifdef SYNERGYF4
+#include "io/vtx.h"
+#include "io/ledstrip.h"
+#include "fc/config.h"
+#include "pg/piniobox.h"
+#include "common/axis.h"
+#include "sensors/barometer.h"
+#include "sensors/compass.h"
+#include "sensors/gyro.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "drivers/pwm_output.h"
+static targetSerialPortFunction_t targetSerialPortFunction[] = {
+    { SERIAL_PORT_USART1, FUNCTION_RX_SERIAL },
+    { SERIAL_PORT_USART3,  FUNCTION_VTX_SMARTAUDIO },
+};
+#endif
 #ifdef EXUAVF4PRO
 static targetSerialPortFunction_t targetSerialPortFunction[] = {
     { SERIAL_PORT_USART1, FUNCTION_TELEMETRY_SMARTPORT },
@@ -51,5 +68,14 @@ void targetConfiguration(void)
 #ifdef EXUAVF4PRO
     targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
 #endif
+#ifdef SYNERGYF4
+    pinioBoxConfigMutable()->permanentId[0] = 39;
+    vtxSettingsConfigMutable()->pitModeFreq = 0;
+    ledStripStatusModeConfigMutable()->ledConfigs[0] = DEFINE_LED(0, 0, 0, 0, LF(COLOR), LO(VTX), 0);
+    targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
+    motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT600;
+    gyroConfigMutable()->gyro_sync_denom = 1;  // 8kHz gyro
+    pidConfigMutable()->pid_process_denom = 1; // 8kHz PID
+#endif
 }
 #endif

src/main/target/OMNIBUSF4/target.c

@@ -50,10 +50,16 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 #if defined(OMNIBUSF4SD) || defined(EXUAVF4PRO)
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_MOTOR,               0, 0), // S5_OUT
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                 0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
+#elif defined(SYNERGYF4)
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_LED,                 0, 0), // LED strip
 #else
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_MOTOR | TIM_USE_LED, 0, 0), // S5_OUT
 #endif
+#if defined(SYNERGYF4)
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_CAMERA_CONTROL,      0, 0), // CAM_CTL
+#else
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,               0, 0), // S6_OUT
+#endif
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_NONE,                0, 0), // UART1_TX
     DEF_TIM(TIM1,  CH3, PA10, TIM_USE_NONE,                0, 0), // UART1_RX
 };

src/main/target/OMNIBUSF4/target.h

@@ -32,6 +32,9 @@
 #define TARGET_BOARD_IDENTIFIER "XRF4"
 #elif defined(EXUAVF4PRO)
 #define TARGET_BOARD_IDENTIFIER "EXF4"
+#elif defined(SYNERGYF4)
+#define TARGET_BOARD_IDENTIFIER "SYN4"
+#define TARGET_MANUFACTURER_IDENTIFIER "KLEE"
 #else
 #define TARGET_BOARD_IDENTIFIER "OBF4"
 // Example of a manufacturer ID to be persisted as part of the config:
@@ -47,6 +50,8 @@
 #define USBD_PRODUCT_STRING "XRACERF4"
 #elif defined(EXUAVF4PRO)
 #define USBD_PRODUCT_STRING "ExuavF4Pro"
+#elif defined(SYNERGYF4)
+#define USBD_PRODUCT_STRING "SynergyF4"
 #else
 #define USBD_PRODUCT_STRING "OmnibusF4"
 #endif
@@ -93,6 +98,9 @@
 #elif defined(XRACERF4) || defined(EXUAVF4PRO)
 #define GYRO_1_ALIGN            CW90_DEG
 #define ACC_1_ALIGN             CW90_DEG
+#elif defined(SYNERGYF4)
+#define GYRO_1_ALIGN            CW0_DEG_FLIP
+#define ACC_1_ALIGN             CW0_DEG_FLIP
 #else
 #define GYRO_1_ALIGN            CW180_DEG
 #define ACC_1_ALIGN             CW180_DEG
@@ -113,12 +121,15 @@
 #define GYRO_2_EXTI_PIN         NONE
 #define ACC_2_ALIGN             ALIGN_DEFAULT
 
+#if !defined(SYNERGYF4) //No mag sensor on SYNERGYF4
 #define USE_MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_LIS3MDL
 #define MAG_HMC5883_ALIGN       CW90_DEG
+#endif
 
+#if !defined(SYNERGYF4) //No baro sensor on SYNERGYF4
 #define USE_BARO
 #if defined(OMNIBUSF4SD)
 #define USE_BARO_SPI_BMP280
@@ -135,6 +146,7 @@
 #else
 #define DEFAULT_BARO_BMP280
 #endif
+#endif
 
 #define USE_MAX7456
 #define MAX7456_SPI_INSTANCE    SPI3
@@ -278,7 +290,11 @@
 #define RANGEFINDER_HCSR04_ECHO_PIN        PA8
 #define USE_RANGEFINDER_TF
 
+#if defined(SYNERGYF4)
+#define DEFAULT_FEATURES        (FEATURE_LED_STRIP | FEATURE_OSD | FEATURE_AIRMODE)
+#else
 #define DEFAULT_FEATURES        (FEATURE_OSD)
+#endif
 
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
@@ -295,3 +311,8 @@
 #define USABLE_TIMER_CHANNEL_COUNT 14
 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(12) )
 #endif
+#if defined(SYNERGYF4)
+#define USE_PINIO
+#define PINIO1_PIN              PB15 // VTX power switcher
+#define USE_PINIOBOX
+#endif

unified_targets/configs/SYNERGYF4.config

@@ -0,0 +1,121 @@
+# Betaflight / STM32F405 (S405) 4.0.0 Apr  1 2019 / 19:06:47 (88665a678) MSP API: 1.41
+
+board_name SYNERGYF4
+manufacturer_id KLEE
+
+# resources
+resource BEEPER 1 B04
+resource MOTOR 1 B00
+resource MOTOR 2 B01
+resource MOTOR 3 A03
+resource MOTOR 4 A02
+resource PPM 1 B14
+resource PWM 1 B14
+resource PWM 2 B15
+resource PWM 3 C06
+resource PWM 4 C07
+resource PWM 5 C08
+resource PWM 6 C09
+resource SONAR_TRIGGER 1 A01
+resource SONAR_ECHO 1 A08
+resource LED_STRIP 1 A01
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 3 B10
+resource SERIAL_TX 6 C06
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 3 B11
+resource SERIAL_RX 6 C07
+resource INVERTER 1 C00
+resource LED 1 B05
+resource SPI_SCK 1 A05
+resource SPI_SCK 3 C10
+resource SPI_MISO 1 A06
+resource SPI_MISO 3 C11
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 3 C12
+resource ESCSERIAL 1 B14
+resource CAMERA_CONTROL 1 A08
+resource ADC_BATT 1 C02
+resource ADC_RSSI 1 A00
+resource ADC_CURR 1 C01
+resource PINIO 1 B15
+resource FLASH_CS 1 B03
+resource OSD_CS 1 A15
+resource GYRO_EXTI 1 C04
+resource GYRO_CS 1 A04
+resource USB_DETECT 1 C05
+
+# timer
+timer B14 2
+timer B15 2
+timer C06 1
+timer C07 1
+timer C08 1
+timer C09 1
+timer B00 1
+timer B01 1
+timer A03 0
+timer A02 0
+timer A01 1
+timer A08 0
+timer A09 0
+timer A10 0
+
+# dma
+dma ADC 2 1
+# ADC 2: DMA2 Stream 3 Channel 1
+dma pin C06 0
+# pin C06: DMA2 Stream 2 Channel 0
+dma pin C07 0
+# pin C07: DMA2 Stream 2 Channel 0
+dma pin C08 0
+# pin C08: DMA2 Stream 2 Channel 0
+dma pin C09 0
+# pin C09: DMA2 Stream 7 Channel 7
+dma pin B00 0
+# pin B00: DMA1 Stream 7 Channel 5
+dma pin B01 0
+# pin B01: DMA1 Stream 2 Channel 5
+dma pin A03 1
+# pin A03: DMA1 Stream 6 Channel 3
+dma pin A02 0
+# pin A02: DMA1 Stream 1 Channel 3
+dma pin A01 0
+# pin A01: DMA1 Stream 4 Channel 6
+dma pin A08 0
+# pin A08: DMA2 Stream 6 Channel 0
+dma pin A09 0
+# pin A09: DMA2 Stream 6 Channel 0
+dma pin A10 0
+# pin A10: DMA2 Stream 6 Channel 0
+
+# feature
+feature LED_STRIP
+feature OSD
+feature AIRMODE
+
+# serial
+serial 0 64 115200 57600 0 115200
+serial 2 2048 115200 57600 0 115200
+
+# led
+led 0 0,0::CV:0
+
+# master
+set adc_device = 2
+set blackbox_device = SPIFLASH
+set motor_pwm_protocol = DSHOT600
+set current_meter = ADC
+set battery_meter = ADC
+set beeper_inversion = ON
+set beeper_od = OFF
+set pid_process_denom = 1
+set system_hse_mhz = 8
+set max7456_spi_bus = 3
+set dashboard_i2c_bus = 2
+set pinio_box = 39,255,255,255
+set flash_spi_bus = 3
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW0FLIP
+set gyro_2_spibus = 1