From 9a92cb85600c52f40dc7bb61da02763fe8a3c4b0 Mon Sep 17 00:00:00 2001 From: NightHawk32 Date: Tue, 14 Jun 2016 17:37:01 -0400 Subject: [PATCH] added PikoBLX target --- fake_travis_build.sh | 1 + src/main/target/PIKOBLX/target.c | 56 ++++++++++ src/main/target/PIKOBLX/target.h | 169 ++++++++++++++++++++++++++++++ src/main/target/PIKOBLX/target.mk | 13 +++ 4 files changed, 239 insertions(+) create mode 100644 src/main/target/PIKOBLX/target.c create mode 100644 src/main/target/PIKOBLX/target.h create mode 100644 src/main/target/PIKOBLX/target.mk diff --git a/fake_travis_build.sh b/fake_travis_build.sh index 7749d64354..29089c24fb 100755 --- a/fake_travis_build.sh +++ b/fake_travis_build.sh @@ -13,6 +13,7 @@ targets=("PUBLISHMETA=True" \ "TARGET=RMDO" \ "TARGET=SPARKY" \ "TARGET=MOTOLAB" \ + "TARGET=PIKOBLX" \ "TARGET=IRCFUSIONF3" \ "TARGET=ALIENFLIGHTF1" \ "TARGET=ALIENFLIGHTF3" \ diff --git a/src/main/target/PIKOBLX/target.c b/src/main/target/PIKOBLX/target.c new file mode 100644 index 0000000000..dab944eaca --- /dev/null +++ b/src/main/target/PIKOBLX/target.c @@ -0,0 +1,56 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM9 | (MAP_TO_PPM_INPUT << 8), // PPM input + + PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + // TODO + 0xFFFF +}; + +const uint16_t airPWM[] = { + // TODO + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - PA4 - *TIM3_CH2 + { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM2 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM3 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM4 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM5 - PA1 - *TIM2_CH2, TIM15_CH1N + { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_1}, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1 + { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM7 - PA3 - *TIM15_CH2, TIM2_CH4 + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // PWM8 - PA8 - *TIM1_CH1, TIM4_ETR + + { TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource7, GPIO_AF_1}, // PPM - PA7 - *TIM17_CH1, TIM1_CH1N, TIM8_CH1 +}; + diff --git a/src/main/target/PIKOBLX/target.h b/src/main/target/PIKOBLX/target.h new file mode 100644 index 0000000000..4248a58a73 --- /dev/null +++ b/src/main/target/PIKOBLX/target.h @@ -0,0 +1,169 @@ +/* + * 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 "PIKO" // Furious FPV Piko BLX +#define USE_CLI + +#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT + +#define LED0 PB9 +#define LED1 PB5 + +#define BEEPER PA0 +#define BEEPER_INVERTED + +#define USABLE_TIMER_CHANNEL_COUNT 9 + +// MPU6000 interrupts +#define USE_EXTI +#define MPU_INT_EXTI PA15 +#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready +#define USE_MPU_DATA_READY_SIGNAL + +#define GYRO +#define ACC + +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW180_DEG +#define USE_ACC_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW180_DEG + +#define MPU6000_CS_GPIO GPIOB +#define MPU6000_CS_PIN PB12 +#define MPU6000_SPI_INSTANCE SPI2 + +#define USE_VCP +#define USE_USART1 +#define USE_USART2 +#define USE_USART3 +#define SERIAL_PORT_COUNT 4 + +#define UART1_TX_PIN GPIO_Pin_6 // PB6 +#define UART1_RX_PIN GPIO_Pin_7 // PB7 +#define UART1_GPIO GPIOB +#define UART1_GPIO_AF GPIO_AF_7 +#define UART1_TX_PINSOURCE GPIO_PinSource6 +#define UART1_RX_PINSOURCE GPIO_PinSource7 + +#define UART2_TX_PIN GPIO_Pin_3 // PB3 +#define UART2_RX_PIN GPIO_Pin_4 // PB4 +#define UART2_GPIO GPIOB +#define UART2_GPIO_AF GPIO_AF_7 +#define UART2_TX_PINSOURCE GPIO_PinSource3 +#define UART2_RX_PINSOURCE GPIO_PinSource4 + +#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7) +#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7) +#define UART3_GPIO_AF GPIO_AF_7 +#define UART3_GPIO GPIOB +#define UART3_TX_PINSOURCE GPIO_PinSource10 +#define UART3_RX_PINSOURCE GPIO_PinSource11 + +#define USE_SPI +#define USE_SPI_DEVICE_2 + +#define SENSORS_SET (SENSOR_ACC) + +#define TELEMETRY +#define BLACKBOX +#define SERIAL_RX +#define USE_SERVOS + +#define USE_ADC +#define BOARD_HAS_VOLTAGE_DIVIDER + +#define ADC_INSTANCE ADC2 +#define ADC_DMA_CHANNEL DMA2_Channel1 +#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA2 + +#define VBAT_ADC_GPIO GPIOA +#define VBAT_ADC_GPIO_PIN GPIO_Pin_5 +#define VBAT_ADC_CHANNEL ADC_Channel_2 + +#define RSSI_ADC_GPIO GPIOB +#define RSSI_ADC_GPIO_PIN GPIO_Pin_2 +#define RSSI_ADC_CHANNEL ADC_Channel_12 + +#define LED_STRIP +#if 1 +#define LED_STRIP_TIMER TIM16 + +#define USE_LED_STRIP_ON_DMA1_CHANNEL3 +#define WS2811_GPIO GPIOB +#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB +#define WS2811_GPIO_AF GPIO_AF_1 +#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1 +#define WS2811_PIN_SOURCE GPIO_PinSource8 +#define WS2811_TIMER TIM16 +#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16 +#define WS2811_DMA_CHANNEL DMA1_Channel3 +#define WS2811_IRQ DMA1_Channel3_IRQn +#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER +#endif + +#if 0 +// Alternate LED strip pin +// FIXME DMA IRQ Transfer Complete is never called because the TIM17_DMA_RMP needs to be set in SYSCFG_CFGR1 +#define LED_STRIP_TIMER TIM17 + +#define USE_LED_STRIP_ON_DMA1_CHANNEL7 +#define WS2811_GPIO GPIOA +#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA +#define WS2811_GPIO_AF GPIO_AF_1 +#define WS2811_PIN GPIO_Pin_7 // TIM17_CH1 +#define WS2811_PIN_SOURCE GPIO_PinSource7 +#define WS2811_TIMER TIM17 +#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM17 +#define WS2811_DMA_CHANNEL DMA1_Channel7 +#define WS2811_IRQ DMA1_Channel7_IRQn +#endif + +#define TRANSPONDER +#define TRANSPONDER_GPIO GPIOA +#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA +#define TRANSPONDER_GPIO_AF GPIO_AF_6 +#define TRANSPONDER_PIN GPIO_Pin_8 +#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8 +#define TRANSPONDER_TIMER TIM1 +#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1 +#define TRANSPONDER_DMA_CHANNEL DMA1_Channel2 +#define TRANSPONDER_IRQ DMA1_Channel2_IRQn +#define TRANSPONDER_DMA_TC_FLAG DMA1_FLAG_TC2 +#define TRANSPONDER_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER + +#define SPEKTRUM_BIND +// USART3, PB11 +#define BIND_PIN PB11 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +// IO - stm32f303cc in 48pin package +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15)) +// #define TARGET_IO_PORTF (BIT(0)|BIT(1)) +// !!TODO - check the following line is correct +#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4)) + +#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17)) + +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM17) +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) diff --git a/src/main/target/PIKOBLX/target.mk b/src/main/target/PIKOBLX/target.mk new file mode 100644 index 0000000000..3662ea997a --- /dev/null +++ b/src/main/target/PIKOBLX/target.mk @@ -0,0 +1,13 @@ +F3_TARGETS += $(TARGET) +FEATURES = VCP + +TARGET_SRC = \ + drivers/accgyro_mpu.c \ + drivers/accgyro_spi_mpu6000.c \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f30x.c \ + drivers/serial_softserial.c \ + drivers/transponder_ir.c \ + drivers/transponder_ir_stm32f30x.c \ + io/transponder_ir.c +