Add FlyingRC F435 Wing Mini target

docs/boards/FLYINGRCF435WINGMINI.md

@@ -0,0 +1,120 @@
+# Board - FlyingRC F435 Wing Mini
+
+The FlyingRC F435 Wing Mini is a compact fixed-wing flight controller based on
+the AT32F435 in a QFN48 package. Both the AT32F435CGU7 and AT32F435CMU7 hardware
+variants use the same peripheral and connector layout.
+
+## Firmware targets
+
+| MCU | INAV target | Flash |
+|---|---|---:|
+| AT32F435CGU7 | `FLYINGRCF435WINGMINI` | 1 MiB |
+| AT32F435CMU7 | `FLYINGRCF435WINGMINI_CMU7` | 4 MiB |
+
+Board identifier: `FAM1`
+
+## Board views
+
+![FlyingRC F435 Wing Mini front and back](../assets/images/flyingrcf435wingmini_front_back.jpg)
+
+## Specifications
+
+- BMI270 IMU
+- SPA06 barometer
+- MAX7456/AT7456E analog OSD
+- Four full-duplex UARTs
+- One external I2C bus
+- Six motor/servo outputs
+- USB virtual serial port
+- Analog battery-voltage and current inputs
+- External INA226 support on I2C1
+- Two status LEDs, an addressable LED output, and a buzzer output
+- No onboard SD card or flash storage
+
+## Hardware overview
+
+![FlyingRC F435 Wing Mini hardware overview](../assets/images/flyingrcf435wingmini_hardware_overview.jpg)
+
+## Wiring example
+
+The following manufacturer-provided diagram shows typical connections for an
+analog video system, serial receivers, GPS, I2C airspeed sensor, DJI O4 Air Unit
+and an external power module.
+
+![FlyingRC F435 Wing Mini wiring diagram](../assets/images/flyingrcf435wingmini_wiring.jpeg)
+
+## Pinout
+
+### Serial ports
+
+| Port | TX | RX | Default use |
+|---|---|---|---|
+| UART1 | PA9 | PA10 | GPS |
+| UART2 | PA2 | PA3 | Serial receiver (CRSF) |
+| UART3 | PB10 | PB11 | Telemetry, VTX, or MSP |
+| UART4 | PA0 | PA1 | General purpose |
+
+### I2C1
+
+| Signal | Pin |
+|---|---|
+| SCL | PB8 |
+| SDA | PB9 |
+
+The onboard SPA06 barometer uses I2C1. The same bus is available on the external
+pads for magnetometers, airspeed sensors, rangefinders, additional barometers,
+and INA226 battery monitors. The default INA226 address is `0x40`.
+
+### Motor and servo outputs
+
+| Output | Pin | Timer |
+|---|---|---|
+| OUT1 | PB12 | TMR5 CH1 |
+| OUT2 | PH3 | TMR5 CH2 |
+| OUT3 | PA15 | TMR2 CH1 |
+| OUT4 | PB2 | TMR2 CH4 |
+| OUT5 | PB6 | TMR4 CH1 |
+| OUT6 | PB7 | TMR4 CH2 |
+
+OUT4 shares PB2 with the MCU boot configuration function. The hardware keeps
+the pin low during startup so that the normal firmware boot mode is selected.
+
+### Battery monitoring
+
+| Function | Pin | Notes |
+|---|---|---|
+| Battery voltage | PB1 | 200 kOhm / 10 kOhm divider (21:1) |
+| Analog current | PB0 | Current-sensor analog output |
+
+The default voltage scale is configured for the 200 kOhm / 10 kOhm divider.
+Current can be measured using either the analog input or an external INA226 on
+I2C1. Configure the INA226 address and shunt resistance in the INAV CLI.
+
+### Indicators and other interfaces
+
+| Function | Pin | Active level |
+|---|---|---|
+| Blue status LED | PB4 | Low |
+| Green status LED | PB5 | Low |
+| WS2812 LED output | PA8 | High |
+| Buzzer | PH2 | Low |
+| SWDIO | PA13 | - |
+| SWCLK | PA14 | - |
+| USB D- | PA11 | - |
+| USB D+ | PA12 | - |
+
+## IMU and OSD bus
+
+The BMI270 and MAX7456/AT7456E share SPI1 and use independent chip-select pins.
+
+| Signal | Pin |
+|---|---|
+| SPI1 SCK | PA5 |
+| SPI1 MISO | PA6 |
+| SPI1 MOSI | PA7 |
+| BMI270 CS | PA4 |
+| BMI270 interrupt | PC13 |
+| MAX7456/AT7456E CS | PC14 |
+
+The BMI270 alignment is defined by the target and does not require a board
+alignment override in the configurator.

src/main/config/config_streamer_at32f43x.c

@@ -23,9 +23,11 @@
 #if defined(AT32F43x) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 
-#if defined(AT32F437ZMT7) || defined(AT32F437VMT7) || defined(AT32F435RMT7)
+#if defined(AT32F437ZMT7) || defined(AT32F437VMT7) || defined(AT32F435RMT7) || \
+    defined(AT32F435CMU7)
     #define FLASH_PAGE_SIZE ((uint32_t)0x1000)  
-#elif defined(AT32F437ZGT7) || defined(AT32F437VGT7) || defined(AT32F435RGT7)
+#elif defined(AT32F437ZGT7) || defined(AT32F437VGT7) || defined(AT32F435RGT7) || \
+      defined(AT32F435CGU7)
     #define FLASH_PAGE_SIZE ((uint32_t)0x800)  
 #endif
 

src/main/target/FLYINGRCF435WINGMINI/CMakeLists.txt

@@ -0,0 +1,28 @@
+# INAV's generic xGT7 helper selects the correct 1 MiB linker script but
+# identifies the package as AT32F435RGT7. Select the actual QFN48 part here.
+function(target_at32f435xgu7 name)
+    target_at32f43x(
+        NAME ${name}
+        STARTUP startup_at32f435_437.s
+        SOURCES ${AT32F4_STDPERIPH_SRC}
+        COMPILE_DEFINITIONS AT32F435CGU7 MCU_RAM_SIZE=192 MCU_FLASH_SIZE=1024
+        LINKER_SCRIPT at32_flash_f43xG
+        SVD at32f43x_xGT7
+        ${ARGN}
+    )
+endfunction()
+
+function(target_at32f435xmu7 name)
+    target_at32f43x(
+        NAME ${name}
+        STARTUP startup_at32f435_437.s
+        SOURCES ${AT32F4_STDPERIPH_SRC}
+        COMPILE_DEFINITIONS AT32F435CMU7 MCU_RAM_SIZE=192 MCU_FLASH_SIZE=4032
+        LINKER_SCRIPT at32_flash_f43xM
+        SVD at32f43x_xMT7
+        ${ARGN}
+    )
+endfunction()
+
+target_at32f435xgu7(FLYINGRCF435WINGMINI)
+target_at32f435xmu7(FLYINGRCF435WINGMINI_CMU7)

src/main/target/FLYINGRCF435WINGMINI/target.c

@@ -0,0 +1,24 @@
+/*
+ * FlyingRC F435 Wing Mini timer map.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TMR5, CH1, PB12, TIM_USE_OUTPUT_AUTO, 0, 8),  // OUT1, DMA2 CH2
+    DEF_TIM(TMR5, CH2, PH3,  TIM_USE_OUTPUT_AUTO, 0, 9),  // OUT2, DMA2 CH3
+    DEF_TIM(TMR2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0),  // OUT3, DMA1 CH1
+    DEF_TIM(TMR2, CH4, PB2,  TIM_USE_OUTPUT_AUTO, 0, 6),  // OUT4 / BOOT1, DMA1 CH7
+    DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 11), // OUT5, DMA2 CH5
+    DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 10), // OUT6, DMA2 CH4
+    DEF_TIM(TMR1, CH1, PA8,  TIM_USE_LED,         0, 5),  // WS2812, DMA1 CH6
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/FLYINGRCF435WINGMINI/target.h

@@ -0,0 +1,115 @@
+/*
+ * FlyingRC AT32F435 Mini fixed-wing target.
+ * MCU: AT32F435CGU7 / AT32F435CMU7, QFN48, 8 MHz HEXT.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "FAM1"
+
+#if defined(AT32F435CMU7)
+#define USBD_PRODUCT_STRING "FlyingRC ATF435 Mini CMU7"
+#else
+#define USBD_PRODUCT_STRING "FlyingRC ATF435 Mini CGU7"
+#endif
+
+/* Indicators */
+#define LED0                    PB4 // Blue
+#define LED1                    PB5 // Green
+#define LED0_INVERTED
+#define LED1_INVERTED
+
+#define BEEPER                  PH2
+#define BEEPER_INVERTED
+
+#define USE_LED_STRIP
+#define WS2811_PIN              PA8
+
+/* SPI1: IMU and MAX7456 share the bus, with independent chip selects. */
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG_FLIP
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC13
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI1
+#define MAX7456_CS_PIN          PC14
+
+/* I2C1: external barometer, compass, pitot and rangefinder bus. */
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+/* The AT32 I2C driver instantiates all three descriptors. Mark the unused
+ * controllers explicitly instead of assigning duplicate pins. */
+#define I2C2_SCL                NONE
+#define I2C2_SDA                NONE
+#define I2C3_SCL                NONE
+#define I2C3_SDA                NONE
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define PITOT_I2C_BUS           BUS_I2C1
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+/* USB and four UARTs. */
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define SERIAL_PORT_COUNT       5
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+/* Analog battery monitoring. */
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_CHANNEL1
+#define ADC_CHANNEL_1_PIN           PB1
+#define ADC_CHANNEL_2_PIN           PB0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define VBAT_SCALE_DEFAULT          2100 // 200k:10k divider, 21:1
+
+#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_LED_STRIP)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13) | BIT(14) | BIT(15))
+#define TARGET_IO_PORTH         (BIT(2) | BIT(3))
+
+#define MAX_PWM_OUTPUT_PORTS    6