Initial commit of support for Naze32Pro (rev 1).

Makefile

@@ -14,7 +14,7 @@
 # Things that the user might override on the commandline
 #
 
-# The target to build, must be one of NAZE, FY90Q, OLIMEXINO or STM32F3DISCOVERY
+# The target to build, must be one of NAZE, FY90Q, OLIMEXINO, CHEBUZZF3, NAZE32PRO or STM32F3DISCOVERY
 TARGET		?= NAZE
 
 # Compile-time options
@@ -32,7 +32,7 @@ SERIAL_DEVICE	?= /dev/ttyUSB0
 
 FORKNAME			 = cleanflight
 
-VALID_TARGETS	 = NAZE FY90Q OLIMEXINO STM32F3DISCOVERY CHEBUZZF3
+VALID_TARGETS	 = NAZE NAZE32PRO FY90Q OLIMEXINO STM32F3DISCOVERY CHEBUZZF3
 
 # Working directories
 ROOT		 = $(dir $(lastword $(MAKEFILE_LIST)))
@@ -45,7 +45,7 @@ INCLUDE_DIRS = $(SRC_DIR)
 # Search path for sources
 VPATH		:= $(SRC_DIR):$(SRC_DIR)/startup
 
-ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3))
+ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO))
 
 STDPERIPH_DIR	 = $(ROOT)/lib/STM32F30x_StdPeriph_Driver
 
@@ -188,9 +188,7 @@ OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/timer_common.c \
 		   $(COMMON_SRC)
 
-STM32F3DISCOVERY_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
+STM32F30x_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
-		   drivers/accgyro_l3gd20.c \
-		   drivers/accgyro_lsm303dlhc.c \
 		   drivers/adc_common.c \
 		   drivers/adc_stm32f30x.c \
 		   drivers/bus_i2c_stm32f30x.c \
@@ -204,18 +202,27 @@ STM32F3DISCOVERY_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
 		   drivers/serial_softserial.c \
 		   drivers/timer_common.c
 
+NAZE32PRO_SRC	 = $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_mpu6050.c \
+		   drivers/compass_hmc5883l.c \
+		   $(COMMON_SRC)
+
+STM32F3DISCOVERY_COMMON_SRC	 = $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_l3gd20.c \
+		   drivers/accgyro_lsm303dlhc.c
+
 STM32F3DISCOVERY_SRC	 = $(STM32F3DISCOVERY_COMMON_SRC) \
 		   drivers/accgyro_adxl345.c \
 		   drivers/accgyro_bma280.c \
 		   drivers/accgyro_mma845x.c \
 		   drivers/accgyro_mpu3050.c \
-		   drivers/accgyro_mpu6050.c \
 		   drivers/accgyro_l3g4200d.c \
 		   $(COMMON_SRC)
 
 CHEBUZZF3_SRC	 = $(STM32F3DISCOVERY_COMMON_SRC) \
 		   $(COMMON_SRC)
 
+
 # In some cases, %.s regarded as intermediate file, which is actually not.
 # This will prevent accidental deletion of startup code.
 .PRECIOUS: %.s

src/drivers/serial_softserial.c

@@ -18,7 +18,7 @@
 #define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 #endif
 
-#if defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3)
+#if defined(STM32F303xC) && !defined(CHEBUZZF3)
 #define SOFT_SERIAL_1_TIMER_RX_HARDWARE 8 // PWM 9
 #define SOFT_SERIAL_1_TIMER_TX_HARDWARE 9 // PWM 10
 #define SOFT_SERIAL_2_TIMER_RX_HARDWARE 10 // PWM 11

src/drivers/system_common.c

@@ -144,7 +144,7 @@ void systemInit(bool overclock)
     // Make all GPIO in by default to save power and reduce noise
     gpio.mode = Mode_AIN;
     gpio.pin = Pin_All;
-#ifdef STM32F3DISCOVERY
+#ifdef STM32F303xC
     gpio.pin = Pin_All & ~(Pin_13|Pin_14|Pin_15);  // Leave JTAG pins alone
     gpioInit(GPIOA, &gpio);
     gpio.pin = Pin_All;
@@ -278,6 +278,8 @@ void systemReset(bool toBootloader)
     if (toBootloader) {
         // 1FFFF000 -> 20000200 -> SP
         // 1FFFF004 -> 1FFFF021 -> PC
+
+        // FIXME update for STM32F30x
         *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
     }
 

src/platform.h

@@ -1,8 +1,7 @@
 
 #pragma once
 
-#ifdef STM32F3DISCOVERY
+#ifdef STM32F303xC
-
 #include "stm32f30x_conf.h"
 #include "stm32f30x_rcc.h"
 #include "stm32f30x_gpio.h"
@@ -13,6 +12,27 @@
 #define U_ID_1 (*(uint32_t*)0x10000000)
 #define U_ID_2 (*(uint32_t*)0x10000003)
 
+#endif
+
+#ifdef NAZE32PRO
+#define LED0_GPIO   GPIOB
+#define LED0_PIN    Pin_12
+#define BEEP_GPIO   GPIOB
+#define BEEP_PIN    Pin_10
+
+#define BUZZER
+#define LED0
+
+#define GYRO
+#define ACC
+#define MAG
+
+#define SENSORS_SET (SENSOR_ACC)
+
+#endif
+
+#ifdef STM32F3DISCOVERY
+
 #define LED0_GPIO   GPIOE
 #define LED0_PIN    Pin_8|Pin_12 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED

src/sensors_initialisation.c

@@ -57,6 +57,17 @@
 #undef USE_GYRO_L3GD20
 #endif
 
+#ifdef NAZE32PRO
+#undef USE_ACC_LSM303DLHC
+#undef USE_ACC_ADXL345
+#undef USE_ACC_BMA280
+#undef USE_ACC_MMA8452
+#undef USE_ACC_LSM303DLHC
+#undef USE_GYRO_L3G4200D
+#undef USE_GYRO_L3GD20
+#undef USE_GYRO_MPU3050
+#endif
+
 #if defined(OLIMEXINO)
 #undef USE_GYRO_L3GD20
 #undef USE_GYRO_L3G4200D