Merge pull request #1644 from AlienWiiBF/AF_fix1

Various AlienFlight updates

src/main/target/ALIENFLIGHTF1/AlienFlight.md

@@ -20,7 +20,7 @@ Here are the general hardware specifications for this boards:
 - STM32F103CBT6 MCU (ALIENFLIGHTF1)
 - STM32F303CCT6 MCU (ALIENFLIGHTF3)
 - STM32F405RGT6 MCU (ALIENFLIGHTF4)
-- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- MPU6050/6500/9250/ICM-20602 accelerometer/gyro(/mag) sensor unit
 - The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
 - 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
 - extra-wide traces on the PCB, for maximum power throughput (brushed variants)

src/main/target/ALIENFLIGHTF1/config.c

@@ -20,6 +20,8 @@
 
 #include <platform.h>
 
+#include "drivers/pwm_output.h"
+
 #include "fc/rc_controls.h"
 
 #include "flight/failsafe.h"
@@ -31,13 +33,21 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
+#include "hardware_revision.h"
 
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
 {
     config->rxConfig.spektrum_sat_bind = 5;
     config->rxConfig.spektrum_sat_bind_autoreset = 1;
-    config->motorConfig.motorPwmRate = 32000;
+
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        config->motorConfig.minthrottle = 1000;
+        config->motorConfig.motorPwmRate = 32000;
+        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        config->motorConfig.useUnsyncedPwm = true;
+    }
+
     config->profile[0].pidProfile.P8[ROLL] = 90;
     config->profile[0].pidProfile.I8[ROLL] = 44;
     config->profile[0].pidProfile.D8[ROLL] = 60;
@@ -52,5 +62,5 @@ void targetConfiguration(master_t *config)
     config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
     config->customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
     config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 }

src/main/target/ALIENFLIGHTF1/hardware_revision.c

@@ -0,0 +1,64 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/system.h"
+#include "drivers/io.h"
+#include "drivers/exti.h"
+#include "hardware_revision.h"
+
+static const char * const hardwareRevisionNames[] = {
+        "Unknown",
+        "AlienFlight F1 V1",
+};
+
+uint8_t hardwareRevision = AFF1_REV_1;
+uint8_t hardwareMotorType = MOTOR_UNKNOWN;
+
+static IO_t MotorDetectPin = IO_NONE;
+
+void detectHardwareRevision(void)
+{
+    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
+    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+
+    delayMicroseconds(10);  // allow configuration to settle
+
+    // Check presence of brushed ESC's
+    if (IORead(MotorDetectPin)) {
+        hardwareMotorType = MOTOR_BRUSHLESS;
+    } else {
+        hardwareMotorType = MOTOR_BRUSHED;
+    }
+}
+
+void updateHardwareRevision(void)
+{
+}
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+    return NULL;
+}

src/main/target/ALIENFLIGHTF1/hardware_revision.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+typedef enum awf1HardwareRevision_t {
+    AFF1_UNKNOWN = 0,
+    AFF1_REV_1, // MPU6050 (I2C)
+} awf1HardwareRevision_e;
+
+typedef enum awf4HardwareMotorType_t {
+    MOTOR_UNKNOWN = 0,
+    MOTOR_BRUSHED,
+    MOTOR_BRUSHLESS
+} awf4HardwareMotorType_e;
+
+extern uint8_t hardwareRevision;
+extern uint8_t hardwareMotorType;
+
+void updateHardwareRevision(void);
+void detectHardwareRevision(void);
+
+struct extiConfig_s;
+const struct extiConfig_s *selectMPUIntExtiConfigByHardwareRevision(void);

src/main/target/ALIENFLIGHTF1/target.c

@@ -20,22 +20,23 @@
 #include <platform.h>
 #include "drivers/io.h"
 
-#include "drivers/timer.h"
 #include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM_USE_PWM | TIM_USE_PPM, 0, NULL, 0 }, // PWM1 - RC1
+    DEF_TIM(TIM2, CH1, PA0,  TIM_USE_PPM | TIM_USE_PWM, TIMER_INPUT_ENABLED  ), // PWM1 - RC1
-    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM_USE_PWM,    0, NULL, 0 }, // PWM2 - RC2
+    DEF_TIM(TIM2, CH2, PA1,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM2 - RC2
-    { TIM2, IO_TAG(PA2),  TIM_Channel_3, TIM_USE_PWM,    0, NULL, 0 }, // PWM3 - RC3
+    DEF_TIM(TIM2, CH3, PA2,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM3 - RC3
-    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM_USE_PWM,    0, NULL, 0 }, // PWM4 - RC4
+    DEF_TIM(TIM2, CH4, PA3,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM4 - RC4
-    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM_USE_PWM,    0, DMA1_Channel6, DMA1_CH6_HANDLER }, // PWM5 - RC5
+    DEF_TIM(TIM3, CH1, PA6,  TIM_USE_PWM | TIM_USE_LED, TIMER_INPUT_ENABLED  ), // PWM5 - RC5
-    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM_USE_PWM,    0, NULL, 0 }, // PWM6 - RC6
+    DEF_TIM(TIM3, CH2, PA7,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM6 - RC6
-    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM_USE_PWM,    0, NULL, 0 }, // PWM7 - RC7
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM7 - RC7
-    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM_USE_PWM,    0, NULL, 0 }, // PWM8 - RC8
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,               TIMER_INPUT_ENABLED  ), // PWM8 - RC8
-    { TIM1, IO_TAG(PA8),  TIM_Channel_1, TIM_USE_MOTOR,  1, NULL, 0 }, // PWM9 - OUT1
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED ), // PWM9 - OUT1
-    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM_USE_MOTOR,  1, NULL, 0 }, // PWM10 - OUT2
+    DEF_TIM(TIM1, CH4, PA11, TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED ), // PWM10 - OUT2
-    { TIM4, IO_TAG(PB6),  TIM_Channel_1, TIM_USE_MOTOR,  1, NULL, 0 }, // PWM11 - OUT3
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED ), // PWM11 - OUT3
-    { TIM4, IO_TAG(PB7),  TIM_Channel_2, TIM_USE_MOTOR,  1, NULL, 0 }, // PWM12 - OUT4
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED ), // PWM12 - OUT4
-    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM_USE_MOTOR,  1, NULL, 0 }, // PWM13 - OUT5
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED ), // PWM13 - OUT5
-    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM_USE_MOTOR,  1, NULL, 0 }  // PWM14 - OUT6
+    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED )  // PWM14 - OUT6
 };

src/main/target/ALIENFLIGHTF1/target.h

@@ -20,6 +20,9 @@
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
 #define TARGET_CONFIG
 
+#define USE_HARDWARE_REVISION_DETECTION
+#define MOTOR_PIN               PA8
+
 #define LED0                    PB3
 #define LED1                    PB4
 
@@ -70,7 +73,6 @@
 // Hardware bind plug at PB5 (Pin 41)
 #define BINDPLUG_PIN            PB5
 
-#define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048

src/main/target/ALIENFLIGHTF3/AlienFlight.md

@@ -20,7 +20,7 @@ Here are the general hardware specifications for this boards:
 - STM32F103CBT6 MCU (ALIENFLIGHTF1)
 - STM32F303CCT6 MCU (ALIENFLIGHTF3)
 - STM32F405RGT6 MCU (ALIENFLIGHTF4)
-- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- MPU6050/6500/9250/ICM-20602 accelerometer/gyro(/mag) sensor unit
 - The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
 - 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
 - extra-wide traces on the PCB, for maximum power throughput (brushed variants)

src/main/target/ALIENFLIGHTF3/config.c

@@ -24,6 +24,7 @@
 
 #include "drivers/sensor.h"
 #include "drivers/compass.h"
+#include "drivers/pwm_output.h"
 
 #include "fc/rc_controls.h"
 
@@ -39,16 +40,24 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
+#include "hardware_revision.h"
 
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
 {
-    config->mag_hardware = MAG_NONE;            // disabled by default
     config->rxConfig.spektrum_sat_bind = 5;
     config->rxConfig.spektrum_sat_bind_autoreset = 1;
-    config->motorConfig.motorPwmRate = 32000;
     config->gyro_sync_denom = 2;
+    config->mag_hardware = MAG_NONE;            // disabled by default
     config->pid_process_denom = 1;
+
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        config->motorConfig.minthrottle = 1000;
+        config->motorConfig.motorPwmRate = 32000;
+        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        config->motorConfig.useUnsyncedPwm = true;
+    }
+
     config->profile[0].pidProfile.P8[ROLL] = 90;
     config->profile[0].pidProfile.I8[ROLL] = 44;
     config->profile[0].pidProfile.D8[ROLL] = 60;
@@ -63,5 +72,5 @@ void targetConfiguration(master_t *config)
     config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
     config->customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
     config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 }

src/main/target/ALIENFLIGHTF3/hardware_revision.c

@@ -30,13 +30,15 @@
 
 static const char * const hardwareRevisionNames[] = {
         "Unknown",
-        "AlienFlight V1",
+        "AlienFlight F3 V1",
-        "AlienFlight V2"
+        "AlienFlight F3 V2"
 };
 
-uint8_t hardwareRevision = UNKNOWN;
+uint8_t hardwareRevision = AFF3_UNKNOWN;
+uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
 static IO_t HWDetectPin = IO_NONE;
+static IO_t MotorDetectPin = IO_NONE;
 
 void detectHardwareRevision(void)
 {
@@ -44,14 +46,25 @@ void detectHardwareRevision(void)
     IOInit(HWDetectPin, OWNER_SYSTEM, 0);
     IOConfigGPIO(HWDetectPin, IOCFG_IPU);
 
-    // Check hardware revision
+    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
+    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+
     delayMicroseconds(10);  // allow configuration to settle
 
+    // Check hardware revision
     if (IORead(HWDetectPin)) {
         hardwareRevision = AFF3_REV_1;
     } else {
         hardwareRevision = AFF3_REV_2;
     }
+
+    // Check presence of brushed ESC's
+    if (IORead(MotorDetectPin)) {
+        hardwareMotorType = MOTOR_BRUSHLESS;
+    } else {
+        hardwareMotorType = MOTOR_BRUSHED;
+    }
 }
 
 void updateHardwareRevision(void)

src/main/target/ALIENFLIGHTF3/hardware_revision.h

@@ -17,12 +17,19 @@
 #pragma once
 
 typedef enum awf3HardwareRevision_t {
-    UNKNOWN = 0,
+    AFF3_UNKNOWN = 0,
-    AFF3_REV_1, // MPU6050 / MPU9150 (I2C)
+    AFF3_REV_1, // MPU6050 (I2C)
     AFF3_REV_2  // MPU6500 / MPU9250 (SPI)
 } awf3HardwareRevision_e;
 
+typedef enum awf4HardwareMotorType_t {
+    MOTOR_UNKNOWN = 0,
+    MOTOR_BRUSHED,
+    MOTOR_BRUSHLESS
+} awf4HardwareMotorType_e;
+
 extern uint8_t hardwareRevision;
+extern uint8_t hardwareMotorType;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);

src/main/target/ALIENFLIGHTF3/target.c

@@ -26,16 +26,16 @@
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // up to 10 Motor Outputs            
-    DEF_TIM(TIM15, CH2, PB15, TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED),  // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
+    DEF_TIM(TIM15, CH2, PB15, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM1  - PB15 - DMA_NONE - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
-    DEF_TIM(TIM15, CH1, PB14, TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED),  // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
+    DEF_TIM(TIM15, CH1, PB14, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM2  - PB14 - DMA1_CH5 - TIM1_CH2N, *TIM15_CH1
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED),  // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM3  - PA8  - DMA1_CH2 - *TIM1_CH1, TIM4_ETR
-    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM4  - PB0  - DMA1_CH2 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    DEF_TIM(TIM3,  CH1, PA6,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
+    DEF_TIM(TIM3,  CH1, PA6,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM5  - PA6  - DMA1_CH6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
-    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM6  - PA2  - DMA1_CH1 - *TIM2_CH3, !TIM15_CH1
-    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM7  - PB1  - DMA1_CH3 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    DEF_TIM(TIM17, CH1, PA7,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED),  // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    DEF_TIM(TIM17, CH1, PA7,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM8  - PA7  - DMA1_CH7 - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    DEF_TIM(TIM3,  CH2, PA4,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM9  - PA4  - *TIM3_CH2
+    DEF_TIM(TIM3,  CH2, PA4,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM9  - PA4  - DMA_NONE - *TIM3_CH2
-    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_PWM,               TIMER_INPUT_ENABLED ),  // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
+    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM10 - PA1  - DMA1_CH7 - *TIM2_CH2, TIM15_CH1N
-    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_PWM | TIM_USE_PPM, TIMER_INPUT_ENABLED ), // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_PPM, TIMER_INPUT_ENABLED ), // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
 };
 

src/main/target/ALIENFLIGHTF3/target.h

@@ -24,6 +24,7 @@
 
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PB2
+#define MOTOR_PIN               PB15
 
 // LED's V1
 #define LED0                    PB4
@@ -114,7 +115,6 @@
 // Hardware bind plug at PB12 (Pin 25)
 #define BINDPLUG_PIN            PB12
 
-#define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048

src/main/target/ALIENFLIGHTF4/AlienFlight.md

@@ -20,7 +20,7 @@ Here are the general hardware specifications for this boards:
 - STM32F103CBT6 MCU (ALIENFLIGHTF1)
 - STM32F303CCT6 MCU (ALIENFLIGHTF3)
 - STM32F405RGT6 MCU (ALIENFLIGHTF4)
-- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- MPU6050/6500/9250/ICM-20602 accelerometer/gyro(/mag) sensor unit
 - The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
 - 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
 - extra-wide traces on the PCB, for maximum power throughput (brushed variants)

src/main/target/ALIENFLIGHTF4/config.c

@@ -24,6 +24,7 @@
 
 #include "drivers/sensor.h"
 #include "drivers/compass.h"
+#include "drivers/pwm_output.h"
 #include "drivers/serial.h"
 
 #include "fc/rc_controls.h"
@@ -50,7 +51,19 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
 {
+    config->batteryConfig.currentMeterOffset = 2500;
+    config->batteryConfig.currentMeterScale = -667;
+    config->gyro_sync_denom = 1;
     config->mag_hardware = MAG_NONE;            // disabled by default
+    config->pid_process_denom = 1;
+
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        config->motorConfig.minthrottle = 1000;
+        config->motorConfig.motorPwmRate = 32000;
+        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        config->motorConfig.useUnsyncedPwm = true;
+    }
+
     if (hardwareRevision == AFF4_REV_1) {
         config->rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
         config->rxConfig.spektrum_sat_bind = 5;
@@ -61,12 +74,8 @@ void targetConfiguration(master_t *config)
         config->serialConfig.portConfigs[SERIAL_PORT_USART2].functionMask = FUNCTION_TELEMETRY_FRSKY;
         config->telemetryConfig.telemetry_inversion = 0;
         intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT, &config->enabledFeatures);
-        config->batteryConfig.currentMeterOffset = 2500;
-        config->batteryConfig.currentMeterScale = -667;
     }
-    config->motorConfig.motorPwmRate = 32000;
+
-    config->gyro_sync_denom = 1;
-    config->pid_process_denom = 1;
     config->profile[0].pidProfile.P8[ROLL] = 53;
     config->profile[0].pidProfile.I8[ROLL] = 45;
     config->profile[0].pidProfile.D8[ROLL] = 52;

src/main/target/ALIENFLIGHTF4/hardware_revision.c

@@ -25,18 +25,19 @@
 
 #include "drivers/system.h"
 #include "drivers/io.h"
-#include "drivers/exti.h"
 #include "hardware_revision.h"
 
 static const char * const hardwareRevisionNames[] = {
         "Unknown",
-        "AlienFlight V1",
+        "AlienFlight F4 V1",
-        "AlienFlight V2"
+        "AlienFlight F4 V2"
 };
 
-uint8_t hardwareRevision = UNKNOWN;
+uint8_t hardwareRevision = AFF4_UNKNOWN;
+uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
 static IO_t HWDetectPin = IO_NONE;
+static IO_t MotorDetectPin = IO_NONE;
 
 void detectHardwareRevision(void)
 {
@@ -44,14 +45,25 @@ void detectHardwareRevision(void)
     IOInit(HWDetectPin, OWNER_SYSTEM, 0);
     IOConfigGPIO(HWDetectPin, IOCFG_IPU);
 
-    // Check hardware revision
+    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
+    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+
     delayMicroseconds(10);  // allow configuration to settle
 
+    // Check hardware revision
     if (IORead(HWDetectPin)) {
         hardwareRevision = AFF4_REV_1;
     } else {
         hardwareRevision = AFF4_REV_2;
     }
+
+    // Check presence of brushed ESC's
+    if (IORead(MotorDetectPin)) {
+        hardwareMotorType = MOTOR_BRUSHLESS;
+    } else {
+        hardwareMotorType = MOTOR_BRUSHED;
+    }
 }
 
 void updateHardwareRevision(void)

src/main/target/ALIENFLIGHTF4/hardware_revision.h

@@ -17,14 +17,19 @@
 #pragma once
 
 typedef enum awf4HardwareRevision_t {
-    UNKNOWN = 0,
+    AFF4_UNKNOWN = 0,
-    AFF4_REV_1,
+    AFF4_REV_1, // MPU6500 / MPU9250 (SPI), (V1.1 Current Sensor (ACS712), SDCard Reader)
-    AFF4_REV_2
+    AFF4_REV_2  // ICM-20602 (SPI), OpenSky RX (CC2510), Current Sensor (ACS712), SDCard Reader
 } awf4HardwareRevision_e;
 
+typedef enum awf4HardwareMotorType_t {
+    MOTOR_UNKNOWN = 0,
+    MOTOR_BRUSHED,
+    MOTOR_BRUSHLESS
+} awf4HardwareMotorType_e;
+
 extern uint8_t hardwareRevision;
+extern uint8_t hardwareMotorType;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
-
-struct extiConfig_s;

src/main/target/ALIENFLIGHTF4/target.c

@@ -25,17 +25,17 @@
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM, 0, 0), // PWM1  - PA8  RC1
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM, TIMER_INPUT_ENABLED,  0), // PWM1  - PA8  RC1
-    DEF_TIM(TIM1, CH2, PB0,  TIM_USE_PWM,               0, 0), // PWM2  - PB0  RC2
+    DEF_TIM(TIM1, CH2, PB0,  TIM_USE_PWM,               TIMER_INPUT_ENABLED,  0), // PWM2  - PB0  RC2
-    DEF_TIM(TIM1, CH3, PB1,  TIM_USE_PWM,               0, 0), // PWM3  - PB1  RC3
+    DEF_TIM(TIM1, CH3, PB1,  TIM_USE_PWM,               TIMER_INPUT_ENABLED,  0), // PWM3  - PB1  RC3
-    DEF_TIM(TIM8, CH2, PB14, TIM_USE_PWM,               0, 0), // PWM4  - PA14 RC4
+    DEF_TIM(TIM8, CH2, PB14, TIM_USE_PWM,               TIMER_INPUT_ENABLED,  0), // PWM4  - PA14 RC4
-    DEF_TIM(TIM8, CH3, PB15, TIM_USE_PWM,               0, 0), // PWM5  - PA15 RC5
+    DEF_TIM(TIM8, CH3, PB15, TIM_USE_PWM,               TIMER_INPUT_ENABLED,  0), // PWM5  - PA15 RC5
-    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR,             1, 0), // PWM6  - PB8  OUT1
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM6  - PB8  OUT1 - DMA1_ST7
-    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR,             1, 0), // PWM7  - PB9  OUT2
+    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM7  - PB9  OUT2 - DMA1_ST3
-    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_MOTOR,             1, 0), // PWM8  - PA0  OUT3
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM8  - PA0  OUT3 - DMA1_ST2
-    DEF_TIM(TIM5, CH2, PA1,  TIM_USE_MOTOR,             1, 0), // PWM9  - PA1  OUT4
+    DEF_TIM(TIM5, CH2, PA1,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM9  - PA1  OUT4 - DMA1_ST4
-    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MOTOR,             1, 0), // PWM10 - PC6  OUT5
+    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM10 - PC6  OUT5 - (DMA1_ST4)
-    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MOTOR,             1, 0), // PWM11 - PC7  OUT6
+    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM11 - PC7  OUT6 - DMA1_ST5
-    DEF_TIM(TIM3, CH3, PC8,  TIM_USE_MOTOR,             1, 0), // PWM13 - PC8  OUT7
+    DEF_TIM(TIM3, CH3, PC8,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM13 - PC8  OUT7 - (DMA1_ST7)
-    DEF_TIM(TIM3, CH4, PC9,  TIM_USE_MOTOR,             1, 0), // PWM13 - PC9  OUT8
+    DEF_TIM(TIM3, CH4, PC9,  TIM_USE_MOTOR,             TIMER_OUTPUT_ENABLED, 0), // PWM13 - PC9  OUT8 - (DMA1_ST2)
 };

src/main/target/ALIENFLIGHTF4/target.h

@@ -21,6 +21,7 @@
 
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
+#define MOTOR_PIN               PB8
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
@@ -82,10 +83,12 @@
 // Divide to under 25MHz for normal operation:
 #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
 
+//#ifndef USE_DSHOT
 #define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
 #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
 #define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
 #define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+//#endif
 
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
@@ -160,7 +163,6 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_UART           SERIAL_PORT_USART2