From a4ba5baf8ee1c570e8056e1427310c7b096c792e Mon Sep 17 00:00:00 2001 From: Sergey Krukovski Date: Sun, 5 Mar 2017 08:01:45 -0800 Subject: [PATCH 1/2] Added KroozX board --- src/main/fc/fc_init.c | 24 ++-- src/main/target/KROOZX/config.c | 41 ++++++ src/main/target/KROOZX/initialisation.c | 58 +++++++++ src/main/target/KROOZX/target.c | 38 ++++++ src/main/target/KROOZX/target.h | 159 ++++++++++++++++++++++++ src/main/target/KROOZX/target.mk | 9 ++ 6 files changed, 317 insertions(+), 12 deletions(-) create mode 100755 src/main/target/KROOZX/config.c create mode 100755 src/main/target/KROOZX/initialisation.c create mode 100755 src/main/target/KROOZX/target.c create mode 100755 src/main/target/KROOZX/target.h create mode 100755 src/main/target/KROOZX/target.mk diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 6748d79c7a..4f42bb56c0 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -405,18 +405,6 @@ void init(void) } #endif -#ifdef OSD - if (feature(FEATURE_OSD)) { -#if defined(USE_MAX7456) - // if there is a max7456 chip for the OSD then use it, otherwise use MSP - displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile()); -#elif defined(USE_MSP_DISPLAYPORT) - displayPort_t *osdDisplayPort = displayPortMspInit(); -#endif - osdInit(osdDisplayPort); - } -#endif - if (!sensorsAutodetect()) { // if gyro was not detected due to whatever reason, we give up now. failureMode(FAILURE_MISSING_ACC); @@ -461,6 +449,18 @@ void init(void) rxInit(); +#ifdef OSD + if (feature(FEATURE_OSD)) { +#if defined(USE_MAX7456) + // if there is a max7456 chip for the OSD then use it, otherwise use MSP + displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile()); +#elif defined(USE_MSP_DISPLAYPORT) + displayPort_t *osdDisplayPort = displayPortMspInit(); +#endif + osdInit(osdDisplayPort); + } +#endif + #ifdef GPS if (feature(FEATURE_GPS)) { gpsInit(); diff --git a/src/main/target/KROOZX/config.c b/src/main/target/KROOZX/config.c new file mode 100755 index 0000000000..6dd1ecef56 --- /dev/null +++ b/src/main/target/KROOZX/config.c @@ -0,0 +1,41 @@ +/* + * 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 "config/config_master.h" + +#define VBAT_SCALE 113 +#define CURRENT_SCALE 1000 +#define CURRENT_OFFSET 0 + +#define OSD_POS(x,y) (x | (y << 5)) + +#ifdef TARGET_CONFIG +void targetConfiguration(master_t *config) +{ + config->batteryConfig.vbatscale = VBAT_SCALE; + config->batteryConfig.currentMeterScale = CURRENT_SCALE; + config->batteryConfig.currentMeterOffset = CURRENT_OFFSET; + config->barometerConfig.baro_hardware = 0; + config->compassConfig.mag_hardware = 0; + config->osdConfig.item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | VISIBLE_FLAG; +} +#endif diff --git a/src/main/target/KROOZX/initialisation.c b/src/main/target/KROOZX/initialisation.c new file mode 100755 index 0000000000..624615f978 --- /dev/null +++ b/src/main/target/KROOZX/initialisation.c @@ -0,0 +1,58 @@ +/* + * 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 "drivers/io.h" +#include "drivers/bus_i2c.h" +#include "drivers/bus_spi.h" + +void targetBusInit(void) +{ +#ifdef USE_SPI + #ifdef USE_SPI_DEVICE_1 + spiInit(SPIDEV_1); + #endif + #ifdef USE_SPI_DEVICE_2 + spiInit(SPIDEV_2); + #endif + #ifdef USE_SPI_DEVICE_3 + spiInit(SPIDEV_3); + #endif + #ifdef USE_SPI_DEVICE_4 + spiInit(SPIDEV_4); + #endif +#endif + +#ifdef USE_I2C + #ifdef USE_I2C_DEVICE_1 + i2cInit(I2CDEV_1); + #endif + #ifdef USE_I2C_DEVICE_3 + i2cInit(I2CDEV_3); + #endif +#endif +} + +void targetPreInit(void) +{ + IO_t osdChSwitch = IOGetByTag(IO_TAG(OSD_CH_SWITCH)); + IOInit(osdChSwitch, OWNER_SYSTEM, 0); + IOConfigGPIO(osdChSwitch, IOCFG_OUT_PP); + IOLo(osdChSwitch); +} + diff --git a/src/main/target/KROOZX/target.c b/src/main/target/KROOZX/target.c new file mode 100755 index 0000000000..2151586bf6 --- /dev/null +++ b/src/main/target/KROOZX/target.c @@ -0,0 +1,38 @@ +/* + * 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 "drivers/io.h" + +#include "drivers/timer.h" +#include "drivers/timer_def.h" +#include "drivers/dma.h" + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0), // PPM IN + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM1 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM2 + DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM3 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM4 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM5 + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM6 + DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM7 + DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM8 + DEF_TIM(TIM8, CH1, PC6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0), // LED_STRIP +}; diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h new file mode 100755 index 0000000000..8c71b2a12e --- /dev/null +++ b/src/main/target/KROOZX/target.h @@ -0,0 +1,159 @@ +/* + * 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 . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "KROOZX" + +#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) +#define TARGET_XTAL_MHZ 16 + +#define USBD_PRODUCT_STRING "KroozX" + +#define TARGET_CONFIG +#define TARGET_BUS_INIT +#define TARGET_PREINIT + +#define LED0 PA14 // Red LED +#define LED1 PA13 // Green LED + +#define BEEPER PC1 + +#define INVERTER_PIN_UART1 PB13 +#define INVERTER_PIN_UART6 PB12 + +#define MPU6000_CS_PIN PB2 +#define MPU6000_SPI_INSTANCE SPI1 + +// MPU6000 interrupts +#define USE_EXTI +#define USE_MPU_DATA_READY_SIGNAL +#define MPU_INT_EXTI PA4 + +#define GYRO +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW90_DEG + +#define ACC +#define USE_ACC_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW270_DEG + +#define MAG +#define USE_MAG_HMC5883 +#define MAG_HMC5883_ALIGN CW180_DEG +#define MAG_I2C_INSTANCE I2CDEV_1 + +#define BARO +#define USE_BARO_MS5611 + +#define USE_SDCARD +#define SDCARD_DETECT_INVERTED +#define SDCARD_DETECT_PIN PC13 +#define SDCARD_SPI_INSTANCE SPI3 +#define SDCARD_SPI_CS_PIN PA15 +#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz +#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz + +#define SDCARD_DMA_CHANNEL_TX DMA1_Stream5 +#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5 +#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1 +#define SDCARD_DMA_CHANNEL DMA_Channel_0 + +#define OSD +#ifdef USE_MSP_DISPLAYPORT +#undef USE_MSP_DISPLAYPORT +#endif +#define USE_MAX7456 +#define MAX7456_SPI_INSTANCE SPI1 +#define MAX7456_SPI_CS_PIN PC4 +#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2) +#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST) + +#define OSD_CH_SWITCH PC5 + +#define BOARD_HAS_VOLTAGE_DIVIDER +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define VBAT_ADC_PIN PC3 +#define CURRENT_METER_ADC_PIN PC2 +#define RSSI_ADC_PIN PC0 + +#define USE_VCP +//#define VBUS_SENSING_PIN PA9 + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART3 +#define UART3_RX_PIN PB11 +#define UART3_TX_PIN PB10 + +#define USE_UART4 +#define UART4_RX_PIN PC11 +#define UART4_TX_PIN PC10 + +#define USE_UART5 +#define UART5_RX_PIN PD2 +#define UART5_TX_PIN PC12 + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define SERIAL_PORT_COUNT 6 + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_3) + +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#define USE_I2C_DEVICE_3 +#define I2C3_SCL PA8 +#define I2C3_SDA PC9 + +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_NSS_PIN PC4 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +#define DEFAULT_RX_FEATURE FEATURE_RX_PPM +#define RX_CHANNELS_TAER +#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD) + +#define LED_STRIP + +#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 10 +#define USED_TIMERS (TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8)) diff --git a/src/main/target/KROOZX/target.mk b/src/main/target/KROOZX/target.mk new file mode 100755 index 0000000000..5c0a34c85a --- /dev/null +++ b/src/main/target/KROOZX/target.mk @@ -0,0 +1,9 @@ +F405_TARGETS += $(TARGET) +FEATURES += VCP SDCARD +HSE_VALUE = 16000000 + +TARGET_SRC = \ + drivers/accgyro_spi_mpu6000.c \ + drivers/barometer_ms5611.c \ + drivers/compass_hmc5883l.c \ + drivers/max7456.c \ No newline at end of file From c00de76cb951dcbd4b62dff6ec47ae100bde3887 Mon Sep 17 00:00:00 2001 From: Sergey Krukovski Date: Mon, 6 Mar 2017 21:31:09 +0100 Subject: [PATCH 2/2] KroozX target only commit --- src/main/fc/fc_init.c | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 4f42bb56c0..6748d79c7a 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -405,6 +405,18 @@ void init(void) } #endif +#ifdef OSD + if (feature(FEATURE_OSD)) { +#if defined(USE_MAX7456) + // if there is a max7456 chip for the OSD then use it, otherwise use MSP + displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile()); +#elif defined(USE_MSP_DISPLAYPORT) + displayPort_t *osdDisplayPort = displayPortMspInit(); +#endif + osdInit(osdDisplayPort); + } +#endif + if (!sensorsAutodetect()) { // if gyro was not detected due to whatever reason, we give up now. failureMode(FAILURE_MISSING_ACC); @@ -449,18 +461,6 @@ void init(void) rxInit(); -#ifdef OSD - if (feature(FEATURE_OSD)) { -#if defined(USE_MAX7456) - // if there is a max7456 chip for the OSD then use it, otherwise use MSP - displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile()); -#elif defined(USE_MSP_DISPLAYPORT) - displayPort_t *osdDisplayPort = displayPortMspInit(); -#endif - osdInit(osdDisplayPort); - } -#endif - #ifdef GPS if (feature(FEATURE_GPS)) { gpsInit();