diff --git a/src/main/drivers/bus_i2c_hal.c b/src/main/drivers/bus_i2c_hal.c
index ca53c367154..3b1459ab1fb 100644
--- a/src/main/drivers/bus_i2c_hal.c
+++ b/src/main/drivers/bus_i2c_hal.c
@@ -85,7 +85,7 @@ static i2cDevice_t i2cHardwareMap[I2CDEV_COUNT] = {
{ .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1L(I2C2), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn, .af = GPIO_AF4_I2C2 },
{ .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1L(I2C3), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn, .af = GPIO_AF4_I2C3 },
#if defined(USE_I2C_DEVICE_4)
- { .dev = I2C4, .scl = IO_TAG(I2C4_SCL), .sda = IO_TAG(I2C4_SDA), .rcc = RCC_APB1L(I2C4), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C4_EV_IRQn, .er_irq = I2C4_ER_IRQn, .af = GPIO_AF4_I2C4 }
+ { .dev = I2C4, .scl = IO_TAG(I2C4_SCL), .sda = IO_TAG(I2C4_SDA), .rcc = RCC_APB4(I2C4), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C4_EV_IRQn, .er_irq = I2C4_ER_IRQn, .af = GPIO_AF4_I2C4 }
#endif
#endif
};
diff --git a/src/main/drivers/sdcard/sdmmc_sdio_h7xx.c b/src/main/drivers/sdcard/sdmmc_sdio_h7xx.c
index 05a4d8464c4..d8cf16ba83e 100644
--- a/src/main/drivers/sdcard/sdmmc_sdio_h7xx.c
+++ b/src/main/drivers/sdcard/sdmmc_sdio_h7xx.c
@@ -127,14 +127,22 @@ void sdioPinConfigure(void)
sdioHardware = &sdioPinHardware[SDCARD_SDIO_DEVICE];
- sdioPin[SDIO_PIN_CK] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinCK[0];
- sdioPin[SDIO_PIN_CMD] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinCMD[0];
- sdioPin[SDIO_PIN_D0] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD0[0];
+#ifdef SDCARD_SDIO2_CK_ALT
+ sdioPin[SDIO_PIN_CK] = sdioHardware->sdioPinCK[1];
+#else
+ sdioPin[SDIO_PIN_CK] = sdioHardware->sdioPinCK[0];
+#endif
+#ifdef SDCARD_SDIO2_CMD_ALT
+ sdioPin[SDIO_PIN_CMD] = sdioHardware->sdioPinCMD[1];
+#else
+ sdioPin[SDIO_PIN_CMD] = sdioHardware->sdioPinCMD[0];
+#endif
+ sdioPin[SDIO_PIN_D0] = sdioHardware->sdioPinD0[0];
#ifdef SDCARD_SDIO_4BIT
- sdioPin[SDIO_PIN_D1] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD1[0];
- sdioPin[SDIO_PIN_D2] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD2[0];
- sdioPin[SDIO_PIN_D3] = sdioHardware[SDCARD_SDIO_DEVICE].sdioPinD3[0];
+ sdioPin[SDIO_PIN_D1] = sdioHardware->sdioPinD1[0];
+ sdioPin[SDIO_PIN_D2] = sdioHardware->sdioPinD2[0];
+ sdioPin[SDIO_PIN_D3] = sdioHardware->sdioPinD3[0];
#endif
}
@@ -254,7 +262,11 @@ bool SD_Init(void)
hsd1.Init.BusWide = SDMMC_BUS_WIDE_1B; // FIXME untested
#endif
hsd1.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_ENABLE;
- hsd1.Init.ClockDiv = 1; // 200Mhz / (2 * 1 ) = 100Mhz, used for "UltraHigh speed SD card" only, see HAL_SD_ConfigWideBusOperation, SDMMC_HSpeed_CLK_DIV, SDMMC_NSpeed_CLK_DIV
+#ifdef SDCARD_SDIO_NORMAL_SPEED
+ hsd1.Init.ClockDiv = SDMMC_NSpeed_CLK_DIV;
+#else
+ hsd1.Init.ClockDiv = 1; // 200Mhz / (2 * 1 ) = 100Mhz, used for "UltraHigh speed SD card" only, see HAL_SD_ConfigWideBusOperation, SDMMC_HSpeed_CLK_DIV, SDMMC_NSpeed_CLK_DIV
+#endif
status = HAL_SD_Init(&hsd1); // Will call HAL_SD_MspInit
diff --git a/src/main/target/KAKUTEH7WING/CMakeLists.txt b/src/main/target/KAKUTEH7WING/CMakeLists.txt
new file mode 100644
index 00000000000..9b23444de93
--- /dev/null
+++ b/src/main/target/KAKUTEH7WING/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(KAKUTEH7WING HSE_MHZ 16)
diff --git a/src/main/target/KAKUTEH7WING/config.c b/src/main/target/KAKUTEH7WING/config.c
new file mode 100644
index 00000000000..6ec606bf404
--- /dev/null
+++ b/src/main/target/KAKUTEH7WING/config.c
@@ -0,0 +1,36 @@
+/*
+ * 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 .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+#include "drivers/serial.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+ pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+ pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+ pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+ pinioBoxConfigMutable()->permanentId[3] = BOX_PERMANENT_ID_USER4;
+ beeperConfigMutable()->pwmMode = true;
+}
diff --git a/src/main/target/KAKUTEH7WING/hardware_setup.c b/src/main/target/KAKUTEH7WING/hardware_setup.c
new file mode 100644
index 00000000000..855c80d05e0
--- /dev/null
+++ b/src/main/target/KAKUTEH7WING/hardware_setup.c
@@ -0,0 +1,59 @@
+/*
+ * 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 .
+ */
+
+#include
+#include
+#include
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+
+void initialisePreBootHardware(void)
+{
+ // VDD_3V3_SENSORS_EN
+ IOInit(DEFIO_IO(PB2), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+ IOConfigGPIO(DEFIO_IO(PB2), IOCFG_OUT_PP);
+ // IOLo(DEFIO_IO(PB2));
+ // delay(100);
+ IOHi(DEFIO_IO(PB2));
+
+ // CAM Switch / User3
+ IOInit(DEFIO_IO(PC13), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+ IOConfigGPIO(DEFIO_IO(PC13), IOCFG_OUT_PP);
+ IOLo(DEFIO_IO(PC13));
+
+ // User1
+ IOInit(DEFIO_IO(PD4), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+ IOConfigGPIO(DEFIO_IO(PD4), IOCFG_OUT_PP);
+ IOLo(DEFIO_IO(PD4));
+
+ // VTx 9V Switch / User4
+ IOInit(DEFIO_IO(PE3), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+ IOConfigGPIO(DEFIO_IO(PE3), IOCFG_OUT_PP);
+ IOHi(DEFIO_IO(PE3));
+
+ // User2
+ IOInit(DEFIO_IO(PE4), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+ IOConfigGPIO(DEFIO_IO(PE4), IOCFG_OUT_PP);
+ IOLo(DEFIO_IO(PE4));
+}
diff --git a/src/main/target/KAKUTEH7WING/target.c b/src/main/target/KAKUTEH7WING/target.c
new file mode 100644
index 00000000000..2b880fc3b77
--- /dev/null
+++ b/src/main/target/KAKUTEH7WING/target.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 .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_gyro, DEVHW_BMI088_GYRO, BMI088_SPI_BUS, BMI088_GYRO_CS_PIN, BMI088_GYRO_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI088_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_acc, DEVHW_BMI088_ACC, BMI088_SPI_BUS, BMI088_ACC_CS_PIN, BMI088_ACC_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_BMI088_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+// BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+
+timerHardware_t timerHardware[] = {
+ DEF_TIM(TIM1, CH1, PA8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1
+ DEF_TIM(TIM1, CH2, PE11, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2
+ DEF_TIM(TIM1, CH3, PE13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3
+ DEF_TIM(TIM1, CH4, PE14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4
+
+ DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5
+ DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S6 DMA_NONE
+ DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S7
+ DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S8
+
+ DEF_TIM(TIM15,CH1, PE5, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S9
+ DEF_TIM(TIM15,CH2, PE6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE
+ DEF_TIM(TIM3, CH2, PB5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S11
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S12
+
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S13
+ //DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S14 / LED_2812
+
+ DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // S14 / LED_2812
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/KAKUTEH7WING/target.h b/src/main/target/KAKUTEH7WING/target.h
new file mode 100644
index 00000000000..7a5381b5efc
--- /dev/null
+++ b/src/main/target/KAKUTEH7WING/target.h
@@ -0,0 +1,204 @@
+/*
+ * 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 .
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "KH7W"
+#define USBD_PRODUCT_STRING "KAKUTEH7WING"
+
+#define USE_HARDWARE_PREBOOT_SETUP
+
+#define USE_TARGET_CONFIG
+
+#define LED0 PC15
+#define LED1 PC14
+
+#define BEEPER PB9
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+// #define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+// *************** SPI1 IMU0 BMI088 ******************
+#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_BMI088
+
+#define IMU_BMI088_ALIGN CW0_DEG
+#define BMI088_SPI_BUS BUS_SPI1
+
+#define BMI088_GYRO_CS_PIN PC9
+#define BMI088_GYRO_EXTI_PIN PD10
+#define BMI088_ACC_CS_PIN PC8
+#define BMI088_ACC_EXTI_PIN PD11
+
+// *************** SPI3 IMU1 ICM42688 ************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PC12
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN CW90_DEG
+#define ICM42605_SPI_BUS BUS_SPI3
+#define ICM42605_CS_PIN PE12
+#define ICM42605_EXTI_PIN PE15
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PD3
+#define SPI2_MISO_PIN PC2
+#define SPI2_MOSI_PIN PC3
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// *************** SDIO SD BLACKBOX*******************
+#define USE_SDCARD
+#define USE_SDCARD_SDIO
+#define SDCARD_SDIO_DEVICE SDIODEV_2
+#define SDCARD_SDIO_4BIT
+#define SDCARD_SDIO_NORMAL_SPEED
+#define SDCARD_SDIO2_CMD_ALT
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB8
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_I2C_DEVICE_4
+#define I2C4_SCL PD12
+#define I2C4_SDA PD13
+
+#define USE_BARO
+#define BARO_I2C_BUS BUS_I2C4
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+#define USE_MAG_VCM5883
+
+#define TEMPERATURE_I2C_BUS BUS_I2C1
+#define PITOT_I2C_BUS BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN PB6
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+
+#define USE_UART3
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+
+#define USE_UART5
+#define UART5_TX_PIN PB13
+#define UART5_RX_PIN PD2
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+
+#define USE_UART8
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 8
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART6
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+
+#define ADC_CHANNEL_1_PIN PC5 //VBAT1
+#define ADC_CHANNEL_2_PIN PC4 //CURR1
+#define ADC_CHANNEL_3_PIN PC0 //RSSI
+#define ADC_CHANNEL_5_PIN PA3 //VB2
+#define ADC_CHANNEL_6_PIN PA2 //CU2
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN PC13 // VTX power switcher
+#define PINIO2_PIN PE3 // 2xCamera switcher
+#define PINIO3_PIN PD4 // User1
+#define PINIO4_PIN PE4 // User2
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA15
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE 3660 // 36.6
+#define VBAT_SCALE_DEFAULT 1818 // 18.18
+#define VBAT_SCALE_DEFAULT2 1100 // 11.0
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 14
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/system_stm32h7xx.c b/src/main/target/system_stm32h7xx.c
index 327d1252b46..cc580320b5a 100644
--- a/src/main/target/system_stm32h7xx.c
+++ b/src/main/target/system_stm32h7xx.c
@@ -256,6 +256,8 @@ static void SystemClockHSE_Config(void)
pllConfig_t *pll1Config = (HAL_GetREVID() == REV_ID_V) ? &pll1ConfigRevV : &pll1ConfigRevY;
#endif
+ pll1Config->m = HSE_VALUE / 1000000 / 2; // correction for different HSE_VALUE
+
// Configure voltage scale.
// It has been pre-configured at PWR_REGULATOR_VOLTAGE_SCALE1,
// and it may stay or overridden by PWR_REGULATOR_VOLTAGE_SCALE0 depending on the clock config.