Add HGLRC Specter F722 Lite target (HGLRCF722LITE)

src/main/target/HGLRCF722LITE/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(HGLRCF722LITE)

src/main/target/HGLRCF722LITE/config.c

@@ -0,0 +1,57 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+#include "io/piniobox.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+void targetConfiguration(void)
+{
+    // PINIO1 = VTX power switch, PINIO2 = user/camera switch
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+
+    // Internal ELRS receiver is on UART2 (CRSF)
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+}

src/main/target/HGLRCF722LITE/target.c

@@ -0,0 +1,46 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Output/timer map is identical to MAMBAF722_2022A — the HGLRC Specter F722 Lite
+ * uses the same motor pads (PC8 PC9 PA8 PA9 PB0 PB1 PA10 PB4) and LED strip pad (PB3).
+ * TIM_USE_OUTPUT_AUTO lets iNav assign each output as motor OR servo (fixed-wing ready).
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S1
+    DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S2
+    DEF_TIM(TIM1,   CH1,  PA8,   TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S3
+    DEF_TIM(TIM1,   CH2,  PA9,   TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S4
+
+    DEF_TIM(TIM3,   CH3,  PB0,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S5
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S6
+    DEF_TIM(TIM1,   CH3,  PA10,  TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S7
+    DEF_TIM(TIM3,   CH1,  PB4,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S8
+
+    DEF_TIM(TIM2,   CH2,  PB3,   TIM_USE_LED,          0, 0 ),     // LED_STRIP
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HGLRCF722LITE/target.h

@@ -0,0 +1,176 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * HGLRC Specter F722 Lite  (board_name HGLRCF722MINI, manufacturer HGLR)
+ * Derived from MAMBAF722_2022A, corrected to the board's real pin map from a
+ * Betaflight 4.5.1 factory `resource`/`diff all` dump.
+ * Deltas vs Mamba: gyro = ICM42688P (unconditional), beeper PC13, OSD-CS PB2,
+ * flash on SPI2/PB12 (SPI3 removed), ADC PC2/PC1/PC0, PINIO PC3/PA15, RX = UART2 CRSF.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER         "HGLT"
+#define USBD_PRODUCT_STRING             "HGLRCF722LITE"
+
+#define USE_TARGET_CONFIG
+
+// ******** Board LEDs  **********************
+#define LED0                            PC14
+#define LED1                            PC15
+
+// ******* Beeper ***********
+#define BEEPER                          PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC — ICM42688P ****************
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN              CW0_DEG        // verified against Betaflight orientation on hardware
+#define ICM42605_SPI_BUS                BUS_SPI1
+#define ICM42605_CS_PIN                 SPI1_NSS_PIN   // PA4
+#define ICM42605_EXTI_PIN               PC4
+
+// *************** I2C ****************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                        PB8
+#define I2C1_SDA                        PB9
+#define DEFAULT_I2C_BUS                 BUS_I2C1
+
+// *************** Baro **************************
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+#define USE_BARO_DPS310
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_SPL06
+
+// *********** Magnetometer / Compass (external, on GPS module) *************
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+// *********** Pitot / airspeed, rangefinder, temp (external I2C) ***********
+#define USE_PITOT
+#define USE_PITOT_MS4525
+#define USE_PITOT_DLVR
+#define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
+#define TEMPERATURE_I2C_BUS             DEFAULT_I2C_BUS
+
+// ******* SERIAL ********
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN                    PB6
+#define UART1_RX_PIN                    PB7
+
+#define UART2_TX_PIN                    PA2
+#define UART2_RX_PIN                    PA3
+
+#define UART3_TX_PIN                    PB10
+#define UART3_RX_PIN                    PB11
+
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define UART5_TX_PIN                    PC12
+#define UART5_RX_PIN                    PD2
+
+#define UART6_TX_PIN                    PC6
+#define UART6_RX_PIN                    PC7
+
+#define SERIAL_PORT_COUNT               7
+
+// ******* SPI ********
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN                    PA4
+#define SPI1_SCK_PIN                    PA5
+#define SPI1_MISO_PIN                   PA6
+#define SPI1_MOSI_PIN                   PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN                    PB12
+#define SPI2_SCK_PIN                    PB13
+#define SPI2_MISO_PIN                   PB14
+#define SPI2_MOSI_PIN                   PB15
+// NOTE: SPI3 intentionally omitted — Mamba used it for the flash chip on PA15/PB5,
+// but on this board PA15 is PINIO2 and the flash lives on SPI2 (see below).
+
+// ******* ADC ********
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC2   // VBAT
+#define ADC_CHANNEL_2_PIN               PC1   // CURRENT
+#define ADC_CHANNEL_3_PIN               PC0   // RSSI
+
+#define VBAT_ADC_CHANNEL                ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT              1100  // iNav default; matches the Mamba F722 baseline
+
+// ******* OSD (MAX7456 on SPI2, CS PB2) ********
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI2
+#define MAX7456_CS_PIN                  PB2
+
+// ******* FLASH (M25P16 16MB on SPI2, CS PB12) ********
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI2
+#define M25P16_CS_PIN                   PB12
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// ******* LED STRIP ********
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB3
+
+// ******* RX — internal ELRS on UART2, CRSF ********
+#define SERIALRX_UART                   SERIAL_PORT_USART2
+#define SERIALRX_PROVIDER               SERIALRX_CRSF
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY)
+
+// ******* IO / PWM ********
+#define TARGET_IO_PORTA                 0xffff
+#define TARGET_IO_PORTB                 0xffff
+#define TARGET_IO_PORTC                 0xffff
+#define TARGET_IO_PORTD                 (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS            8
+#define TARGET_MOTOR_COUNT              8
+
+// ESC-related features
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PC3    // VTX power switcher
+#define PINIO2_PIN                      PA15   // user / camera switch