Merge pull request #2835 from cleanflight/spracingf4neo

SPRACINGF4NEO - Initial target support.

Makefile

@@ -177,6 +177,7 @@ GROUP_4_TARGETS := \
 	SPRACINGF3NEO \
 	SPRACINGF3OSD \
 	SPRACINGF4EVO \
+	SPRACINGF4NEO \
 	STM32F3DISCOVERY \
 	TINYBEEF3 \
 

src/main/io/serial.c

@@ -142,6 +142,20 @@ void pgResetFn_serialConfig(serialConfig_t *serialConfig)
     }
 #endif
 
+#if defined(TELEMETRY_UART) && defined(TELEMETRY_PROVIDER_DEFAULT)
+    serialPortConfig_t *serialTelemetryConfig = serialFindPortConfiguration(TELEMETRY_UART);
+    if (serialTelemetryConfig) {
+        serialTelemetryConfig->functionMask = TELEMETRY_PROVIDER_DEFAULT;
+    }
+#endif
+
+#if defined(GPS_UART)
+    serialPortConfig_t *serialGPSConfig = serialFindPortConfiguration(GPS_UART);
+    if (serialGPSConfig) {
+        serialGPSConfig->functionMask = FUNCTION_GPS;
+    }
+#endif
+
     serialConfig->reboot_character = 'R';
     serialConfig->serial_update_rate_hz = 100;
 }

src/main/rx/rx.c

@@ -99,6 +99,11 @@ static uint8_t rcSampleIndex = 0;
 #ifndef RX_SPI_DEFAULT_PROTOCOL
 #define RX_SPI_DEFAULT_PROTOCOL 0
 #endif
+
+#ifndef SBUS_INVERSION_DEFAULT
+#define SBUS_INVERSION_DEFAULT 1
+#endif
+
 #ifndef SERIALRX_PROVIDER
 #define SERIALRX_PROVIDER 0
 #endif
@@ -114,7 +119,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .halfDuplex = 0,
         .serialrx_provider = SERIALRX_PROVIDER,
         .rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL,
-        .sbus_inversion = 1,
+        .sbus_inversion = SBUS_INVERSION_DEFAULT,
         .spektrum_sat_bind = 0,
         .spektrum_sat_bind_autoreset = 1,
         .midrc = RX_MID_USEC,

src/main/target/SPRACINGF3NEO/config.c

@@ -51,11 +51,6 @@ void targetConfiguration(void)
 {
     barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
     compassConfigMutable()->mag_hardware = MAG_DEFAULT;
-    rxConfigMutable()->sbus_inversion = 1;
     serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // So Bluetooth users don't have to change anything.
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(GPS_UART)].functionMask = FUNCTION_GPS;
-    telemetryConfigMutable()->telemetry_inversion = 1;
-    telemetryConfigMutable()->halfDuplex = 1;
 }
 #endif

src/main/target/SPRACINGF3NEO/target.h

@@ -171,17 +171,22 @@
 
 #define DEFAULT_RX_FEATURE                  FEATURE_RX_SERIAL
 #define DEFAULT_FEATURES                    (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
-#define SERIALRX_UART           SERIAL_PORT_USART2
+
 #define GPS_UART                            SERIAL_PORT_USART3
-#define TELEMETRY_UART          SERIAL_PORT_UART5
+
+#define SERIALRX_UART                       SERIAL_PORT_USART2
 #define SERIALRX_PROVIDER                   SERIALRX_SBUS
 
-#define BUTTONS
+#define TELEMETRY_UART                      SERIAL_PORT_UART5
+#define TELEMETRY_PROVIDER_DEFAULT          FUNCTION_TELEMETRY_SMARTPORT
+
+#define BUTTONS // Physically located on the optional OSD/VTX board.
 #define BUTTON_A_PIN                        PD2
 
 #define SPEKTRUM_BIND_PIN                   UART2_RX_PIN
 
-#define BINDPLUG_PIN            PD2
+// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
+//#define BINDPLUG_PIN                        BUTTON_A_PIN
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/SPRACINGF4NEO/target.c

@@ -0,0 +1,55 @@
+/*
+ * 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 <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM9,  IO_TAG(PA3),   TIM_Channel_2, TIM_USE_PPM | TIM_USE_PWM,   0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM1 / UART2 RX
+    { TIM9,  IO_TAG(PA2),   TIM_Channel_1, TIM_USE_PWM,                 0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM2 / UART2 TX
+
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM_USE_MOTOR,                1, GPIO_AF_TIM8,  DMA2_Stream4, DMA_Channel_7, DMA2_ST4_HANDLER }, // ESC 1
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM_USE_MOTOR,                1, GPIO_AF_TIM8,  DMA2_Stream3, DMA_Channel_7, DMA2_ST3_HANDLER }, // ESC 2
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM_USE_MOTOR,                1, GPIO_AF_TIM8,  DMA2_Stream7, DMA_Channel_7, DMA2_ST7_HANDLER }, // ESC 3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM_USE_MOTOR,                1, GPIO_AF_TIM8,  DMA2_Stream2, DMA_Channel_7, DMA2_ST2_HANDLER }, // ESC 4
+
+#if (SPRACINGF4NEO_REV >= 3)
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM_USE_MOTOR,                1, GPIO_AF_TIM4, DMA1_Stream0, DMA_Channel_2, DMA1_ST0_HANDLER }, // ESC 5 / Conflicts with USART5_RX / SPI3_RX - SPI3_RX can be mapped to DMA1_ST3_CH0
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM_USE_MOTOR,                1, GPIO_AF_TIM4, DMA1_Stream3, DMA_Channel_2, DMA1_ST3_HANDLER }, // ESC 6 / Conflicts with USART3_RX
+#else
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM_USE_MOTOR,                1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // ESC 5
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM_USE_MOTOR,                1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // ESC 6
+#endif
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM_USE_LED,                  1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // LED Strip
+    // Additional 2 PWM channels available on UART3 RX/TX pins
+    // However, when using led strip the timer cannot be used, but no code appears to prevent that right now
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM_USE_MOTOR,                1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // ESC 7 / Shared with UART3 TX PIN and SPI3 TX (OSD)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR,                1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // ESC 8 / Shared with UART3 RX PIN
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM_USE_TRANSPONDER,          1, GPIO_AF_TIM1, DMA2_Stream6, DMA_Channel_0, DMA2_ST6_HANDLER }, // Transponder
+    // Additional 2 PWM channels available on UART1 RX/TX pins
+    // However, when using transponder the timer cannot be used, but no code appears to prevent that right now
+    { TIM1,  IO_TAG(PA9),  TIM_Channel_2, TIM_USE_SERVO | TIM_USE_PWM,  1, GPIO_AF_TIM1, NULL, 0, 0 }, // PWM 3
+    { TIM1,  IO_TAG(PA10), TIM_Channel_3, TIM_USE_SERVO | TIM_USE_PWM,  1, GPIO_AF_TIM1, NULL, 0, 0 }, // PWM 4
+};

src/main/target/SPRACINGF4NEO/target.h

@@ -0,0 +1,234 @@
+/*
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER             "SP4N"
+
+#ifndef SPRACINGF4NEO_REV
+    #define SPRACINGF4NEO_REV 3
+#endif
+
+#define USBD_PRODUCT_STRING                 "SP Racing F4 NEO"
+
+#if (SPRACINGF4NEO_REV >= 3)
+    #define LED0                            PA0
+    #define LED1                            PB1
+#endif
+#if (SPRACINGF4NEO_REV == 2)
+    #define LED0                            PB9
+    #define LED1                            PB2
+#endif
+#if (SPRACINGF4NEO_REV == 1)
+    #define LED0                            PB9
+    #define LED1                            PB2
+#endif
+
+#define BEEPER                              PC15
+#define BEEPER_INVERTED
+
+#if (SPRACINGF4NEO_REV >= 2)
+    #define INVERTER_PIN_UART2              PB2
+#else
+    #define INVERTER_PIN_UART2              PA0
+#endif
+
+#define USE_EXTI
+#define MPU_INT_EXTI                        PC13
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+
+#define ACC_MPU6500_ALIGN                   CW0_DEG
+#define GYRO_MPU6500_ALIGN                  CW0_DEG
+
+#define BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+
+#define MAG
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define SERIAL_PORT_COUNT                   6
+
+#define UART1_TX_PIN                        PA9
+#define UART1_RX_PIN                        PA10
+
+#define UART2_TX_PIN                        PA2
+#define UART2_RX_PIN                        PA3
+
+#define UART3_TX_PIN                        PB10
+#define UART3_RX_PIN                        PB11
+
+#define UART4_TX_PIN                        PC10
+#define UART4_RX_PIN                        PC11
+
+#define UART5_TX_PIN                        PC12
+#define UART5_RX_PIN                        PD2
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE         0 // PWM 1
+
+#define USE_I2C
+#define I2C_DEVICE                          (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#if (SPRACINGF4NEO_REV >= 3)
+    #define I2C1_SCL                        PB8
+    #define I2C1_SDA                        PB9
+#else
+    #define I2C1_SCL                        PB6
+    #define I2C1_SDA                        PB7
+#endif
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1 // MPU
+#define USE_SPI_DEVICE_2 // SDCard
+#define USE_SPI_DEVICE_3 // External (MAX7456 & RTC6705)
+
+#define SPI1_NSS_PIN                        PA4
+#define SPI1_SCK_PIN                        PA5
+#define SPI1_MISO_PIN                       PA6
+#define SPI1_MOSI_PIN                       PA7
+
+#define SPI2_NSS_PIN                        PB12
+#define SPI2_SCK_PIN                        PB13
+#define SPI2_MISO_PIN                       PB14
+#define SPI2_MOSI_PIN                       PB15
+
+#define SPI3_NSS_PIN                        PA15
+#define SPI3_SCK_PIN                        PB3
+#define SPI3_MISO_PIN                       PB4
+#define SPI3_MOSI_PIN                       PB5
+
+// Bus Switched Device, Device B.
+#define VTX_RTC6705
+#define VTX_RTC6705_OPTIONAL    // VTX/OSD board is OPTIONAL
+
+#define RTC6705_CS_PIN                      PC4
+#define RTC6705_SPI_INSTANCE                SPI3
+#define RTC6705_POWER_PIN                   PC3
+
+#define USE_RTC6705_CLK_HACK
+#define RTC6705_CLK_PIN                     SPI3_SCK_PIN
+
+#define OSD
+
+// Bus Switched Device, Device A.
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE                SPI3
+#define MAX7456_SPI_CS_PIN                  PA15
+
+//#define MAX7456_DMA_CHANNEL_TX              DMA1_Stream5
+//#define MAX7456_DMA_CHANNEL_RX              DMA1_Stream0
+//#define MAX7456_DMA_IRQ_HANDLER_ID          DMA1_ST0_HANDLER
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PC14
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+// SPI3 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+
+#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
+
+#define MPU6500_CS_PIN                      SPI1_NSS_PIN
+#define MPU6500_SPI_INSTANCE                SPI1
+
+#define USE_ADC
+#define ADC_INSTANCE                        ADC1
+#define ADC1_DMA_STREAM                     DMA2_Stream0
+
+#define VBAT_ADC_PIN                        PC1
+#define CURRENT_METER_ADC_PIN               PC2
+#define RSSI_ADC_PIN                        PC0
+
+#define CURRENT_METER_SCALE_DEFAULT         300
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+
+#define LED_STRIP
+#define TRANSPONDER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE                  FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES                    (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_LED_STRIP)
+
+#define GPS_UART                            SERIAL_PORT_USART3
+
+#define SERIALRX_UART                       SERIAL_PORT_USART2
+#define SERIALRX_PROVIDER                   SERIALRX_SBUS
+
+#define TELEMETRY_UART                      SERIAL_PORT_UART5
+#define TELEMETRY_DEFAULT_HALFDUPLEX        0 // Both pins of UART5 are used for a telemetry circuit
+#define TELEMETRY_PROVIDER_DEFAULT          FUNCTION_TELEMETRY_SMARTPORT
+
+#define BUTTONS // Physically located on the optional OSD/VTX board.
+#if (SPRACINGF4NEO_REV >= 3)
+    #define BUTTON_A_PIN                    PB0
+#else
+    #define BUTTON_A_PIN                    PB8
+#endif
+
+#define SPEKTRUM_BIND_PIN                   UART2_RX_PIN
+
+// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
+//#define BINDPLUG_PIN                        BUTTON_A_PIN
+
+// Temporarily disable SMARTAUDIO and TRAMP VTX support due to flash size issues.
+#undef VTX_SMARTAUDIO
+#undef VTX_TRAMP
+
+#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                     (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT          14 // 4xPWM, 6xESC, 2xESC via UART3 RX/TX, 1xLED Strip, 1xIR.
+#define USED_TIMERS                         (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
+

src/main/target/SPRACINGF4NEO/target.mk

@@ -0,0 +1,17 @@
+F405_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/max7456.c \
+            drivers/transponder_ir.c \
+            drivers/vtx_rtc6705.c \
+            io/osd.c \
+            io/transponder_ir.c \
+
+

src/main/telemetry/telemetry.c

@@ -58,9 +58,13 @@ PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY
 
 #define TELEMETRY_DEFAULT_INVERSION 1
 
+#ifndef TELEMETRY_DEFAULT_HALFDUPLEX
+#define TELEMETRY_DEFAULT_HALFDUPLEX 1
+#endif
+
 PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
     .telemetry_inversion = TELEMETRY_DEFAULT_INVERSION,
-    .halfDuplex = 1,
+    .halfDuplex = TELEMETRY_DEFAULT_HALFDUPLEX,
     .telemetry_switch = 0,
     .gpsNoFixLatitude = 0,
     .gpsNoFixLongitude = 0,