mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Merge branch 'master' of github.com:betaflight/betaflight into feature/f4-dma-osd
This commit is contained in:
nathan
commit
338d548e11
134 changed files with 1669 additions and 1624 deletions
4
Makefile
4
Makefile
|
|
@ -548,8 +548,8 @@ VPATH := $(VPATH):$(STDPERIPH_DIR)/src
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|||
|
||||
# Find out if ccache is installed on the system
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||||
CCACHE := ccache
|
||||
RESULT = $(shell which $(CCACHE))
|
||||
ifeq ($(RESULT),)
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||||
RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
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ifneq ($(RESULT),0)
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||||
CCACHE :=
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||||
endif
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||||
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||||
|
|
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|||
|
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@ -632,7 +632,7 @@ static void writeInterframe(void)
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arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
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blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
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||||
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||||
/*
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||||
/*
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* The PID I field changes very slowly, most of the time +-2, so use an encoding
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* that can pack all three fields into one byte in that situation.
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*/
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@ -1140,6 +1140,7 @@ static bool blackboxWriteSysinfo()
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BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");
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BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
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BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
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BLACKBOX_PRINT_HEADER_LINE("Craft name:%s", masterConfig.name);
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BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
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BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
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BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
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@ -1218,6 +1219,8 @@ static bool blackboxWriteSysinfo()
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BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d", (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_q:%d", (int)(masterConfig.gyro_soft_notch_q * 10.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware);
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BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);
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@ -1314,7 +1317,7 @@ static void blackboxCheckAndLogFlightMode()
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}
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}
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|
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/*
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/*
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* Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
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* the portion of logged loop iterations.
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*/
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|
|
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|
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@ -507,7 +507,7 @@ void blackboxWriteFloat(float value)
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/**
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* If there is data waiting to be written to the blackbox device, attempt to write (a portion of) that now.
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*
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*
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* Intended to be called regularly for the blackbox device to perform housekeeping.
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*/
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void blackboxDeviceFlush(void)
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|
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|
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@ -56,24 +56,39 @@ float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
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}
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/* sets up a biquad Filter */
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void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
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void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate)
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{
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biquadFilterInit(filter, filterFreq, refreshRate, BIQUAD_Q, FILTER_LPF);
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}
|
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void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType)
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{
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const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
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|
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// setup variables
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const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
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const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
|
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const float omega = 2 * M_PI_FLOAT * filterFreq / sampleRate;
|
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const float sn = sinf(omega);
|
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const float cs = cosf(omega);
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//this is wrong, should be hyperbolic sine
|
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//alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
|
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const float alpha = sn / (2 * BIQUAD_Q);
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const float alpha = sn / (2 * Q);
|
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|
||||
const float b0 = (1 - cs) / 2;
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const float b1 = 1 - cs;
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const float b2 = (1 - cs) / 2;
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const float a0 = 1 + alpha;
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const float a1 = -2 * cs;
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const float a2 = 1 - alpha;
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float b0, b1, b2, a0, a1, a2;
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|
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switch (filterType) {
|
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case FILTER_LPF:
|
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b0 = (1 - cs) / 2;
|
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b1 = 1 - cs;
|
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b2 = (1 - cs) / 2;
|
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a0 = 1 + alpha;
|
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a1 = -2 * cs;
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a2 = 1 - alpha;
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break;
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case FILTER_NOTCH:
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b0 = 1;
|
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b1 = -2 * cs;
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b2 = 1;
|
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a0 = 1 + alpha;
|
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a1 = -2 * cs;
|
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a2 = 1 - alpha;
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||||
break;
|
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}
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|
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// precompute the coefficients
|
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filter->b0 = b0 / a0;
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|
|
|
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|
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@ -29,8 +29,13 @@ typedef struct biquadFilter_s {
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float d1, d2;
|
||||
} biquadFilter_t;
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||||
|
||||
typedef enum {
|
||||
FILTER_LPF,
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FILTER_NOTCH
|
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} filterType_e;
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|
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void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
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void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate);
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void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType);
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float biquadFilterApply(biquadFilter_t *filter, float input);
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||||
|
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void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);
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|
|
|
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|
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@ -231,7 +231,7 @@ int32_t quickMedianFilter5(int32_t * v)
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|
||||
QMF_SORT(p[0], p[1]); QMF_SORT(p[3], p[4]); QMF_SORT(p[0], p[3]);
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QMF_SORT(p[1], p[4]); QMF_SORT(p[1], p[2]); QMF_SORT(p[2], p[3]);
|
||||
QMF_SORT(p[1], p[2]);
|
||||
QMF_SORT(p[1], p[2]);
|
||||
return p[2];
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}
|
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|
||||
|
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@ -279,7 +279,7 @@ float quickMedianFilter5f(float * v)
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|
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QMF_SORTF(p[0], p[1]); QMF_SORTF(p[3], p[4]); QMF_SORTF(p[0], p[3]);
|
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QMF_SORTF(p[1], p[4]); QMF_SORTF(p[1], p[2]); QMF_SORTF(p[2], p[3]);
|
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QMF_SORTF(p[1], p[2]);
|
||||
QMF_SORTF(p[1], p[2]);
|
||||
return p[2];
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -56,7 +56,7 @@ typedef void (*putcf) (void *, char);
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|||
static putcf stdout_putf;
|
||||
static void *stdout_putp;
|
||||
|
||||
// print bf, padded from left to at least n characters.
|
||||
// print bf, padded from left to at least n characters.
|
||||
// padding is zero ('0') if z!=0, space (' ') otherwise
|
||||
static int putchw(void *putp, putcf putf, int n, char z, char *bf)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -159,7 +159,7 @@ size_t custom_flash_memory_address = 0;
|
|||
#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
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||||
#else
|
||||
// use the last flash pages for storage
|
||||
#ifndef CONFIG_START_FLASH_ADDRESS
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||||
#ifndef CONFIG_START_FLASH_ADDRESS
|
||||
#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
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||||
#endif
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||||
#endif
|
||||
|
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@ -349,7 +349,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
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|||
serialConfig->reboot_character = 'R';
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||||
}
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||||
|
||||
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
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static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
|
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{
|
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controlRateConfig->rcRate8 = 100;
|
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controlRateConfig->rcYawRate8 = 100;
|
||||
|
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@ -366,7 +366,7 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
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|||
|
||||
}
|
||||
|
||||
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
|
||||
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
|
||||
{
|
||||
rcControlsConfig->deadband = 0;
|
||||
rcControlsConfig->yaw_deadband = 0;
|
||||
|
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@ -374,7 +374,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
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|||
rcControlsConfig->alt_hold_fast_change = 1;
|
||||
}
|
||||
|
||||
void resetMixerConfig(mixerConfig_t *mixerConfig)
|
||||
void resetMixerConfig(mixerConfig_t *mixerConfig)
|
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{
|
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mixerConfig->yaw_motor_direction = 1;
|
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#ifdef USE_SERVOS
|
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|
|
@ -441,6 +441,7 @@ static void resetConf(void)
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featureSet(FEATURE_VBAT);
|
||||
#endif
|
||||
|
||||
|
||||
masterConfig.version = EEPROM_CONF_VERSION;
|
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masterConfig.mixerMode = MIXER_QUADX;
|
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|
||||
|
|
@ -455,6 +456,8 @@ static void resetConf(void)
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masterConfig.gyro_sync_denom = 4;
|
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#endif
|
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masterConfig.gyro_soft_lpf_hz = 100;
|
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masterConfig.gyro_soft_notch_hz = 0;
|
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masterConfig.gyro_soft_notch_q = 5;
|
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|
||||
masterConfig.pid_process_denom = 2;
|
||||
|
||||
|
|
@ -657,6 +660,7 @@ static void resetConf(void)
|
|||
targetConfiguration();
|
||||
#endif
|
||||
|
||||
|
||||
// copy first profile into remaining profile
|
||||
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
|
||||
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
|
||||
|
|
@ -715,7 +719,7 @@ void activateConfig(void)
|
|||
¤tProfile->pidProfile
|
||||
);
|
||||
|
||||
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
|
||||
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q);
|
||||
|
||||
#ifdef TELEMETRY
|
||||
telemetryUseConfig(&masterConfig.telemetryConfig);
|
||||
|
|
|
|||
|
|
@ -24,6 +24,8 @@
|
|||
#endif
|
||||
#define MAX_RATEPROFILES 3
|
||||
#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
|
||||
#define MAX_NAME_LENGTH 16
|
||||
|
||||
|
||||
typedef enum {
|
||||
FEATURE_RX_PPM = 1 << 0,
|
||||
|
|
|
|||
|
|
@ -56,9 +56,11 @@ typedef struct master_t {
|
|||
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
|
||||
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
|
||||
uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
|
||||
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
|
||||
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
|
||||
uint8_t gyro_sync_denom; // Gyro sample divider
|
||||
uint8_t gyro_soft_lpf_hz; // Biqyad gyro lpf hz
|
||||
uint8_t gyro_soft_lpf_hz; // Biquad gyro lpf hz
|
||||
uint16_t gyro_soft_notch_hz; // Biquad gyro notch hz
|
||||
uint8_t gyro_soft_notch_q; // Biquad gyro notch quality
|
||||
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
|
||||
uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
|
||||
|
||||
|
|
@ -137,7 +139,7 @@ typedef struct master_t {
|
|||
|
||||
profile_t profile[MAX_PROFILE_COUNT];
|
||||
uint8_t current_profile_index;
|
||||
|
||||
|
||||
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
|
||||
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
|
||||
|
||||
|
|
@ -161,6 +163,9 @@ typedef struct master_t {
|
|||
|
||||
uint8_t magic_ef; // magic number, should be 0xEF
|
||||
uint8_t chk; // XOR checksum
|
||||
|
||||
char name[MAX_NAME_LENGTH+1];
|
||||
|
||||
} master_t;
|
||||
|
||||
extern master_t masterConfig;
|
||||
|
|
|
|||
|
|
@ -50,5 +50,6 @@ typedef enum {
|
|||
DEBUG_MIXER,
|
||||
DEBUG_AIRMODE,
|
||||
DEBUG_PIDLOOP,
|
||||
DEBUG_NOTCH,
|
||||
DEBUG_COUNT
|
||||
} debugType_e;
|
||||
|
|
|
|||
|
|
@ -252,7 +252,7 @@ void mpuIntExtiInit(void)
|
|||
EXTIEnable(mpuIntIO, true);
|
||||
#endif
|
||||
|
||||
mpuExtiInitDone = true;
|
||||
mpuExtiInitDone = true;
|
||||
}
|
||||
|
||||
static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@
|
|||
#pragma once
|
||||
|
||||
#include "exti.h"
|
||||
|
||||
|
||||
// MPU6050
|
||||
#define MPU_RA_WHO_AM_I 0x75
|
||||
#define MPU_RA_WHO_AM_I_LEGACY 0x00
|
||||
|
|
@ -119,7 +119,7 @@
|
|||
|
||||
typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
|
||||
typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
|
||||
typedef void(*mpuResetFuncPtr)(void);
|
||||
typedef void(*mpuResetFuncPtr)(void);
|
||||
|
||||
typedef struct mpuConfiguration_s {
|
||||
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
|
||||
|
|
|
|||
|
|
@ -104,7 +104,7 @@ static void mpu6050GyroInit(uint8_t lpf)
|
|||
delay(100);
|
||||
ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
|
||||
ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
|
||||
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
|
||||
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
|
||||
ack = mpuConfiguration.write(MPU_RA_CONFIG, lpf); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
|
||||
ack = mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
|
||||
|
||||
|
|
|
|||
|
|
@ -158,7 +158,7 @@ bool mpu6000SpiDetect(void)
|
|||
uint8_t in;
|
||||
uint8_t attemptsRemaining = 5;
|
||||
|
||||
#ifdef MPU6000_CS_PIN
|
||||
#ifdef MPU6000_CS_PIN
|
||||
mpuSpi6000CsPin = IOGetByTag(IO_TAG(MPU6000_CS_PIN));
|
||||
#endif
|
||||
IOInit(mpuSpi6000CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
|
||||
|
|
@ -253,7 +253,7 @@ static void mpu6000AccAndGyroInit(void) {
|
|||
delayMicroseconds(15);
|
||||
#endif
|
||||
|
||||
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
delayMicroseconds(1);
|
||||
|
||||
mpuSpi6000InitDone = true;
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ static IO_t mpuSpi9250CsPin = IO_NONE;
|
|||
#define DISABLE_MPU9250 IOHi(mpuSpi9250CsPin)
|
||||
#define ENABLE_MPU9250 IOLo(mpuSpi9250CsPin)
|
||||
|
||||
void mpu9250ResetGyro(void)
|
||||
void mpu9250ResetGyro(void)
|
||||
{
|
||||
// Device Reset
|
||||
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
|
||||
|
|
@ -123,7 +123,7 @@ void mpu9250SpiAccInit(acc_t *acc)
|
|||
acc->acc_1G = 512 * 8;
|
||||
}
|
||||
|
||||
bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
|
||||
bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t in;
|
||||
uint8_t attemptsRemaining = 20;
|
||||
|
|
@ -176,7 +176,7 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
|
|||
verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
|
||||
#endif
|
||||
|
||||
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
|
||||
mpuSpi9250InitDone = true; //init done
|
||||
}
|
||||
|
|
@ -208,7 +208,7 @@ bool mpu9250SpiDetect(void)
|
|||
}
|
||||
} while (attemptsRemaining--);
|
||||
|
||||
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -24,14 +24,14 @@
|
|||
#define ADC_TAG_MAP_COUNT 16
|
||||
#elif defined(STM32F3)
|
||||
#define ADC_TAG_MAP_COUNT 39
|
||||
#else
|
||||
#else
|
||||
#define ADC_TAG_MAP_COUNT 10
|
||||
#endif
|
||||
#endif
|
||||
|
||||
typedef enum ADCDevice {
|
||||
ADCINVALID = -1,
|
||||
ADCDEV_1 = 0,
|
||||
#if defined(STM32F3)
|
||||
#if defined(STM32F3)
|
||||
ADCDEV_2,
|
||||
ADCDEV_MAX = ADCDEV_2,
|
||||
#elif defined(STM32F4)
|
||||
|
|
|
|||
|
|
@ -24,9 +24,6 @@
|
|||
#include "build_config.h"
|
||||
|
||||
#include "system.h"
|
||||
|
||||
#include "sensors/sensors.h" // FIXME dependency into the main code
|
||||
|
||||
#include "sensor.h"
|
||||
#include "accgyro.h"
|
||||
#include "adc.h"
|
||||
|
|
@ -38,13 +35,13 @@
|
|||
#define ADC_INSTANCE ADC1
|
||||
#endif
|
||||
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }
|
||||
};
|
||||
|
||||
ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
|
||||
{
|
||||
if (instance == ADC1)
|
||||
if (instance == ADC1)
|
||||
return ADCDEV_1;
|
||||
|
||||
/* TODO -- ADC2 available on large 10x devices.
|
||||
|
|
@ -54,7 +51,7 @@ ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
|
|||
return ADCINVALID;
|
||||
}
|
||||
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
{ DEFIO_TAG_E__PA0, ADC_Channel_0 }, // ADC12
|
||||
{ DEFIO_TAG_E__PA1, ADC_Channel_1 }, // ADC12
|
||||
{ DEFIO_TAG_E__PA2, ADC_Channel_2 }, // ADC12
|
||||
|
|
@ -64,7 +61,7 @@ const adcTagMap_t adcTagMap[] = {
|
|||
{ DEFIO_TAG_E__PA6, ADC_Channel_6 }, // ADC12
|
||||
{ DEFIO_TAG_E__PA7, ADC_Channel_7 }, // ADC12
|
||||
{ DEFIO_TAG_E__PB0, ADC_Channel_8 }, // ADC12
|
||||
{ DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12
|
||||
{ DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12
|
||||
};
|
||||
|
||||
// Driver for STM32F103CB onboard ADC
|
||||
|
|
@ -84,7 +81,6 @@ void adcInit(drv_adc_config_t *init)
|
|||
UNUSED(init);
|
||||
#endif
|
||||
|
||||
uint8_t i;
|
||||
uint8_t configuredAdcChannels = 0;
|
||||
|
||||
memset(&adcConfig, 0, sizeof(adcConfig));
|
||||
|
|
@ -117,9 +113,9 @@ void adcInit(drv_adc_config_t *init)
|
|||
if (device == ADCINVALID)
|
||||
return;
|
||||
|
||||
adcDevice_t adc = adcHardware[device];
|
||||
const adcDevice_t adc = adcHardware[device];
|
||||
|
||||
for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
if (!adcConfig[i].tag)
|
||||
continue;
|
||||
|
||||
|
|
@ -163,7 +159,7 @@ void adcInit(drv_adc_config_t *init)
|
|||
ADC_Init(adc.ADCx, &ADC_InitStructure);
|
||||
|
||||
uint8_t rank = 1;
|
||||
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
if (!adcConfig[i].enabled) {
|
||||
continue;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -21,7 +21,6 @@
|
|||
|
||||
#include "platform.h"
|
||||
#include "system.h"
|
||||
#include "common/utils.h"
|
||||
#include "gpio.h"
|
||||
|
||||
#include "sensor.h"
|
||||
|
|
@ -32,16 +31,18 @@
|
|||
#include "io.h"
|
||||
#include "rcc.h"
|
||||
|
||||
#include "common/utils.h"
|
||||
|
||||
#ifndef ADC_INSTANCE
|
||||
#define ADC_INSTANCE ADC1
|
||||
#endif
|
||||
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 },
|
||||
{ .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 }
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 },
|
||||
{ .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 }
|
||||
};
|
||||
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
{ DEFIO_TAG_E__PA0, ADC_Channel_1 }, // ADC1
|
||||
{ DEFIO_TAG_E__PA1, ADC_Channel_2 }, // ADC1
|
||||
{ DEFIO_TAG_E__PA2, ADC_Channel_3 }, // ADC1
|
||||
|
|
@ -85,7 +86,7 @@ const adcTagMap_t adcTagMap[] = {
|
|||
|
||||
ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
|
||||
{
|
||||
if (instance == ADC1)
|
||||
if (instance == ADC1)
|
||||
return ADCDEV_1;
|
||||
|
||||
if (instance == ADC2)
|
||||
|
|
@ -100,7 +101,6 @@ void adcInit(drv_adc_config_t *init)
|
|||
ADC_InitTypeDef ADC_InitStructure;
|
||||
DMA_InitTypeDef DMA_InitStructure;
|
||||
|
||||
uint8_t i;
|
||||
uint8_t adcChannelCount = 0;
|
||||
|
||||
memset(&adcConfig, 0, sizeof(adcConfig));
|
||||
|
|
@ -133,9 +133,9 @@ void adcInit(drv_adc_config_t *init)
|
|||
if (device == ADCINVALID)
|
||||
return;
|
||||
|
||||
adcDevice_t adc = adcHardware[device];
|
||||
adcDevice_t adc = adcHardware[device];
|
||||
|
||||
for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
if (!adcConfig[i].tag)
|
||||
continue;
|
||||
|
||||
|
|
@ -203,7 +203,7 @@ void adcInit(drv_adc_config_t *init)
|
|||
ADC_Init(adc.ADCx, &ADC_InitStructure);
|
||||
|
||||
uint8_t rank = 1;
|
||||
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
if (!adcConfig[i].enabled) {
|
||||
continue;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -26,8 +26,6 @@
|
|||
#include "io_impl.h"
|
||||
#include "rcc.h"
|
||||
|
||||
#include "sensors/sensors.h" // FIXME dependency into the main code
|
||||
|
||||
#include "sensor.h"
|
||||
#include "accgyro.h"
|
||||
|
||||
|
|
@ -38,13 +36,13 @@
|
|||
#define ADC_INSTANCE ADC1
|
||||
#endif
|
||||
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },
|
||||
//{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }
|
||||
const adcDevice_t adcHardware[] = {
|
||||
{ .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },
|
||||
//{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }
|
||||
};
|
||||
|
||||
/* note these could be packed up for saving space */
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
const adcTagMap_t adcTagMap[] = {
|
||||
/*
|
||||
{ DEFIO_TAG_E__PF3, ADC_Channel_9 },
|
||||
{ DEFIO_TAG_E__PF4, ADC_Channel_14 },
|
||||
|
|
@ -75,7 +73,7 @@ const adcTagMap_t adcTagMap[] = {
|
|||
|
||||
ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
|
||||
{
|
||||
if (instance == ADC1)
|
||||
if (instance == ADC1)
|
||||
return ADCDEV_1;
|
||||
/*
|
||||
if (instance == ADC2) // TODO add ADC2 and 3
|
||||
|
|
@ -128,7 +126,7 @@ void adcInit(drv_adc_config_t *init)
|
|||
if (device == ADCINVALID)
|
||||
return;
|
||||
|
||||
adcDevice_t adc = adcHardware[device];
|
||||
adcDevice_t adc = adcHardware[device];
|
||||
|
||||
for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
|
||||
if (!adcConfig[i].tag)
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@
|
|||
|
||||
#ifdef BARO
|
||||
|
||||
#if defined(BARO_EOC_GPIO)
|
||||
#if defined(BARO_EOC_GPIO)
|
||||
|
||||
static IO_t eocIO;
|
||||
|
||||
|
|
@ -49,7 +49,7 @@ void bmp085_extiHandler(extiCallbackRec_t* cb)
|
|||
isConversionComplete = true;
|
||||
}
|
||||
|
||||
bool bmp085TestEOCConnected(const bmp085Config_t *config);
|
||||
bool bmp085TestEOCConnected(const bmp085Config_t *config);
|
||||
# endif
|
||||
|
||||
typedef struct {
|
||||
|
|
@ -139,7 +139,7 @@ static IO_t xclrIO;
|
|||
#endif
|
||||
|
||||
|
||||
void bmp085InitXclrIO(const bmp085Config_t *config)
|
||||
void bmp085InitXclrIO(const bmp085Config_t *config)
|
||||
{
|
||||
if (!xclrIO && config && config->xclrIO) {
|
||||
xclrIO = IOGetByTag(config->xclrIO);
|
||||
|
|
@ -184,7 +184,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
|
|||
|
||||
delay(20); // datasheet says 10ms, we'll be careful and do 20.
|
||||
|
||||
ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
|
||||
ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
|
||||
if (ack) {
|
||||
bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
|
||||
bmp085.oversampling_setting = 3;
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@
|
|||
|
||||
typedef struct bmp085Config_s {
|
||||
ioTag_t xclrIO;
|
||||
ioTag_t eocIO;
|
||||
ioTag_t eocIO;
|
||||
} bmp085Config_t;
|
||||
|
||||
bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
|
||||
#ifndef I2C_DEVICE
|
||||
#define I2C_DEVICE I2CINVALID
|
||||
#endif
|
||||
#endif
|
||||
|
||||
typedef enum I2CDevice {
|
||||
I2CINVALID = -1,
|
||||
|
|
|
|||
|
|
@ -47,35 +47,35 @@ static void i2cUnstick(IO_t scl, IO_t sda);
|
|||
#define IOCFG_I2C IOCFG_AF_OD
|
||||
#endif
|
||||
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB8
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB8
|
||||
#endif
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB9
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB9
|
||||
#endif
|
||||
#else
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB6
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB6
|
||||
#endif
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB7
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB7
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#ifndef I2C2_SCL
|
||||
#define I2C2_SCL PB10
|
||||
#ifndef I2C2_SCL
|
||||
#define I2C2_SCL PB10
|
||||
#endif
|
||||
#ifndef I2C2_SDA
|
||||
#ifndef I2C2_SDA
|
||||
#define I2C2_SDA PB11
|
||||
#endif
|
||||
|
||||
#ifdef STM32F4
|
||||
#ifndef I2C3_SCL
|
||||
#ifndef I2C3_SCL
|
||||
#define I2C3_SCL PA8
|
||||
#endif
|
||||
#ifndef I2C3_SDA
|
||||
#define I2C3_SDA PB4
|
||||
#ifndef I2C3_SDA
|
||||
#define I2C3_SDA PB4
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
|
@ -93,7 +93,7 @@ static i2cState_t i2cState[] = {
|
|||
{ false, false, 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ false, false, 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ false, false, 0, 0, 0, 0, 0, 0, 0 }
|
||||
};
|
||||
};
|
||||
|
||||
void I2C1_ER_IRQHandler(void) {
|
||||
i2c_er_handler(I2CDEV_1);
|
||||
|
|
@ -121,7 +121,7 @@ void I2C3_EV_IRQHandler(void) {
|
|||
}
|
||||
#endif
|
||||
|
||||
static bool i2cHandleHardwareFailure(I2CDevice device)
|
||||
static bool i2cHandleHardwareFailure(I2CDevice device)
|
||||
{
|
||||
i2cErrorCount++;
|
||||
// reinit peripheral + clock out garbage
|
||||
|
|
@ -129,7 +129,7 @@ static bool i2cHandleHardwareFailure(I2CDevice device)
|
|||
return false;
|
||||
}
|
||||
|
||||
bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
|
||||
bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
|
||||
{
|
||||
|
||||
if (device == I2CINVALID)
|
||||
|
|
@ -138,7 +138,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
|
|||
uint32_t timeout = I2C_DEFAULT_TIMEOUT;
|
||||
|
||||
I2C_TypeDef *I2Cx;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
|
||||
i2cState_t *state;
|
||||
state = &(i2cState[device]);
|
||||
|
|
@ -171,12 +171,12 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
|
|||
return !(state->error);
|
||||
}
|
||||
|
||||
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
|
||||
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
|
||||
{
|
||||
return i2cWriteBuffer(device, addr_, reg_, 1, &data);
|
||||
}
|
||||
|
||||
bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
|
||||
bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
|
||||
{
|
||||
if (device == I2CINVALID)
|
||||
return false;
|
||||
|
|
@ -369,7 +369,7 @@ void i2c_ev_handler(I2CDevice device) {
|
|||
}
|
||||
}
|
||||
|
||||
void i2cInit(I2CDevice device)
|
||||
void i2cInit(I2CDevice device)
|
||||
{
|
||||
if (device == I2CINVALID)
|
||||
return;
|
||||
|
|
@ -392,7 +392,7 @@ void i2cInit(I2CDevice device)
|
|||
I2C_ITConfig(i2c->dev, I2C_IT_EVT | I2C_IT_ERR, DISABLE);
|
||||
|
||||
i2cUnstick(scl, sda);
|
||||
|
||||
|
||||
// Init pins
|
||||
#ifdef STM32F4
|
||||
IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_I2C);
|
||||
|
|
|
|||
|
|
@ -39,18 +39,18 @@
|
|||
|
||||
#define I2C_SHORT_TIMEOUT ((uint32_t)0x1000)
|
||||
#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
|
||||
#define I2C_GPIO_AF GPIO_AF_4
|
||||
#define I2C_GPIO_AF GPIO_AF_4
|
||||
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB6
|
||||
#ifndef I2C1_SCL
|
||||
#define I2C1_SCL PB6
|
||||
#endif
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB7
|
||||
#ifndef I2C1_SDA
|
||||
#define I2C1_SDA PB7
|
||||
#endif
|
||||
#ifndef I2C2_SCL
|
||||
#define I2C2_SCL PF4
|
||||
#ifndef I2C2_SCL
|
||||
#define I2C2_SCL PF4
|
||||
#endif
|
||||
#ifndef I2C2_SDA
|
||||
#ifndef I2C2_SDA
|
||||
#define I2C2_SDA PA10
|
||||
#endif
|
||||
|
||||
|
|
@ -82,7 +82,7 @@ void i2cInit(I2CDevice device)
|
|||
|
||||
I2C_TypeDef *I2Cx;
|
||||
I2Cx = i2c->dev;
|
||||
|
||||
|
||||
IO_t scl = IOGetByTag(i2c->scl);
|
||||
IO_t sda = IOGetByTag(i2c->sda);
|
||||
|
||||
|
|
@ -108,7 +108,7 @@ void i2cInit(I2CDevice device)
|
|||
I2C_Init(I2Cx, &i2cInit);
|
||||
|
||||
I2C_StretchClockCmd(I2Cx, ENABLE);
|
||||
|
||||
|
||||
I2C_Cmd(I2Cx, ENABLE);
|
||||
}
|
||||
|
||||
|
|
@ -122,7 +122,7 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
|
|||
addr_ <<= 1;
|
||||
|
||||
I2C_TypeDef *I2Cx;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
|
||||
/* Test on BUSY Flag */
|
||||
i2cTimeout = I2C_LONG_TIMEOUT;
|
||||
|
|
@ -188,7 +188,7 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
|
|||
addr_ <<= 1;
|
||||
|
||||
I2C_TypeDef *I2Cx;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
I2Cx = i2cHardwareMap[device].dev;
|
||||
|
||||
/* Test on BUSY Flag */
|
||||
i2cTimeout = I2C_LONG_TIMEOUT;
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@
|
|||
#ifndef GPIO_AF_SPI3
|
||||
#define GPIO_AF_SPI3 GPIO_AF_6
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef SPI1_SCK_PIN
|
||||
#define SPI1_NSS_PIN PA4
|
||||
|
|
@ -84,7 +84,7 @@ static spiDevice_t spiHardwareMap[] = {
|
|||
|
||||
SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
|
||||
{
|
||||
if (instance == SPI1)
|
||||
if (instance == SPI1)
|
||||
return SPIDEV_1;
|
||||
|
||||
if (instance == SPI2)
|
||||
|
|
|
|||
|
|
@ -31,8 +31,6 @@
|
|||
#define SPI_IO_AF_MOSI_CFG IO_CONFIG(GPIO_Mode_AF_PP, GPIO_Speed_50MHz)
|
||||
#define SPI_IO_AF_MISO_CFG IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_50MHz)
|
||||
#define SPI_IO_CS_CFG IO_CONFIG(GPIO_Mode_Out_PP, GPIO_Speed_50MHz)
|
||||
#else
|
||||
#error "Unknown processor"
|
||||
#endif
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -65,7 +65,7 @@ typedef struct dmaChannelDescriptor_s {
|
|||
#define DMA_IT_TEIF ((uint32_t)0x00000008)
|
||||
#define DMA_IT_DMEIF ((uint32_t)0x00000004)
|
||||
#define DMA_IT_FEIF ((uint32_t)0x00000001)
|
||||
|
||||
|
||||
#else
|
||||
|
||||
typedef enum {
|
||||
|
|
|
|||
|
|
@ -45,7 +45,6 @@ static dmaChannelDescriptor_t dmaDescriptors[] = {
|
|||
DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream5, 38, DMA2_Stream5_IRQn, RCC_AHB1Periph_DMA2),
|
||||
DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream6, 48, DMA2_Stream6_IRQn, RCC_AHB1Periph_DMA2),
|
||||
DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream7, 54, DMA2_Stream7_IRQn, RCC_AHB1Periph_DMA2),
|
||||
|
||||
};
|
||||
|
||||
/*
|
||||
|
|
@ -68,7 +67,6 @@ DEFINE_DMA_IRQ_HANDLER(2, 5, DMA2_ST5_HANDLER)
|
|||
DEFINE_DMA_IRQ_HANDLER(2, 6, DMA2_ST6_HANDLER)
|
||||
DEFINE_DMA_IRQ_HANDLER(2, 7, DMA2_ST7_HANDLER)
|
||||
|
||||
|
||||
void dmaInit(void)
|
||||
{
|
||||
// TODO: Do we need this?
|
||||
|
|
|
|||
|
|
@ -24,22 +24,22 @@ static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];
|
|||
|
||||
#if defined(STM32F1) || defined(STM32F4)
|
||||
static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
|
||||
EXTI0_IRQn,
|
||||
EXTI1_IRQn,
|
||||
EXTI2_IRQn,
|
||||
EXTI3_IRQn,
|
||||
EXTI0_IRQn,
|
||||
EXTI1_IRQn,
|
||||
EXTI2_IRQn,
|
||||
EXTI3_IRQn,
|
||||
EXTI4_IRQn,
|
||||
EXTI9_5_IRQn,
|
||||
EXTI9_5_IRQn,
|
||||
EXTI15_10_IRQn
|
||||
};
|
||||
#elif defined(STM32F3)
|
||||
static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
|
||||
EXTI0_IRQn,
|
||||
EXTI1_IRQn,
|
||||
EXTI2_TS_IRQn,
|
||||
EXTI3_IRQn,
|
||||
EXTI0_IRQn,
|
||||
EXTI1_IRQn,
|
||||
EXTI2_TS_IRQn,
|
||||
EXTI3_IRQn,
|
||||
EXTI4_IRQn,
|
||||
EXTI9_5_IRQn,
|
||||
EXTI9_5_IRQn,
|
||||
EXTI15_10_IRQn
|
||||
};
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -199,7 +199,7 @@ static bool m25p16_readIdentification()
|
|||
bool m25p16_init()
|
||||
{
|
||||
|
||||
#ifdef M25P16_CS_PIN
|
||||
#ifdef M25P16_CS_PIN
|
||||
m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
|
||||
#endif
|
||||
IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@
|
|||
|
||||
#include "platform.h"
|
||||
|
||||
#ifdef INVERTER
|
||||
#ifdef INVERTER
|
||||
|
||||
#include "io.h"
|
||||
#include "io_impl.h"
|
||||
|
|
|
|||
|
|
@ -52,7 +52,7 @@ typedef uint8_t ioConfig_t; // packed IO configuration
|
|||
#define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
|
||||
|
||||
#define IOCFG_OUT_PP IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL) // TODO
|
||||
#define IOCFG_OUT_PP_25 IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
|
||||
#define IOCFG_OUT_PP_25 IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
|
||||
#define IOCFG_OUT_OD IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
|
||||
#define IOCFG_AF_PP IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
|
||||
#define IOCFG_AF_PP_PD IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_PP, GPIO_PuPd_DOWN)
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@ typedef struct ioRec_s {
|
|||
GPIO_TypeDef *gpio;
|
||||
uint16_t pin;
|
||||
resourceOwner_t owner;
|
||||
resourceType_t resource;
|
||||
resourceType_t resource;
|
||||
uint8_t index;
|
||||
} ioRec_t;
|
||||
|
||||
|
|
@ -26,7 +26,7 @@ int IO_GPIO_PortSource(IO_t io);
|
|||
|
||||
#if defined(STM32F3) || defined(STM32F4)
|
||||
int IO_EXTI_PortSourceGPIO(IO_t io);
|
||||
int IO_EXTI_PinSource(IO_t io);
|
||||
int IO_EXTI_PinSource(IO_t io);
|
||||
#endif
|
||||
|
||||
GPIO_TypeDef* IO_GPIO(IO_t io);
|
||||
|
|
|
|||
|
|
@ -27,12 +27,12 @@ static const IO_t leds[] = {
|
|||
DEFIO_IO(LED0),
|
||||
#else
|
||||
DEFIO_IO(NONE),
|
||||
#endif
|
||||
#endif
|
||||
#ifdef LED1
|
||||
DEFIO_IO(LED1),
|
||||
#else
|
||||
DEFIO_IO(NONE),
|
||||
#endif
|
||||
#endif
|
||||
#ifdef LED2
|
||||
DEFIO_IO(LED2),
|
||||
#else
|
||||
|
|
@ -78,15 +78,14 @@ uint8_t ledPolarity = 0
|
|||
#endif
|
||||
;
|
||||
|
||||
uint8_t ledOffset = 0;
|
||||
static uint8_t ledOffset = 0;
|
||||
|
||||
void ledInit(bool alternative_led)
|
||||
{
|
||||
uint32_t i;
|
||||
|
||||
#if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
|
||||
if (alternative_led)
|
||||
if (alternative_led) {
|
||||
ledOffset = LED_NUMBER;
|
||||
}
|
||||
#else
|
||||
UNUSED(alternative_led);
|
||||
#endif
|
||||
|
|
@ -95,7 +94,7 @@ void ledInit(bool alternative_led)
|
|||
LED1_OFF;
|
||||
LED2_OFF;
|
||||
|
||||
for (i = 0; i < LED_NUMBER; i++) {
|
||||
for (int i = 0; i < LED_NUMBER; i++) {
|
||||
if (leds[i + ledOffset]) {
|
||||
IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
|
||||
IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
|
||||
|
|
@ -114,6 +113,6 @@ void ledToggle(int led)
|
|||
|
||||
void ledSet(int led, bool on)
|
||||
{
|
||||
bool inverted = (1 << (led + ledOffset)) & ledPolarity;
|
||||
const bool inverted = (1 << (led + ledOffset)) & ledPolarity;
|
||||
IOWrite(leds[led + ledOffset], on ? inverted : !inverted);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -31,8 +31,8 @@
|
|||
|
||||
#ifdef LED_STRIP
|
||||
|
||||
#if !defined(WS2811_PIN)
|
||||
#define WS2811_PIN PA0
|
||||
#if !defined(WS2811_PIN)
|
||||
#define WS2811_PIN PA0
|
||||
#define WS2811_TIMER TIM5
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER
|
||||
#define WS2811_DMA_STREAM DMA1_Stream2
|
||||
|
|
|
|||
|
|
@ -157,7 +157,7 @@ void max7456_dma_irq_handler(dmaChannelDescriptor_t* descriptor) {
|
|||
}
|
||||
#endif
|
||||
|
||||
void max7456_init(uint8_t video_system)
|
||||
void max7456_init(uint8_t video_system)
|
||||
{
|
||||
uint8_t max_screen_rows;
|
||||
uint8_t srdata = 0;
|
||||
|
|
|
|||
|
|
@ -30,11 +30,6 @@
|
|||
#include "pwm_rx.h"
|
||||
#include "pwm_mapping.h"
|
||||
|
||||
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
|
||||
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
|
||||
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse);
|
||||
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
|
||||
|
||||
/*
|
||||
Configuration maps
|
||||
|
||||
|
|
@ -100,7 +95,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
|
|||
int channelIndex = 0;
|
||||
|
||||
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
|
||||
|
||||
|
||||
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
|
||||
if (init->airplane)
|
||||
i = 2; // switch to air hardware config
|
||||
|
|
@ -265,7 +260,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
|
|||
if (init->useChannelForwarding && !init->airplane) {
|
||||
#if defined(NAZE) && defined(WS2811_TIMER)
|
||||
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
|
||||
if (init->useLEDStrip) {
|
||||
if (init->useLEDStrip) {
|
||||
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
}
|
||||
|
|
@ -313,14 +308,14 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
|
|||
}
|
||||
#endif
|
||||
if (init->useFastPwm) {
|
||||
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->pwmProtocolType, init->motorPwmRate, init->idlePulse);
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
|
||||
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType);
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
|
||||
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
|
||||
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate);
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_MOTOR_MODE_BRUSHED;
|
||||
} else {
|
||||
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM;
|
||||
}
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
|
||||
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;
|
||||
|
|
|
|||
|
|
@ -30,24 +30,8 @@
|
|||
#error Invalid motor/servo/port configuration
|
||||
#endif
|
||||
|
||||
#define PULSE_1MS (1000) // 1ms pulse width
|
||||
#define MAX_INPUTS 8
|
||||
#define PWM_TIMER_MHZ 1
|
||||
|
||||
#if defined(STM32F40_41xxx) // must be multiples of timer clock
|
||||
#define ONESHOT42_TIMER_MHZ 21
|
||||
#define ONESHOT125_TIMER_MHZ 12
|
||||
#define PWM_BRUSHED_TIMER_MHZ 21
|
||||
#define MULTISHOT_TIMER_MHZ 84
|
||||
#else
|
||||
#define PWM_BRUSHED_TIMER_MHZ 24
|
||||
#define MULTISHOT_TIMER_MHZ 72
|
||||
#define ONESHOT42_TIMER_MHZ 24
|
||||
#define ONESHOT125_TIMER_MHZ 8
|
||||
#endif
|
||||
|
||||
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
|
||||
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
|
||||
|
||||
typedef struct sonarIOConfig_s {
|
||||
ioTag_t triggerTag;
|
||||
|
|
@ -133,7 +117,7 @@ enum {
|
|||
PWM13,
|
||||
PWM14,
|
||||
PWM15,
|
||||
PWM16,
|
||||
PWM16,
|
||||
PWM17,
|
||||
PWM18,
|
||||
PWM19,
|
||||
|
|
|
|||
|
|
@ -17,21 +17,31 @@
|
|||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "io.h"
|
||||
#include "timer.h"
|
||||
|
||||
#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
|
||||
|
||||
#include "pwm_mapping.h"
|
||||
|
||||
#include "pwm_output.h"
|
||||
|
||||
#if defined(STM32F40_41xxx) // must be multiples of timer clock
|
||||
#define ONESHOT125_TIMER_MHZ 12
|
||||
#define ONESHOT42_TIMER_MHZ 21
|
||||
#define MULTISHOT_TIMER_MHZ 84
|
||||
#define PWM_BRUSHED_TIMER_MHZ 21
|
||||
#else
|
||||
#define ONESHOT125_TIMER_MHZ 8
|
||||
#define ONESHOT42_TIMER_MHZ 24
|
||||
#define MULTISHOT_TIMER_MHZ 72
|
||||
#define PWM_BRUSHED_TIMER_MHZ 24
|
||||
#endif
|
||||
|
||||
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
|
||||
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
|
||||
|
||||
|
||||
typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
|
||||
|
||||
typedef struct {
|
||||
|
|
@ -52,6 +62,8 @@ static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
|
|||
static uint8_t allocatedOutputPortCount = 0;
|
||||
|
||||
static bool pwmMotorsEnabled = true;
|
||||
|
||||
|
||||
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t ouputPolarity)
|
||||
{
|
||||
TIM_OCInitTypeDef TIM_OCInitStructure;
|
||||
|
|
@ -65,22 +77,22 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
|
|||
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
|
||||
|
||||
switch (channel) {
|
||||
case TIM_Channel_1:
|
||||
TIM_OC1Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_OC2Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_OC3Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_OC4Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_1:
|
||||
TIM_OC1Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
TIM_OC2Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
TIM_OC3Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
TIM_OC4Init(tim, &TIM_OCInitStructure);
|
||||
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -90,7 +102,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
|
|||
|
||||
configTimeBase(timerHardware->tim, period, mhz);
|
||||
|
||||
IO_t io = IOGetByTag(timerHardware->tag);
|
||||
const IO_t io = IOGetByTag(timerHardware->tag);
|
||||
IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
|
||||
IOConfigGPIO(io, IOCFG_AF_PP);
|
||||
|
||||
|
|
@ -102,24 +114,24 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
|
|||
TIM_Cmd(timerHardware->tim, ENABLE);
|
||||
|
||||
switch (timerHardware->channel) {
|
||||
case TIM_Channel_1:
|
||||
p->ccr = &timerHardware->tim->CCR1;
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
p->ccr = &timerHardware->tim->CCR2;
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
p->ccr = &timerHardware->tim->CCR3;
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
p->ccr = &timerHardware->tim->CCR4;
|
||||
break;
|
||||
case TIM_Channel_1:
|
||||
p->ccr = &timerHardware->tim->CCR1;
|
||||
break;
|
||||
case TIM_Channel_2:
|
||||
p->ccr = &timerHardware->tim->CCR2;
|
||||
break;
|
||||
case TIM_Channel_3:
|
||||
p->ccr = &timerHardware->tim->CCR3;
|
||||
break;
|
||||
case TIM_Channel_4:
|
||||
p->ccr = &timerHardware->tim->CCR4;
|
||||
break;
|
||||
}
|
||||
p->period = period;
|
||||
p->tim = timerHardware->tim;
|
||||
|
||||
*p->ccr = 0;
|
||||
|
||||
|
||||
return p;
|
||||
}
|
||||
|
||||
|
|
@ -133,16 +145,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
|
|||
*motors[index]->ccr = value;
|
||||
}
|
||||
|
||||
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
|
||||
{
|
||||
*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
|
||||
}
|
||||
|
||||
static void pwmWriteOneShot125(uint8_t index, uint16_t value)
|
||||
{
|
||||
*motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
|
||||
}
|
||||
|
||||
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
|
||||
{
|
||||
*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
|
||||
}
|
||||
|
||||
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
|
||||
{
|
||||
*motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
|
||||
|
|
@ -150,15 +162,14 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
|
|||
|
||||
void pwmWriteMotor(uint8_t index, uint16_t value)
|
||||
{
|
||||
if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled)
|
||||
if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled) {
|
||||
motors[index]->pwmWritePtr(index, value);
|
||||
}
|
||||
}
|
||||
|
||||
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
|
||||
{
|
||||
uint8_t index;
|
||||
|
||||
for(index = 0; index < motorCount; index++){
|
||||
for(int index = 0; index < motorCount; index++){
|
||||
// Set the compare register to 0, which stops the output pulsing if the timer overflows
|
||||
*motors[index]->ccr = 0;
|
||||
}
|
||||
|
|
@ -176,17 +187,14 @@ void pwmEnableMotors(void)
|
|||
|
||||
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
|
||||
{
|
||||
uint8_t index;
|
||||
TIM_TypeDef *lastTimerPtr = NULL;
|
||||
|
||||
for (index = 0; index < motorCount; index++) {
|
||||
|
||||
for (int index = 0; index < motorCount; index++) {
|
||||
// Force the timer to overflow if it's the first motor to output, or if we change timers
|
||||
if (motors[index]->tim != lastTimerPtr) {
|
||||
lastTimerPtr = motors[index]->tim;
|
||||
timerForceOverflow(motors[index]->tim);
|
||||
}
|
||||
|
||||
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
|
||||
// This compare register will be set to the output value on the next main loop.
|
||||
*motors[index]->ccr = 0;
|
||||
|
|
@ -195,44 +203,46 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
|
|||
|
||||
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate)
|
||||
{
|
||||
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
|
||||
const uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
|
||||
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, 0);
|
||||
motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
|
||||
}
|
||||
|
||||
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
|
||||
{
|
||||
uint32_t hz = PWM_TIMER_MHZ * 1000000;
|
||||
const uint32_t hz = PWM_TIMER_MHZ * 1000000;
|
||||
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
|
||||
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
|
||||
}
|
||||
|
||||
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse)
|
||||
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType)
|
||||
{
|
||||
uint32_t timerMhzCounter;
|
||||
pwmWriteFuncPtr pwmWritePtr;
|
||||
|
||||
switch (fastPwmProtocolType) {
|
||||
default:
|
||||
case (PWM_TYPE_ONESHOT125):
|
||||
timerMhzCounter = ONESHOT125_TIMER_MHZ;
|
||||
break;
|
||||
case (PWM_TYPE_ONESHOT42):
|
||||
timerMhzCounter = ONESHOT42_TIMER_MHZ;
|
||||
break;
|
||||
case (PWM_TYPE_MULTISHOT):
|
||||
timerMhzCounter = MULTISHOT_TIMER_MHZ;
|
||||
default:
|
||||
case (PWM_TYPE_ONESHOT125):
|
||||
timerMhzCounter = ONESHOT125_TIMER_MHZ;
|
||||
pwmWritePtr = pwmWriteOneShot125;
|
||||
break;
|
||||
case (PWM_TYPE_ONESHOT42):
|
||||
timerMhzCounter = ONESHOT42_TIMER_MHZ;
|
||||
pwmWritePtr = pwmWriteOneShot42;
|
||||
break;
|
||||
case (PWM_TYPE_MULTISHOT):
|
||||
timerMhzCounter = MULTISHOT_TIMER_MHZ;
|
||||
pwmWritePtr = pwmWriteMultiShot;
|
||||
break;
|
||||
}
|
||||
|
||||
if (motorPwmRate > 0) {
|
||||
uint32_t hz = timerMhzCounter * 1000000;
|
||||
const uint32_t hz = timerMhzCounter * 1000000;
|
||||
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
|
||||
} else {
|
||||
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
|
||||
}
|
||||
|
||||
motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot :
|
||||
((fastPwmProtocolType == PWM_TYPE_ONESHOT125) ? pwmWriteOneShot125 :
|
||||
pwmWriteOneShot42);
|
||||
motors[motorIndex]->pwmWritePtr = pwmWritePtr;
|
||||
}
|
||||
|
||||
#ifdef USE_SERVOS
|
||||
|
|
@ -243,7 +253,8 @@ void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, ui
|
|||
|
||||
void pwmWriteServo(uint8_t index, uint16_t value)
|
||||
{
|
||||
if (servos[index] && index < MAX_SERVOS)
|
||||
if (servos[index] && index < MAX_SERVOS) {
|
||||
*servos[index]->ccr = value;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -25,6 +25,12 @@ typedef enum {
|
|||
PWM_TYPE_BRUSHED
|
||||
} motorPwmProtocolTypes_e;
|
||||
|
||||
struct timerHardware_s;
|
||||
void pwmBrushedMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
|
||||
void pwmBrushlessMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
|
||||
void pwmFastPwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType);
|
||||
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
|
||||
|
||||
void pwmWriteMotor(uint8_t index, uint16_t value);
|
||||
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
|
||||
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define RESOURCE_INDEX(x) x + 1
|
||||
#define RESOURCE_INDEX(x) (x + 1)
|
||||
|
||||
typedef enum {
|
||||
OWNER_FREE = 0,
|
||||
|
|
|
|||
|
|
@ -126,7 +126,7 @@ void sdcardInsertionDetectDeinit(void)
|
|||
#ifdef SDCARD_DETECT_PIN
|
||||
sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
|
||||
IOInit(sdCardDetectPin, OWNER_FREE, RESOURCE_NONE, 0);
|
||||
IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING);
|
||||
IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -135,7 +135,7 @@ void sdcardInsertionDetectInit(void)
|
|||
#ifdef SDCARD_DETECT_PIN
|
||||
sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
|
||||
IOInit(sdCardDetectPin, OWNER_SDCARD, RESOURCE_INPUT, 0);
|
||||
IOConfigGPIO(sdCardDetectPin, IOCFG_IPU);
|
||||
IOConfigGPIO(sdCardDetectPin, IOCFG_IPU);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -114,8 +114,8 @@ static void handleUsartTxDma(dmaChannelDescriptor_t* descriptor)
|
|||
void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, uint8_t af, uint8_t index)
|
||||
{
|
||||
if (options & SERIAL_BIDIR) {
|
||||
ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz,
|
||||
(options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD,
|
||||
ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz,
|
||||
(options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD,
|
||||
(options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP
|
||||
);
|
||||
|
||||
|
|
|
|||
|
|
@ -64,17 +64,17 @@ typedef struct uartDevice_s {
|
|||
|
||||
//static uartPort_t uartPort[MAX_UARTS];
|
||||
#ifdef USE_UART1
|
||||
static uartDevice_t uart1 =
|
||||
{
|
||||
static uartDevice_t uart1 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_4,
|
||||
.txDMAStream = DMA2_Stream7,
|
||||
#ifdef USE_UART1_RX_DMA
|
||||
.rxDMAStream = DMA2_Stream5,
|
||||
#endif
|
||||
.dev = USART1,
|
||||
.rx = IO_TAG(UART1_RX_PIN),
|
||||
.tx = IO_TAG(UART1_TX_PIN),
|
||||
.af = GPIO_AF_USART1,
|
||||
.dev = USART1,
|
||||
.rx = IO_TAG(UART1_RX_PIN),
|
||||
.tx = IO_TAG(UART1_TX_PIN),
|
||||
.af = GPIO_AF_USART1,
|
||||
#ifdef UART1_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART1_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -87,17 +87,17 @@ static uartDevice_t uart1 =
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART2
|
||||
static uartDevice_t uart2 =
|
||||
{
|
||||
static uartDevice_t uart2 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_4,
|
||||
#ifdef USE_UART2_RX_DMA
|
||||
.rxDMAStream = DMA1_Stream5,
|
||||
#endif
|
||||
.txDMAStream = DMA1_Stream6,
|
||||
.dev = USART2,
|
||||
.rx = IO_TAG(UART2_RX_PIN),
|
||||
.tx = IO_TAG(UART2_TX_PIN),
|
||||
.af = GPIO_AF_USART2,
|
||||
.dev = USART2,
|
||||
.rx = IO_TAG(UART2_RX_PIN),
|
||||
.tx = IO_TAG(UART2_TX_PIN),
|
||||
.af = GPIO_AF_USART2,
|
||||
#ifdef UART2_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART2_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -110,17 +110,17 @@ static uartDevice_t uart2 =
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART3
|
||||
static uartDevice_t uart3 =
|
||||
{
|
||||
static uartDevice_t uart3 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_4,
|
||||
#ifdef USE_UART3_RX_DMA
|
||||
.rxDMAStream = DMA1_Stream1,
|
||||
#endif
|
||||
.txDMAStream = DMA1_Stream3,
|
||||
.dev = USART3,
|
||||
.rx = IO_TAG(UART3_RX_PIN),
|
||||
.tx = IO_TAG(UART3_TX_PIN),
|
||||
.af = GPIO_AF_USART3,
|
||||
.dev = USART3,
|
||||
.rx = IO_TAG(UART3_RX_PIN),
|
||||
.tx = IO_TAG(UART3_TX_PIN),
|
||||
.af = GPIO_AF_USART3,
|
||||
#ifdef UART3_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART3_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -133,17 +133,17 @@ static uartDevice_t uart3 =
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART4
|
||||
static uartDevice_t uart4 =
|
||||
{
|
||||
static uartDevice_t uart4 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_4,
|
||||
#ifdef USE_UART1_RX_DMA
|
||||
.rxDMAStream = DMA1_Stream2,
|
||||
#endif
|
||||
.txDMAStream = DMA1_Stream4,
|
||||
.dev = UART4,
|
||||
.rx = IO_TAG(UART4_RX_PIN),
|
||||
.tx = IO_TAG(UART4_TX_PIN),
|
||||
.af = GPIO_AF_UART4,
|
||||
.dev = UART4,
|
||||
.rx = IO_TAG(UART4_RX_PIN),
|
||||
.tx = IO_TAG(UART4_TX_PIN),
|
||||
.af = GPIO_AF_UART4,
|
||||
#ifdef UART4_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART4_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -156,17 +156,17 @@ static uartDevice_t uart4 =
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART5
|
||||
static uartDevice_t uart5 =
|
||||
{
|
||||
static uartDevice_t uart5 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_4,
|
||||
#ifdef USE_UART1_RX_DMA
|
||||
.rxDMAStream = DMA1_Stream0,
|
||||
#endif
|
||||
.txDMAStream = DMA2_Stream7,
|
||||
.dev = UART5,
|
||||
.rx = IO_TAG(UART5_RX_PIN),
|
||||
.tx = IO_TAG(UART5_TX_PIN),
|
||||
.af = GPIO_AF_UART5,
|
||||
.dev = UART5,
|
||||
.rx = IO_TAG(UART5_RX_PIN),
|
||||
.tx = IO_TAG(UART5_TX_PIN),
|
||||
.af = GPIO_AF_UART5,
|
||||
#ifdef UART5_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART5_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -179,17 +179,17 @@ static uartDevice_t uart5 =
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART6
|
||||
static uartDevice_t uart6 =
|
||||
{
|
||||
static uartDevice_t uart6 =
|
||||
{
|
||||
.DMAChannel = DMA_Channel_5,
|
||||
#ifdef USE_UART6_RX_DMA
|
||||
.rxDMAStream = DMA2_Stream1,
|
||||
#endif
|
||||
.txDMAStream = DMA2_Stream6,
|
||||
.dev = USART6,
|
||||
.rx = IO_TAG(UART6_RX_PIN),
|
||||
.tx = IO_TAG(UART6_TX_PIN),
|
||||
.af = GPIO_AF_USART6,
|
||||
.dev = USART6,
|
||||
.rx = IO_TAG(UART6_RX_PIN),
|
||||
.tx = IO_TAG(UART6_TX_PIN),
|
||||
.af = GPIO_AF_USART6,
|
||||
#ifdef UART6_AHB1_PERIPHERALS
|
||||
.rcc_ahb1 = UART6_AHB1_PERIPHERALS,
|
||||
#endif
|
||||
|
|
@ -344,7 +344,7 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
|
|||
IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
|
||||
}
|
||||
|
||||
if (mode & MODE_RX) {
|
||||
if (mode & MODE_RX) {
|
||||
IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
|
||||
IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
|
||||
}
|
||||
|
|
@ -376,6 +376,7 @@ void USART1_IRQHandler(void)
|
|||
uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
|
||||
uartIrqHandler(s);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef USE_UART2
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@ void systemReset(void)
|
|||
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
|
||||
}
|
||||
|
||||
void systemResetToBootloader(void)
|
||||
void systemResetToBootloader(void)
|
||||
{
|
||||
// 1FFFF000 -> 20000200 -> SP
|
||||
// 1FFFF004 -> 1FFFF021 -> PC
|
||||
|
|
|
|||
|
|
@ -34,7 +34,7 @@ void systemReset(void)
|
|||
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
|
||||
}
|
||||
|
||||
void systemResetToBootloader(void)
|
||||
void systemResetToBootloader(void)
|
||||
{
|
||||
// 1FFFF000 -> 20000200 -> SP
|
||||
// 1FFFF004 -> 1FFFF021 -> PC
|
||||
|
|
|
|||
|
|
@ -41,7 +41,7 @@ void systemReset(void)
|
|||
NVIC_SystemReset();
|
||||
}
|
||||
|
||||
void systemResetToBootloader(void)
|
||||
void systemResetToBootloader(void)
|
||||
{
|
||||
if (mpuConfiguration.reset)
|
||||
mpuConfiguration.reset();
|
||||
|
|
|
|||
|
|
@ -253,7 +253,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
|
|||
}
|
||||
#else
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@ typedef struct timerHardware_s {
|
|||
} timerHardware_t;
|
||||
|
||||
enum {
|
||||
TIMER_OUTPUT_ENABLED = 0x01,
|
||||
TIMER_OUTPUT_ENABLED = 0x01,
|
||||
TIMER_OUTPUT_INVERTED = 0x02
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -23,10 +23,10 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
|
|||
{ .TIMx = TIM8, .rcc = RCC_APB1(TIM8) },
|
||||
{ .TIMx = TIM9, .rcc = RCC_APB2(TIM9) },
|
||||
{ .TIMx = TIM10, .rcc = RCC_APB2(TIM10) },
|
||||
{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
|
||||
{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
|
||||
{ .TIMx = TIM12, .rcc = RCC_APB1(TIM12) },
|
||||
{ .TIMx = TIM13, .rcc = RCC_APB1(TIM13) },
|
||||
{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
|
||||
{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
|
||||
#endif
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
|
|||
*/
|
||||
#define CCMR_OFFSET ((uint16_t)0x0018)
|
||||
#define CCMR_OC13M_MASK ((uint32_t)0xFFFEFF8F)
|
||||
#define CCMR_OC24M_MASK ((uint32_t)0xFEFF8FFF)
|
||||
#define CCMR_OC24M_MASK ((uint32_t)0xFEFF8FFF)
|
||||
|
||||
void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint32_t TIM_OCMode)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -66,7 +66,7 @@ bool usbCableIsInserted(void)
|
|||
void usbGenerateDisconnectPulse(void)
|
||||
{
|
||||
/* Pull down PA12 to create USB disconnect pulse */
|
||||
IO_t usbPin = IOGetByTag(IO_TAG(PA12));
|
||||
IO_t usbPin = IOGetByTag(IO_TAG(PA12));
|
||||
IOConfigGPIO(usbPin, IOCFG_OUT_OD);
|
||||
|
||||
IOHi(usbPin);
|
||||
|
|
|
|||
|
|
@ -179,7 +179,7 @@ void rtc6705SetFreq(uint16_t freq)
|
|||
|
||||
uint32_t val_a = ((((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
|
||||
uint32_t val_n = (((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
|
||||
|
||||
|
||||
val_hex |= RTC6705_SET_WRITE;
|
||||
val_hex |= (val_a << 5);
|
||||
val_hex |= (val_n << 12);
|
||||
|
|
|
|||
|
|
@ -956,7 +956,7 @@ void filterServos(void)
|
|||
if (mixerConfig->servo_lowpass_enable) {
|
||||
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
|
||||
if (!servoFilterIsSet) {
|
||||
biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
|
||||
biquadFilterInitLPF(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
|
||||
servoFilterIsSet = true;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -71,12 +71,12 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
|
|||
|
||||
pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
|
||||
|
||||
void setTargetPidLooptime(uint8_t pidProcessDenom)
|
||||
void setTargetPidLooptime(uint8_t pidProcessDenom)
|
||||
{
|
||||
targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
|
||||
}
|
||||
|
||||
uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate)
|
||||
uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate)
|
||||
{
|
||||
uint16_t dynamicKi;
|
||||
uint16_t resetRate;
|
||||
|
|
|
|||
|
|
@ -1069,7 +1069,7 @@ static void gpsHandlePassthrough(uint8_t data)
|
|||
#endif
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -672,8 +672,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
|
|||
|
||||
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
|
||||
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
|
||||
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
|
||||
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
|
||||
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
|
||||
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
|
||||
|
||||
applySelectAdjustment(adjustmentFunction, position);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -465,7 +465,7 @@ static void nopConsumer(uint8_t data)
|
|||
arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
|
||||
for specialized data processing.
|
||||
*/
|
||||
void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer
|
||||
void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer
|
||||
*leftC, serialConsumer *rightC)
|
||||
{
|
||||
waitForSerialPortToFinishTransmitting(left);
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@
|
|||
* Author: 4712
|
||||
* have a look at https://github.com/sim-/tgy/blob/master/boot.inc
|
||||
* for info about the stk500v2 implementation
|
||||
*/
|
||||
*/
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
|
|
|||
|
|
@ -112,13 +112,14 @@ static void cliRxFail(char *cmdline);
|
|||
static void cliAdjustmentRange(char *cmdline);
|
||||
static void cliMotorMix(char *cmdline);
|
||||
static void cliDefaults(char *cmdline);
|
||||
void cliDfu(char *cmdLine);
|
||||
void cliDfu(char *cmdLine);
|
||||
static void cliDump(char *cmdLine);
|
||||
void cliDumpProfile(uint8_t profileIndex);
|
||||
void cliDumpRateProfile(uint8_t rateProfileIndex) ;
|
||||
static void cliExit(char *cmdline);
|
||||
static void cliFeature(char *cmdline);
|
||||
static void cliMotor(char *cmdline);
|
||||
static void cliName(char *cmdline);
|
||||
static void cliPlaySound(char *cmdline);
|
||||
static void cliProfile(char *cmdline);
|
||||
static void cliRateProfile(char *cmdline);
|
||||
|
|
@ -340,6 +341,7 @@ const clicmd_t cmdTable[] = {
|
|||
#ifdef VTX
|
||||
CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
|
||||
#endif
|
||||
CLI_COMMAND_DEF("name", "Name of craft", NULL, cliName),
|
||||
};
|
||||
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
|
||||
|
||||
|
|
@ -451,6 +453,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
|
|||
"MIXER",
|
||||
"AIRMODE",
|
||||
"PIDLOOP",
|
||||
"NOTCH",
|
||||
};
|
||||
#ifdef OSD
|
||||
static const char * const lookupTableOsdType[] = {
|
||||
|
|
@ -486,7 +489,7 @@ typedef enum {
|
|||
TABLE_GPS_SBAS_MODE,
|
||||
#endif
|
||||
#ifdef BLACKBOX
|
||||
TABLE_BLACKBOX_DEVICE,
|
||||
TABLE_BLACKBOX_DEVICE,
|
||||
#endif
|
||||
TABLE_CURRENT_SENSOR,
|
||||
TABLE_GIMBAL_MODE,
|
||||
|
|
@ -696,6 +699,8 @@ const clivalue_t valueTable[] = {
|
|||
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
|
||||
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
|
||||
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
|
||||
{ "gyro_notch_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0, 500 } },
|
||||
{ "gyro_notch_q", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_notch_q, .config.minmax = { 1, 100 } },
|
||||
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
|
||||
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
|
||||
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
|
||||
|
|
@ -1941,7 +1946,7 @@ static void cliDump(char *cmdline)
|
|||
dumpMask = DUMP_PROFILE; // only
|
||||
}
|
||||
if (strcasecmp(cmdline, "rates") == 0) {
|
||||
dumpMask = DUMP_RATES;
|
||||
dumpMask = DUMP_RATES;
|
||||
}
|
||||
|
||||
if (strcasecmp(cmdline, "all") == 0) {
|
||||
|
|
@ -1953,6 +1958,8 @@ static void cliDump(char *cmdline)
|
|||
cliPrint("\r\n# version\r\n");
|
||||
cliVersion(NULL);
|
||||
|
||||
cliPrint("\r\n# name\r\n");
|
||||
cliName(NULL);
|
||||
cliPrint("\r\n# dump master\r\n");
|
||||
cliPrint("\r\n# mixer\r\n");
|
||||
|
||||
|
|
@ -2494,6 +2501,18 @@ static void cliMotor(char *cmdline)
|
|||
cliPrintf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
|
||||
}
|
||||
|
||||
static void cliName(char *cmdline)
|
||||
{
|
||||
uint32_t len = strlen(cmdline);
|
||||
if (len > 0) {
|
||||
memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
|
||||
strncpy(masterConfig.name, cmdline, MIN(len, MAX_NAME_LENGTH));
|
||||
}
|
||||
cliPrintf("name %s\r\n", strlen(masterConfig.name) > 0 ? masterConfig.name : "-");
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
static void cliPlaySound(char *cmdline)
|
||||
{
|
||||
#if FLASH_SIZE <= 64
|
||||
|
|
@ -2681,7 +2700,7 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
|
|||
break;
|
||||
}
|
||||
}
|
||||
static void cliPrintVarRange(const clivalue_t *var)
|
||||
static void cliPrintVarRange(const clivalue_t *var)
|
||||
{
|
||||
switch (var->type & VALUE_MODE_MASK) {
|
||||
case (MODE_DIRECT): {
|
||||
|
|
@ -2693,7 +2712,7 @@ static void cliPrintVarRange(const clivalue_t *var)
|
|||
cliPrint("Allowed values:");
|
||||
uint8_t i;
|
||||
for (i = 0; i < tableEntry->valueCount ; i++) {
|
||||
if (i > 0)
|
||||
if (i > 0)
|
||||
cliPrint(",");
|
||||
cliPrintf(" %s", tableEntry->values[i]);
|
||||
}
|
||||
|
|
@ -2907,7 +2926,7 @@ static void cliStatus(char *cmdline)
|
|||
|
||||
#ifdef USE_SDCARD
|
||||
cliSdInfo(NULL);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifndef SKIP_TASK_STATISTICS
|
||||
|
|
|
|||
|
|
@ -659,7 +659,7 @@ static uint32_t packFlightModeFlags(void)
|
|||
static bool processOutCommand(uint8_t cmdMSP)
|
||||
{
|
||||
uint32_t i;
|
||||
|
||||
uint8_t len;
|
||||
#ifdef GPS
|
||||
uint8_t wp_no;
|
||||
int32_t lat = 0, lon = 0;
|
||||
|
|
@ -750,6 +750,14 @@ static bool processOutCommand(uint8_t cmdMSP)
|
|||
serialize16(constrain(averageSystemLoadPercent, 0, 100));
|
||||
break;
|
||||
|
||||
case MSP_NAME:
|
||||
len = strlen(masterConfig.name);
|
||||
headSerialReply(len);
|
||||
for (uint8_t i=0; i<len; i++) {
|
||||
serialize8(masterConfig.name[i]);
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_STATUS:
|
||||
headSerialReply(11);
|
||||
serialize16(cycleTime);
|
||||
|
|
@ -1868,6 +1876,13 @@ static bool processInCommand(void)
|
|||
masterConfig.baro_hardware = read8();
|
||||
masterConfig.mag_hardware = read8();
|
||||
break;
|
||||
|
||||
case MSP_SET_NAME:
|
||||
memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
|
||||
for (i = 0; i < MIN(MAX_NAME_LENGTH, currentPort->dataSize); i++) {
|
||||
masterConfig.name[i] = read8();
|
||||
}
|
||||
break;
|
||||
default:
|
||||
// we do not know how to handle the (valid) message, indicate error MSP $M!
|
||||
return false;
|
||||
|
|
|
|||
|
|
@ -99,6 +99,10 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
|
|||
#define MSP_BOARD_INFO 4 //out message
|
||||
#define MSP_BUILD_INFO 5 //out message
|
||||
|
||||
#define MSP_NAME 10
|
||||
#define MSP_SET_NAME 11
|
||||
|
||||
|
||||
//
|
||||
// MSP commands for Cleanflight original features
|
||||
//
|
||||
|
|
@ -147,6 +151,23 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
|
|||
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
|
||||
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
|
||||
|
||||
//
|
||||
// Baseflight MSP commands (if enabled they exist in Cleanflight)
|
||||
//
|
||||
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
|
||||
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
|
||||
|
||||
// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
|
||||
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
|
||||
#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
|
||||
#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
|
||||
|
||||
#define MSP_REBOOT 68 //in message reboot settings
|
||||
|
||||
// DEPRECATED - Use MSP_BUILD_INFO instead
|
||||
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
|
||||
|
||||
|
||||
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
|
||||
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
|
||||
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
|
||||
|
|
@ -177,22 +198,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
|
|||
#define MSP_VTX_CONFIG 88 //in message Get vtx settings
|
||||
#define MSP_SET_VTX_CONFIG 89 //out message Set vtx settings
|
||||
|
||||
//
|
||||
// Baseflight MSP commands (if enabled they exist in Cleanflight)
|
||||
//
|
||||
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
|
||||
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
|
||||
|
||||
// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
|
||||
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
|
||||
#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
|
||||
#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
|
||||
|
||||
#define MSP_REBOOT 68 //in message reboot settings
|
||||
|
||||
// DEPRECATED - Use MSP_BUILD_INFO instead
|
||||
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
|
||||
|
||||
// Betaflight Additional Commands
|
||||
#define MSP_PID_ADVANCED_CONFIG 90
|
||||
#define MSP_SET_PID_ADVANCED_CONFIG 91
|
||||
|
|
|
|||
|
|
@ -14,7 +14,7 @@
|
|||
* 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 VTX_BAND_MIN 1
|
||||
|
|
|
|||
|
|
@ -313,7 +313,7 @@ void init(void)
|
|||
bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
|
||||
|
||||
// Configurator feature abused for enabling Fast PWM
|
||||
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
|
||||
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
|
||||
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
|
||||
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
|
||||
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
|
||||
|
|
|
|||
|
|
@ -226,7 +226,7 @@ static void xBusUnpackRJ01Frame(void)
|
|||
uint8_t outerCrc = 0;
|
||||
uint8_t i = 0;
|
||||
|
||||
// When using the Align RJ01 receiver with
|
||||
// When using the Align RJ01 receiver with
|
||||
// a MODE B setting in the radio (XG14 tested)
|
||||
// the MODE_B -frame is packed within some
|
||||
// at the moment unknown bytes before and after:
|
||||
|
|
@ -234,7 +234,7 @@ static void xBusUnpackRJ01Frame(void)
|
|||
// Compared to a standard MODE B frame that only
|
||||
// contains the "middle" package.
|
||||
// Hence, at the moment, the unknown header and footer
|
||||
// of the RJ01 MODEB packages are discarded.
|
||||
// of the RJ01 MODEB packages are discarded.
|
||||
// However, the LAST byte (CRC_OUTER) is infact an 8-bit
|
||||
// CRC for the whole package, using the Dallas-One-Wire CRC
|
||||
// method.
|
||||
|
|
|
|||
|
|
@ -190,7 +190,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
|
|||
if (!accFilterInitialised) {
|
||||
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
|
||||
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
|
||||
}
|
||||
accFilterInitialised = true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -70,7 +70,7 @@ static void updateBatteryVoltage(void)
|
|||
if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
|
||||
|
||||
if (!vbatFilterIsInitialised) {
|
||||
biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
|
||||
biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
|
||||
vbatFilterIsInitialised = true;
|
||||
}
|
||||
vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
|
||||
|
|
@ -91,7 +91,7 @@ void updateBattery(void)
|
|||
/* Actual battery state is calculated below, this is really BATTERY_PRESENT */
|
||||
batteryState = BATTERY_OK;
|
||||
/* wait for VBatt to stabilise then we can calc number of cells
|
||||
(using the filtered value takes a long time to ramp up)
|
||||
(using the filtered value takes a long time to ramp up)
|
||||
We only do this on the ground so don't care if we do block, not
|
||||
worse than original code anyway*/
|
||||
delay(VBATTERY_STABLE_DELAY);
|
||||
|
|
|
|||
|
|
@ -27,12 +27,14 @@
|
|||
#include "common/filter.h"
|
||||
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/accgyro.h"
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "io/beeper.h"
|
||||
#include "io/statusindicator.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
#include "sensors/gyro.h"
|
||||
|
||||
gyro_t gyro; // gyro access functions
|
||||
|
|
@ -43,21 +45,27 @@ float gyroADCf[XYZ_AXIS_COUNT];
|
|||
|
||||
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
|
||||
static const gyroConfig_t *gyroConfig;
|
||||
static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
|
||||
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
|
||||
static biquadFilter_t gyroFilterNotch[XYZ_AXIS_COUNT];
|
||||
static uint16_t gyroSoftNotchHz;
|
||||
static uint8_t gyroSoftNotchQ;
|
||||
static uint8_t gyroSoftLpfHz;
|
||||
static uint16_t calibratingG = 0;
|
||||
|
||||
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz)
|
||||
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q)
|
||||
{
|
||||
gyroConfig = gyroConfigToUse;
|
||||
gyroSoftLpfHz = gyro_soft_lpf_hz;
|
||||
gyroSoftNotchHz = gyro_soft_notch_hz;
|
||||
gyroSoftNotchQ = gyro_soft_notch_q;
|
||||
}
|
||||
|
||||
void gyroInit(void)
|
||||
{
|
||||
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
|
||||
biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, ((float) gyroSoftNotchQ) / 10, FILTER_NOTCH);
|
||||
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -157,7 +165,17 @@ void gyroUpdate(void)
|
|||
|
||||
if (gyroSoftLpfHz) {
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
|
||||
float sample = (float) gyroADC[axis];
|
||||
if (gyroSoftNotchHz) {
|
||||
sample = biquadFilterApply(&gyroFilterNotch[axis], sample);
|
||||
}
|
||||
|
||||
if (debugMode == DEBUG_NOTCH && axis < 2){
|
||||
debug[axis*2 + 0] = gyroADC[axis];
|
||||
debug[axis*2 + 1] = lrintf(sample);
|
||||
}
|
||||
|
||||
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], sample);;
|
||||
gyroADC[axis] = lrintf(gyroADCf[axis]);
|
||||
}
|
||||
} else {
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@ typedef struct gyroConfig_s {
|
|||
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
|
||||
} gyroConfig_t;
|
||||
|
||||
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
|
||||
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q);
|
||||
void gyroSetCalibrationCycles(void);
|
||||
void gyroInit(void);
|
||||
void gyroUpdate(void);
|
||||
|
|
|
|||
|
|
@ -89,7 +89,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
|
|||
#if defined(MPU_INT_EXTI)
|
||||
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
|
||||
return &mpuIntExtiConfig;
|
||||
#elif defined(USE_HARDWARE_REVISION_DETECTION)
|
||||
#elif defined(USE_HARDWARE_REVISION_DETECTION)
|
||||
return selectMPUIntExtiConfigByHardwareRevision();
|
||||
#else
|
||||
return NULL;
|
||||
|
|
@ -118,9 +118,15 @@ static bool fakeGyroReadTemp(int16_t *tempData)
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
static bool fakeGyroInitStatus(void) {
|
||||
return true;
|
||||
}
|
||||
|
||||
bool fakeGyroDetect(gyro_t *gyro)
|
||||
{
|
||||
gyro->init = fakeGyroInit;
|
||||
gyro->intStatus = fakeGyroInitStatus;
|
||||
gyro->read = fakeGyroRead;
|
||||
gyro->temperature = fakeGyroReadTemp;
|
||||
gyro->scale = 1.0f / 16.4f;
|
||||
|
|
@ -143,6 +149,7 @@ bool fakeAccDetect(acc_t *acc)
|
|||
{
|
||||
acc->init = fakeAccInit;
|
||||
acc->read = fakeAccRead;
|
||||
acc->acc_1G = 512*8;
|
||||
acc->revisionCode = 0;
|
||||
return true;
|
||||
}
|
||||
|
|
@ -584,10 +591,14 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
|
|||
}
|
||||
}
|
||||
|
||||
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator)
|
||||
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
|
||||
uint8_t accHardwareToUse,
|
||||
uint8_t magHardwareToUse,
|
||||
uint8_t baroHardwareToUse,
|
||||
int16_t magDeclinationFromConfig,
|
||||
uint8_t gyroLpf,
|
||||
uint8_t gyroSyncDenominator)
|
||||
{
|
||||
int16_t deg, min;
|
||||
|
||||
memset(&acc, 0, sizeof(acc));
|
||||
memset(&gyro, 0, sizeof(gyro));
|
||||
|
||||
|
|
@ -605,7 +616,6 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
|
|||
detectAcc(accHardwareToUse);
|
||||
detectBaro(baroHardwareToUse);
|
||||
|
||||
|
||||
// Now time to init things, acc first
|
||||
if (sensors(SENSOR_ACC)) {
|
||||
acc.acc_1G = 256; // set default
|
||||
|
|
@ -623,9 +633,8 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
|
|||
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
|
||||
if (sensors(SENSOR_MAG)) {
|
||||
// calculate magnetic declination
|
||||
deg = magDeclinationFromConfig / 100;
|
||||
min = magDeclinationFromConfig % 100;
|
||||
|
||||
const int16_t deg = magDeclinationFromConfig / 100;
|
||||
const int16_t min = magDeclinationFromConfig % 100;
|
||||
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
|
||||
} else {
|
||||
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
|
||||
|
|
|
|||
|
|
@ -21,18 +21,16 @@
|
|||
#define USE_CLI
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PB5 // Blue LED - PB5
|
||||
|
||||
#define LED0 PB5 // Blue LED - PB5
|
||||
|
||||
#define BEEPER PA0
|
||||
|
||||
#define BEEPER PA0
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 9
|
||||
|
||||
// MPU6050 interrupts
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PA15
|
||||
#define MPU_INT_EXTI PA15
|
||||
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
//#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
|
@ -41,20 +39,18 @@
|
|||
#define ACC
|
||||
|
||||
#define USE_GYRO_MPU6050
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define USE_ACC_MPU6050
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
|
||||
//#define BARO
|
||||
//#define USE_BARO_MS5611
|
||||
|
|
@ -66,31 +62,30 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
|
||||
|
||||
#define UART3_TX_PIN PB10 //(AF7)
|
||||
#define UART3_RX_PIN PB11 //(AF7)
|
||||
#define UART3_TX_PIN PB10 //(AF7)
|
||||
#define UART3_RX_PIN PB11 //(AF7)
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
|
||||
//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
|
||||
#define SENSORS_SET (SENSOR_ACC)
|
||||
#define SENSORS_SET (SENSOR_ACC)
|
||||
|
||||
#undef GPS
|
||||
#define DISPLAY
|
||||
|
|
@ -99,10 +94,10 @@
|
|||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define LED_STRIP
|
||||
#if 1
|
||||
|
|
@ -135,17 +130,17 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PB4
|
||||
#define BIND_PIN PB4
|
||||
#define BIND_PIN PB4
|
||||
|
||||
#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_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 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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
|
||||
|
||||
|
|
|
|||
|
|
@ -15,7 +15,7 @@
|
|||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "drivers/exti.h"
|
||||
|
||||
typedef enum awf3HardwareRevision_t {
|
||||
|
|
|
|||
|
|
@ -23,17 +23,17 @@
|
|||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define USE_HARDWARE_REVISION_DETECTION
|
||||
#define HW_PIN PB2
|
||||
#define HW_PIN PB2
|
||||
|
||||
// LED's V1
|
||||
#define LED0 PB4 // LED - PB4
|
||||
#define LED1 PB5 // LED - PB5
|
||||
#define LED0 PB4
|
||||
#define LED1 PB5
|
||||
|
||||
// LED's V2
|
||||
#define LED0_A PB8 // LED - PB8
|
||||
#define LED1_A PB9 // LED - PB9
|
||||
#define LED0_A PB8
|
||||
#define LED1_A PB9
|
||||
|
||||
#define BEEPER PA5 // LED - PA5
|
||||
#define BEEPER PA5
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 11
|
||||
|
||||
|
|
@ -48,15 +48,15 @@
|
|||
#define USE_GYRO_MPU6050
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
#define GYRO_MPU6050_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6050
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW270_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
#define ACC_MPU6050_ALIGN CW270_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
// No baro support.
|
||||
//#define BARO
|
||||
|
|
@ -65,29 +65,28 @@
|
|||
// option to use MPU9150 or MPU9250 integrated AK89xx Mag
|
||||
#define MAG
|
||||
#define USE_MAG_AK8963
|
||||
|
||||
#define MAG_AK8963_ALIGN CW0_DEG_FLIP
|
||||
#define MAG_AK8963_ALIGN CW0_DEG_FLIP
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_UART1 // Not connected - TX (PB6) RX PB7 (AF7)
|
||||
#define USE_UART2 // Receiver - RX (PA3)
|
||||
#define USE_UART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PB6 // PB6
|
||||
#define UART1_RX_PIN PB7 // PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
#define UART2_TX_PIN PA2 // PA2
|
||||
#define UART2_RX_PIN PA3 // PA3
|
||||
#define UART2_TX_PIN PA2
|
||||
#define UART2_RX_PIN PA3
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
|
||||
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
|
||||
// SPI3
|
||||
// PA15 38 SPI3_NSS
|
||||
|
|
@ -98,22 +97,22 @@
|
|||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_3
|
||||
|
||||
#define MPU6500_CS_PIN PA15
|
||||
#define MPU6500_SPI_INSTANCE SPI3
|
||||
#define MPU6500_CS_PIN PA15
|
||||
#define MPU6500_SPI_INSTANCE SPI3
|
||||
|
||||
#define USE_ADC
|
||||
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define VBAT_SCALE_DEFAULT 20
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define VBAT_SCALE_DEFAULT 20
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PA3
|
||||
#define BIND_PIN PA3
|
||||
#define BIND_PIN PA3
|
||||
|
||||
#define HARDWARE_BIND_PLUG
|
||||
// Hardware bind plug at PB12 (Pin 25)
|
||||
#define BINDPLUG_PIN PB12
|
||||
#define BINDPLUG_PIN PB12
|
||||
|
||||
#define BRUSHED_MOTORS
|
||||
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
|
||||
|
|
@ -124,12 +123,11 @@
|
|||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
|
||||
|
||||
|
|
|
|||
|
|
@ -23,39 +23,39 @@
|
|||
|
||||
#define USBD_PRODUCT_STRING "AlienFlight F4"
|
||||
|
||||
#define LED0 PC12
|
||||
#define LED1 PD2
|
||||
#define LED0 PC12
|
||||
#define LED1 PD2
|
||||
|
||||
#define BEEPER PC13
|
||||
#define BEEPER PC13
|
||||
|
||||
#define INVERTER PC15
|
||||
#define INVERTER_USART USART2
|
||||
#define INVERTER PC15
|
||||
#define INVERTER_USART USART2
|
||||
|
||||
// MPU interrupt
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
|
||||
#define MPU_INT_EXTI PC14
|
||||
#define MPU_INT_EXTI PC14
|
||||
#define USE_EXTI
|
||||
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
#define USE_MAG_AK8963
|
||||
|
||||
#define MAG_HMC5883_ALIGN CW180_DEG
|
||||
#define MAG_AK8963_ALIGN CW270_DEG
|
||||
#define MAG_HMC5883_ALIGN CW180_DEG
|
||||
#define MAG_AK8963_ALIGN CW270_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
|
@ -65,14 +65,14 @@
|
|||
|
||||
//#define SDCARD_DETECT_INVERTED
|
||||
|
||||
#define SDCARD_DETECT_PIN PB10
|
||||
#define SDCARD_DETECT_EXTI_LINE EXTI_Line10
|
||||
#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource10
|
||||
#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOB
|
||||
#define SDCARD_DETECT_EXTI_IRQn EXTI15_10_IRQn
|
||||
#define SDCARD_DETECT_PIN PB10
|
||||
#define SDCARD_DETECT_EXTI_LINE EXTI_Line10
|
||||
#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource10
|
||||
#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOB
|
||||
#define SDCARD_DETECT_EXTI_IRQn EXTI15_10_IRQn
|
||||
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
|
||||
|
||||
// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
|
||||
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
|
||||
|
|
@ -93,57 +93,55 @@
|
|||
//#define USE_FLASHFS
|
||||
//#define USE_FLASH_M25P16
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 13
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 13
|
||||
|
||||
#define USE_VCP
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_RX_PIN PA3
|
||||
#define UART2_TX_PIN PA2 //inverter
|
||||
#define UART2_RX_PIN PA3
|
||||
#define UART2_TX_PIN PA2 //inverter
|
||||
|
||||
//#define USE_UART3
|
||||
//#define UART3_RX_PIN PB11
|
||||
//#define UART3_TX_PIN PB10
|
||||
//#define UART3_RX_PIN PB11
|
||||
//#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_RX_PIN PC10
|
||||
#define UART4_TX_PIN PC11
|
||||
#define UART4_RX_PIN PC10
|
||||
#define UART4_TX_PIN PC11
|
||||
|
||||
//#define USE_UART5
|
||||
//#define UART5_RX_PIN PD2
|
||||
//#define UART5_TX_PIN PC12
|
||||
//#define UART5_RX_PIN PD2
|
||||
//#define UART5_TX_PIN PC12
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_NSS_PIN PB12
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PC2
|
||||
#define SPI2_MOSI_PIN PC3
|
||||
#define SPI2_NSS_PIN PB12
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PC2
|
||||
#define SPI2_MOSI_PIN PC3
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
//#define I2C_DEVICE_EXT (I2CDEV_2)
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
//#define I2C_DEVICE_EXT (I2CDEV_2)
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
|
||||
#define USE_ADC
|
||||
//#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC4
|
||||
#define EXTERNAL1_ADC_GPIO_PIN PC5
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC4
|
||||
#define EXTERNAL1_ADC_GPIO_PIN PC5
|
||||
|
||||
// LED strip configuration using RC5 pin.
|
||||
//#define LED_STRIP
|
||||
|
|
@ -156,11 +154,11 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PA3
|
||||
#define BIND_PIN PA3
|
||||
#define BIND_PIN PA3
|
||||
|
||||
#define HARDWARE_BIND_PLUG
|
||||
// Hardware bind plug at PB2 (Pin 28)
|
||||
#define BINDPLUG_PIN PB2
|
||||
#define BINDPLUG_PIN PB2
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
|
|
@ -172,10 +170,10 @@
|
|||
|
||||
#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 TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
|
||||
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ const uint16_t multiPPM[] = {
|
|||
};
|
||||
|
||||
const uint16_t multiPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
|
|
|
|||
|
|
@ -20,40 +20,40 @@
|
|||
|
||||
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||
|
||||
#define USBD_PRODUCT_STRING "BlueJayF4"
|
||||
#define USBD_PRODUCT_STRING "BlueJayF4"
|
||||
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define USE_EXTI
|
||||
|
||||
#define INVERTER PB15
|
||||
#define INVERTER_USART USART6
|
||||
#define LED0 PB6
|
||||
#define LED1 PB5
|
||||
#define LED2 PB4
|
||||
|
||||
#define BEEPER PB7
|
||||
#define BEEPER PB7
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define LED0 PB6
|
||||
#define LED1 PB5
|
||||
#define LED2 PB4
|
||||
#define INVERTER PB15
|
||||
#define INVERTER_USART USART6
|
||||
|
||||
#define MPU6500_CS_PIN PC4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
#define MPU6500_CS_PIN PC4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
|
||||
//#define MAG
|
||||
//#define USE_MAG_AK8963
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define MS5611_I2C_INSTANCE I2CDEV_1
|
||||
#define MS5611_I2C_INSTANCE I2CDEV_1
|
||||
|
||||
#define USE_SDCARD
|
||||
|
||||
|
|
@ -76,8 +76,8 @@
|
|||
// Performance logging for SD card operations:
|
||||
// #define AFATFS_USE_INTROSPECTIVE_LOGGING
|
||||
|
||||
//#define M25P16_CS_PIN PB3
|
||||
//#define M25P16_SPI_INSTANCE SPI3
|
||||
//#define M25P16_CS_PIN PB3
|
||||
//#define M25P16_SPI_INSTANCE SPI3
|
||||
|
||||
//#define USE_FLASHFS
|
||||
//#define USE_FLASH_M25P16
|
||||
|
|
@ -96,22 +96,21 @@
|
|||
//#define VBUS_SENSING_ENABLED
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
|
||||
#define USE_SOFTSERIAL1
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
|
||||
|
||||
|
|
@ -134,15 +133,15 @@
|
|||
#define SPI3_MOSI_PIN PC12
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
#define USE_I2C_PULLUP
|
||||
|
||||
#define USE_ADC
|
||||
#define VBAT_ADC_PIN PC3
|
||||
#define VBAT_ADC_PIN PC3
|
||||
|
||||
#define LED_STRIP
|
||||
// LED Strip can run off Pin 6 (PB1) of the ESC outputs.
|
||||
#define WS2811_PIN PB1
|
||||
#define WS2811_PIN PB1
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_TIMER_CHANNEL TIM_Channel_4
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER
|
||||
|
|
@ -155,15 +154,15 @@
|
|||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_FEATURES FEATURE_BLACKBOX
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_FEATURES FEATURE_BLACKBOX
|
||||
|
||||
#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 TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
|
||||
|
||||
|
|
|
|||
|
|
@ -17,25 +17,25 @@
|
|||
|
||||
#define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
|
||||
|
||||
#define LED0 PB3 // PB3 (LED)
|
||||
#define LED0 PB3
|
||||
|
||||
#define INVERTER PB2 // PB2 (BOOT1) used as inverter select GPIO
|
||||
#define INVERTER_USART USART1
|
||||
#define INVERTER PB2 // PB2 (BOOT1) used as inverter select GPIO
|
||||
#define INVERTER_USART USART1
|
||||
|
||||
#define BEEPER PB15 // PB15 (Beeper)
|
||||
#define BEEPER_OPT PB2 // PB15 (Beeper)
|
||||
#define BEEPER PB15
|
||||
#define BEEPER_OPT PB2
|
||||
|
||||
#define USE_EXTI
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define MPU_INT_EXTI PA3
|
||||
#define MPU_INT_EXTI PA3
|
||||
|
||||
#define MPU6000_CS_GPIO GPIOA
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_GPIO GPIOA
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
||||
#define M25P16_CS_GPIO GPIOB
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
#define M25P16_CS_GPIO GPIOB
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
|
|
@ -72,18 +72,18 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART3
|
||||
#define USE_SOFTSERIAL1
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#ifdef USE_UART1_RX_DMA
|
||||
#undef USE_UART1_RX_DMA
|
||||
#endif
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
|
||||
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1
|
||||
|
|
@ -93,15 +93,15 @@
|
|||
#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
#define RSSI_ADC_PIN PB0
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
#define RSSI_ADC_PIN PB0
|
||||
|
||||
#define LED_STRIP
|
||||
#define WS2811_PIN PB4
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
|
||||
#define WS2811_PIN PB4
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3, PB11 (Flexport)
|
||||
|
|
@ -111,12 +111,13 @@
|
|||
|
||||
#define DISPLAY
|
||||
#define SONAR
|
||||
#define SONAR_ECHO_PIN PB0
|
||||
#define SONAR_TRIGGER_PIN PB5
|
||||
#define SONAR_ECHO_PIN PB0
|
||||
#define SONAR_TRIGGER_PIN PB5
|
||||
|
||||
#undef GPS
|
||||
|
||||
#undef BARO
|
||||
#undef MAG
|
||||
|
||||
#ifdef CC3D_OPBL
|
||||
#define SKIP_CLI_COMMAND_HELP
|
||||
|
|
@ -128,8 +129,8 @@
|
|||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
|
||||
// IO - from schematics
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC ( BIT(14) )
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC ( BIT(14) )
|
||||
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
|
||||
|
|
|
|||
|
|
@ -22,14 +22,14 @@
|
|||
|
||||
#ifndef STM32F3DISCOVERY
|
||||
#define STM32F3DISCOVERY
|
||||
#endif
|
||||
|
||||
#define LED0 PE8 // Blue LEDs - PE8/PE12
|
||||
#endif
|
||||
|
||||
#define LED0 PE8 // Blue LEDs - PE8/PE12
|
||||
#define LED0_INVERTED
|
||||
#define LED1 PE10 // Orange LEDs - PE10/PE14
|
||||
#define LED1 PE10 // Orange LEDs - PE10/PE14
|
||||
#define LED1_INVERTED
|
||||
|
||||
#define BEEPER PE9 // Red LEDs - PE9/PE13
|
||||
#define BEEPER PE9 // Red LEDs - PE9/PE13
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 18
|
||||
|
|
@ -81,16 +81,14 @@
|
|||
#define ACC
|
||||
#define USE_ACC_MPU6050
|
||||
#define USE_ACC_LSM303DLHC
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_AK8975
|
||||
|
||||
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
|
||||
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_UART1
|
||||
|
|
@ -101,20 +99,19 @@
|
|||
#define I2C_DEVICE (I2CDEV_1)
|
||||
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
|
||||
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
|
||||
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@
|
|||
#pragma once
|
||||
|
||||
#include "drivers/exti.h"
|
||||
|
||||
|
||||
typedef enum cjmcuHardwareRevision_t {
|
||||
UNKNOWN = 0,
|
||||
REV_1, // Blue LED3
|
||||
|
|
|
|||
|
|
@ -20,9 +20,9 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
|
||||
#define USE_HARDWARE_REVISION_DETECTION
|
||||
|
||||
#define LED0 PC14 // PC14 (LED)
|
||||
#define LED1 PC13 // PC13 (LED)
|
||||
#define LED2 PC15 // PC15 (LED)
|
||||
#define LED0 PC14
|
||||
#define LED1 PC13
|
||||
#define LED2 PC15
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6050
|
||||
|
|
@ -38,7 +38,7 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
|
||||
#define SERIAL_PORT_COUNT 2
|
||||
#define SERIAL_PORT_COUNT 2
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
|
|
@ -49,7 +49,7 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PA3
|
||||
#define BIND_PIN PA3
|
||||
#define BIND_PIN PA3
|
||||
|
||||
|
||||
#if (FLASH_SIZE > 64)
|
||||
|
|
@ -64,8 +64,8 @@
|
|||
#endif
|
||||
|
||||
// IO - assuming all IOs on 48pin package TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
|
|
|
|||
|
|
@ -18,17 +18,17 @@
|
|||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "CLBR"
|
||||
#define BST_DEVICE_NAME "COLIBRI RACE"
|
||||
#define BST_DEVICE_NAME_LENGTH 12
|
||||
#define BST_DEVICE_NAME "COLIBRI RACE"
|
||||
#define BST_DEVICE_NAME_LENGTH 12
|
||||
#define TARGET_CONFIG
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PC15
|
||||
#define LED1 PC14
|
||||
#define LED2 PC13
|
||||
|
||||
#define BEEPER PB13
|
||||
#define LED0 PC15
|
||||
#define LED1 PC14
|
||||
#define LED2 PC13
|
||||
|
||||
#define BEEPER PB13
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USE_EXTI
|
||||
|
|
@ -53,17 +53,17 @@
|
|||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW270_DEG
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW270_DEG
|
||||
#define ACC_MPU6000_ALIGN CW270_DEG
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
|
@ -80,34 +80,34 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PC4
|
||||
#define UART1_RX_PIN PC5
|
||||
#define UART1_TX_PIN PC4
|
||||
#define UART1_RX_PIN PC5
|
||||
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
#define I2C2_SCL_PIN PA9
|
||||
#define I2C2_SDA_PIN PA10
|
||||
#define I2C2_SCL_PIN PA9
|
||||
#define I2C2_SDA_PIN PA10
|
||||
|
||||
#define USE_BST
|
||||
#define BST_DEVICE (BSTDEV_1)
|
||||
/* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
|
||||
#define BST_CRC_POLYNOM 0xD5
|
||||
#define BST_CRC_POLYNOM 0xD5
|
||||
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
|
||||
#define LED_STRIP
|
||||
#define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
|
||||
|
|
@ -122,7 +122,7 @@
|
|||
|
||||
// MPU6500 interrupt
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PA5
|
||||
#define MPU_INT_EXTI PA5
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
|
@ -135,11 +135,11 @@
|
|||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
|
||||
|
||||
|
|
|
|||
|
|
@ -43,7 +43,7 @@ const uint16_t multiPWM[] = {
|
|||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -20,17 +20,15 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "DOGE"
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
|
||||
// tqfp48 pin 34
|
||||
#define LED0 PA13
|
||||
|
||||
#define LED0 PA13
|
||||
// tqfp48 pin 37
|
||||
#define LED1 PA14
|
||||
|
||||
#define LED1 PA14
|
||||
// tqfp48 pin 38
|
||||
#define LED2 PA15
|
||||
#define LED2 PA15
|
||||
|
||||
#define BEEPER PB2
|
||||
#define BEEPER PB2
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USE_SPI
|
||||
|
|
@ -81,13 +79,13 @@
|
|||
// #define USE_FAKE_GYRO
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG // ??
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG // ??
|
||||
|
||||
#define ACC
|
||||
// #define USE_FAKE_ACC
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG // ??
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG // ??
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_BMP280
|
||||
|
|
@ -100,20 +98,20 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
#define UART2_TX_PIN PA2
|
||||
#define UART2_RX_PIN PA3
|
||||
#define UART2_TX_PIN PA2
|
||||
#define UART2_RX_PIN PA3
|
||||
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define CURRENT_METER_ADC_PIN PA5
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define CURRENT_METER_ADC_PIN PA5
|
||||
|
||||
// mpu_int definition in sensors/initialisation.c
|
||||
#define USE_EXTI
|
||||
|
|
@ -135,19 +133,19 @@
|
|||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// Use UART3 for speksat
|
||||
#define BIND_PIN PB11
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// !!TODO - check the TARGET_IO_PORTs are correct
|
||||
#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)|BIT(3)|BIT(4))
|
||||
#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)|BIT(3)|BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
|
||||
|
||||
|
|
|
|||
|
|
@ -19,21 +19,21 @@
|
|||
|
||||
#define TARGET_BOARD_IDENTIFIER "EUF1"
|
||||
|
||||
#define LED0 PB3 // PB3 (LED)
|
||||
#define LED1 PB4 // PB4 (LED)
|
||||
#define LED0 PB3
|
||||
#define LED1 PB4
|
||||
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
|
||||
#define USE_EXTI
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
|
||||
#define MPU6500_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB
|
||||
#define MPU6500_CS_GPIO GPIOB
|
||||
#define MPU6500_CS_PIN PB12
|
||||
#define MPU6500_SPI_INSTANCE SPI2
|
||||
#define MPU6500_CS_GPIO GPIOB
|
||||
#define MPU6500_CS_PIN PB12
|
||||
#define MPU6500_SPI_INSTANCE SPI2
|
||||
|
||||
#define GYRO
|
||||
#define USE_FAKE_GYRO
|
||||
|
|
@ -44,7 +44,7 @@
|
|||
#define USE_GYRO_SPI_MPU6000
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
#define GYRO_MPU6050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW0_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_FAKE_ACC
|
||||
|
|
@ -55,7 +55,7 @@
|
|||
//#define USE_ACC_SPI_MPU6000
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
|
@ -66,7 +66,7 @@
|
|||
#define USE_MAG_HMC5883
|
||||
#define USE_MAG_AK8975
|
||||
|
||||
#define MAG_AK8975_ALIGN CW180_DEG_FLIP
|
||||
#define MAG_AK8975_ALIGN CW180_DEG_FLIP
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
|
|
@ -80,12 +80,12 @@
|
|||
#define USE_UART2
|
||||
#define USE_SOFTSERIAL1
|
||||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
|
||||
#define SOFTSERIAL_2_TIMER TIM3
|
||||
#define SOFTSERIAL_2_TIMER TIM3
|
||||
#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
|
||||
#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
|
||||
|
||||
|
|
@ -97,21 +97,20 @@
|
|||
// #define SOFT_I2C_PB67
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PA3
|
||||
#define BIND_PIN PA3
|
||||
#define BIND_PIN PA3
|
||||
|
||||
// IO - stm32f103RCT6 in 64pin package (TODO)
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
|
||||
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
|
||||
|
|
|
|||
|
|
@ -30,11 +30,11 @@ const uint16_t multiPWM[] = {
|
|||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // input #8
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
|
||||
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
|
|
@ -69,11 +69,11 @@ const uint16_t airPWM[] = {
|
|||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
|
||||
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
|
||||
|
|
@ -101,7 +101,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
|||
{ TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S6_OUT
|
||||
{ TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S7_OUT
|
||||
{ TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S8_OUT
|
||||
|
||||
|
||||
{ TIM9, IO_TAG(PE6), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // sonar echo if needed
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -20,46 +20,47 @@
|
|||
|
||||
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||
|
||||
#define USBD_PRODUCT_STRING "Swift-Flyer F4BY"
|
||||
#define USBD_PRODUCT_STRING "Swift-Flyer F4BY"
|
||||
|
||||
#define LED0 PE3 // Blue LED
|
||||
#define LED1 PE2 // Red LED
|
||||
#define LED2 PE1 // Blue LED
|
||||
#define BEEPER PE5
|
||||
#define LED0 PE3 // Blue LED
|
||||
#define LED1 PE2 // Red LED
|
||||
#define LED2 PE1 // Blue LED
|
||||
|
||||
#define INVERTER PD3
|
||||
#define INVERTER_USART USART6
|
||||
#define BEEPER PE5
|
||||
|
||||
#define INVERTER PD3
|
||||
#define INVERTER_USART USART6
|
||||
|
||||
|
||||
|
||||
// MPU6000 interrupts
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
|
||||
#define MPU_INT_EXTI PB0
|
||||
#define MPU_INT_EXTI PB0
|
||||
#define USE_EXTI
|
||||
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW90_DEG
|
||||
#define ACC_MPU6000_ALIGN CW90_DEG
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW90_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW90_DEG
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
#define MAG_HMC5883_ALIGN CW90_DEG
|
||||
#define MAG_HMC5883_ALIGN CW90_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
||||
#define USE_SDCARD
|
||||
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN PE15
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN PE15
|
||||
|
||||
// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
|
||||
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
|
||||
|
|
@ -76,43 +77,41 @@
|
|||
#define USABLE_TIMER_CHANNEL_COUNT 17
|
||||
|
||||
#define USE_VCP
|
||||
#define VBUS_SENSING_PIN PA9
|
||||
#define VBUS_SENSING_PIN PA9
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
#define UART1_RX_PIN PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_RX_PIN PD6
|
||||
#define UART2_TX_PIN PD5
|
||||
#define UART2_RX_PIN PD6
|
||||
#define UART2_TX_PIN PD5
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PD9
|
||||
#define UART3_TX_PIN PD8
|
||||
#define UART3_RX_PIN PD9
|
||||
#define UART3_TX_PIN PD8
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_RX_PIN PC11
|
||||
#define UART4_TX_PIN PC10
|
||||
#define UART4_RX_PIN PC11
|
||||
#define UART4_TX_PIN PC10
|
||||
|
||||
//#define USE_UART5 - error in DMA!!!
|
||||
//#define UART5_RX_PIN PD2
|
||||
//#define UART5_TX_PIN PC12
|
||||
//#define UART5_RX_PIN PD2
|
||||
//#define UART5_TX_PIN PC12
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
|
||||
|
||||
#define SERIAL_PORT_COUNT 6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
|
||||
#define SERIAL_PORT_COUNT 6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
#define SPI1_NSS_PIN NONE
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
#define SPI1_NSS_PIN NONE
|
||||
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_NSS_PIN NONE
|
||||
|
|
@ -121,24 +120,23 @@
|
|||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_NSS_PIN PA15
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
#define SPI3_NSS_PIN PA15
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
#define USE_I2C_PULLUP
|
||||
#define I2C2_SCL PB10
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
#define I2C2_SDA PB11
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define VBAT_ADC_PIN PC3
|
||||
#define CURRENT_METER_ADC_PIN PC2
|
||||
#define RSSI_ADC_PIN PC1
|
||||
#define USE_ADC
|
||||
#define VBAT_ADC_PIN PC3
|
||||
#define CURRENT_METER_ADC_PIN PC2
|
||||
#define RSSI_ADC_PIN PC1
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
|
|
@ -148,15 +146,15 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// UART6, PC7
|
||||
#define BIND_PIN PC7
|
||||
#define BIND_PIN PC7
|
||||
|
||||
#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 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 USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
|
||||
#define USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
|
||||
|
||||
|
|
|
|||
|
|
@ -76,7 +76,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
|||
{ TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
|
||||
{ TIM17, IO_TAG(PB5), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
|
||||
{ TIM16, IO_TAG(PB4), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
|
||||
|
||||
|
||||
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -21,13 +21,13 @@
|
|||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define MPU_INT_EXTI PC4
|
||||
#define MPU_INT_EXTI PC4
|
||||
#define USE_EXTI
|
||||
#define CONFIG_PREFER_ACC_ON
|
||||
|
||||
#define LED0 PC14
|
||||
|
||||
#define BEEPER PC15
|
||||
#define LED0 PC14
|
||||
|
||||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
|
||||
|
|
@ -36,26 +36,25 @@
|
|||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define GYRO
|
||||
#define ACC
|
||||
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW90_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW90_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW90_DEG
|
||||
#define ACC_MPU6500_ALIGN CW90_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
|
@ -113,31 +112,31 @@
|
|||
#define USE_SOFTSERIAL1
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
|
||||
#define UART1_TX_PIN PA9 // PA9
|
||||
#define UART1_RX_PIN PA10 // PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define UART2_TX_PIN PA14 // PA14
|
||||
#define UART2_RX_PIN PA15 // PA15
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 1
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 2
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
|
||||
#define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
|
||||
|
||||
#define I2C1_SCL_PIN PB8
|
||||
#define I2C1_SDA_PIN PB9
|
||||
#define I2C1_SCL_PIN PB8
|
||||
#define I2C1_SDA_PIN PB9
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define CURRENT_METER_ADC_PIN PA2
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define CURRENT_METER_ADC_PIN PA2
|
||||
|
||||
#define LED_STRIP
|
||||
|
||||
|
|
@ -150,23 +149,23 @@
|
|||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
|
||||
#define DEFAULT_FEATURES FEATURE_BLACKBOX
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3,
|
||||
#define BIND_PIN PB11
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#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_PORTF (BIT(4))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
|
||||
|
||||
|
|
|
|||
|
|
@ -20,44 +20,45 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "FYF4"
|
||||
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||
|
||||
#define USBD_PRODUCT_STRING "FuryF4"
|
||||
#define USBD_PRODUCT_STRING "FuryF4"
|
||||
|
||||
#define LED0 PB5
|
||||
#define LED1 PB4
|
||||
#define BEEPER PA8
|
||||
#define LED0 PB5
|
||||
#define LED1 PB4
|
||||
|
||||
#define BEEPER PA8
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define INVERTER PC0 // PC0 used as inverter select GPIO
|
||||
#define INVERTER_USART USART1
|
||||
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
|
||||
// MPU6000 interrupts
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
|
||||
#define MPU_INT_EXTI PC4
|
||||
#define MPU_INT_EXTI PC4
|
||||
#define USE_EXTI
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define MS5611_I2C_INSTANCE I2CDEV_1
|
||||
#define MS5611_I2C_INSTANCE I2CDEV_1
|
||||
|
||||
#define USE_SDCARD
|
||||
|
||||
|
|
@ -97,29 +98,29 @@
|
|||
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
#define M25P16_CS_PIN PB3
|
||||
#define M25P16_SPI_INSTANCE SPI3
|
||||
#define M25P16_CS_PIN PB3
|
||||
#define M25P16_SPI_INSTANCE SPI3
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 5
|
||||
|
||||
#define USE_VCP
|
||||
#define VBUS_SENSING_PIN PC5
|
||||
#define VBUS_SENSING_PIN PC5
|
||||
#define VBUS_SENSING_ENABLED
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
|
||||
#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
|
||||
#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
|
|
@ -138,16 +139,16 @@
|
|||
#define SPI3_MOSI_PIN PC12
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6-SCL, PB7-SDA
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6-SCL, PB7-SDA
|
||||
#define USE_I2C_PULLUP
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define VBAT_ADC_PIN PC1
|
||||
#define RSSI_ADC_GPIO_PIN PC2
|
||||
#define CURRENT_METER_ADC_PIN PC3
|
||||
#define VBAT_ADC_PIN PC1
|
||||
#define RSSI_ADC_GPIO_PIN PC2
|
||||
#define CURRENT_METER_ADC_PIN PC3
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
|
|
@ -157,14 +158,14 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3 Rx, PB11
|
||||
#define BIND_PIN PB11
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#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 TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
|
||||
|
||||
|
|
|
|||
|
|
@ -21,7 +21,7 @@
|
|||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
|
||||
|
||||
#define LED0 PB3
|
||||
#define LED0 PB3
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 17
|
||||
|
||||
|
|
@ -32,11 +32,11 @@
|
|||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU6050
|
||||
#define GYRO_MPU6050_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6050
|
||||
#define ACC_MPU6050_ALIGN CW270_DEG
|
||||
#define ACC_MPU6050_ALIGN CW270_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_BMP085
|
||||
|
|
@ -49,17 +49,17 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 3
|
||||
|
||||
#define UART1_TX_PIN PA9 // PA9
|
||||
#define UART1_RX_PIN PA10 // PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define UART2_TX_PIN PA14 // PA14 / SWCLK
|
||||
#define UART2_RX_PIN PA15 // PA15
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
|
||||
|
|
@ -67,16 +67,16 @@
|
|||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3,
|
||||
#define BIND_PIN PB11
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
/*
|
||||
|
|
@ -100,11 +100,10 @@
|
|||
*/
|
||||
|
||||
// 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)|BIT(4))
|
||||
#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)|BIT(4))
|
||||
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
|
||||
|
||||
|
|
|
|||
|
|
@ -23,51 +23,50 @@
|
|||
|
||||
#define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
|
||||
|
||||
#define LED0 PB1
|
||||
#define BEEPER PB13
|
||||
#define LED0 PB1
|
||||
|
||||
#define BEEPER PB13
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 12
|
||||
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PB2
|
||||
#define MPU_INT_EXTI PB2
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU6050
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6050
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define UART1_TX_PIN PA9 // PA9
|
||||
#define UART1_RX_PIN PA10 // PA10
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
|
||||
#define USE_ADC
|
||||
#define VBAT_SCALE_DEFAULT 160
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
//#define RSSI_ADC_PIN PB2
|
||||
#define VBAT_SCALE_DEFAULT 160
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PA0
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
//#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define DEFAULT_FEATURES FEATURE_VBAT
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
|
|
@ -75,12 +74,12 @@
|
|||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
#define BIND_PIN PB4
|
||||
#define BIND_PIN PB4
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(4))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
|
||||
|
|
|
|||
|
|
@ -21,12 +21,12 @@
|
|||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PC15
|
||||
#define LED1 PC14
|
||||
#define LED2 PC13
|
||||
|
||||
#define BEEPER PB13
|
||||
#define LED0 PC15
|
||||
#define LED1 PC14
|
||||
#define LED2 PC13
|
||||
|
||||
#define BEEPER PB13
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USE_SPI
|
||||
|
|
@ -47,12 +47,12 @@
|
|||
#define GYRO
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define USB_IO
|
||||
|
||||
|
|
@ -60,26 +60,26 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PC4
|
||||
#define UART1_RX_PIN PC5
|
||||
#define UART1_TX_PIN PC4
|
||||
#define UART1_RX_PIN PC5
|
||||
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
#define UART2_TX_PIN PA14
|
||||
#define UART2_RX_PIN PA15
|
||||
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define VBAT_ADC_PIN PC0
|
||||
#define CURRENT_METER_ADC_PIN PC1
|
||||
#define RSSI_ADC_PIN PC2
|
||||
#define EXTERNAL1_ADC_PIN PC3
|
||||
|
||||
#define LED_STRIP
|
||||
#define WS2811_PIN PA6 // TIM16_CH1
|
||||
|
|
@ -97,20 +97,20 @@
|
|||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART1, PC5
|
||||
#define BIND_PIN PC5
|
||||
#define BIND_PIN PC5
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
|
||||
|
||||
|
|
|
|||
|
|
@ -21,18 +21,18 @@
|
|||
#define USE_CLI
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PB5 // Blue LEDs - PB5
|
||||
//#define LED1 PB9 // Green LEDs - PB9
|
||||
|
||||
#define BEEPER PA0
|
||||
#define LED0 PB5 // Blue LEDs - PB5
|
||||
//#define LED1 PB9 // Green LEDs - PB9
|
||||
|
||||
#define BEEPER PA0
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 9
|
||||
|
||||
// MPU6050 interrupts
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PA15
|
||||
#define MPU_INT_EXTI PA15
|
||||
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
//#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
|
@ -41,20 +41,20 @@
|
|||
#define ACC
|
||||
|
||||
#define USE_GYRO_MPU6050
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define USE_ACC_MPU6050
|
||||
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
#define ACC_MPU6050_ALIGN CW180_DEG
|
||||
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
|
||||
//#define BARO
|
||||
//#define USE_BARO_MS5611
|
||||
|
|
@ -66,42 +66,42 @@
|
|||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PB6 // PB6
|
||||
#define UART1_RX_PIN PB7 // PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
#define UART2_TX_PIN PB3 // PB3
|
||||
#define UART2_RX_PIN PB4 // PB4
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
#define I2C2_SCL PA9
|
||||
#define I2C2_SDA PA10
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
#define M25P16_CS_PIN PB12
|
||||
#define M25P16_SPI_INSTANCE SPI2
|
||||
|
||||
//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
|
||||
#define SENSORS_SET (SENSOR_ACC)
|
||||
//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
|
||||
#define SENSORS_SET (SENSOR_ACC)
|
||||
|
||||
#undef GPS
|
||||
#define DISPLAY
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
//#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define LED_STRIP
|
||||
#if 1
|
||||
|
|
@ -135,17 +135,17 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PB4
|
||||
#define BIND_PIN PB4
|
||||
#define BIND_PIN PB4
|
||||
|
||||
#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_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 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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
|
||||
|
||||
|
|
|
|||
|
|
@ -22,19 +22,19 @@
|
|||
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
|
||||
#define LED0 PB3 // PB3 (LED)
|
||||
#define LED1 PB4 // PB4 (LED)
|
||||
#define LED0 PB3
|
||||
#define LED1 PB4
|
||||
|
||||
#define BEEPER PA12 // PA12 (Beeper)
|
||||
#define BEEPER PA12
|
||||
#ifdef AFROMINI
|
||||
#define BEEPER_INVERTED
|
||||
#endif
|
||||
|
||||
#define BARO_XCLR_PIN PC13
|
||||
#define BARO_EOC_PIN PC14
|
||||
#define BARO_XCLR_PIN PC13
|
||||
#define BARO_EOC_PIN PC14
|
||||
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
|
||||
#define USE_EXTI
|
||||
|
||||
|
|
@ -47,24 +47,22 @@
|
|||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define NAZE_SPI_INSTANCE SPI2
|
||||
#define NAZE_SPI_CS_GPIO GPIOB
|
||||
#define NAZE_SPI_CS_PIN PB12
|
||||
#define NAZE_SPI_INSTANCE SPI2
|
||||
#define NAZE_SPI_CS_GPIO GPIOB
|
||||
#define NAZE_SPI_CS_PIN PB12
|
||||
#define NAZE_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB
|
||||
|
||||
// We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
|
||||
#define M25P16_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define M25P16_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define M25P16_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
|
||||
#define MPU6500_CS_GPIO_CLK_PERIPHERAL NAZE_CS_GPIO_CLK_PERIPHERAL
|
||||
#define MPU6500_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define MPU6500_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define MPU6500_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
#define M25P16_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define M25P16_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define M25P16_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
|
||||
#define MPU6500_CS_GPIO_CLK_PERIPHERAL NAZE_CS_GPIO_CLK_PERIPHERAL
|
||||
#define MPU6500_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define MPU6500_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define MPU6500_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
|
||||
#define USE_FLASHFS
|
||||
|
||||
#define USE_FLASH_M25P16
|
||||
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 3 // MPU data ready, MAG data ready, BMP085 EOC
|
||||
|
|
@ -75,17 +73,16 @@
|
|||
//#define DEBUG_MAG_DATA_READY_INTERRUPT
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
#define MAG_INT_EXTI PC14
|
||||
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU3050
|
||||
#define USE_GYRO_MPU6050
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
|
||||
#define GYRO_MPU3050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW0_DEG
|
||||
#define GYRO_MPU3050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW0_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_ADXL345
|
||||
|
|
@ -95,11 +92,11 @@
|
|||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_ADXL345_ALIGN CW270_DEG
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
#define ACC_MMA8452_ALIGN CW90_DEG
|
||||
#define ACC_BMA280_ALIGN CW0_DEG
|
||||
#define ACC_MPU6500_ALIGN CW0_DEG
|
||||
#define ACC_ADXL345_ALIGN CW270_DEG
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
#define ACC_MMA8452_ALIGN CW90_DEG
|
||||
#define ACC_BMA280_ALIGN CW0_DEG
|
||||
#define ACC_MPU6500_ALIGN CW0_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
|
@ -108,8 +105,7 @@
|
|||
|
||||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
|
||||
#define MAG_HMC5883_ALIGN CW180_DEG
|
||||
#define MAG_HMC5883_ALIGN CW180_DEG
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
|
|
@ -124,7 +120,7 @@
|
|||
#define USE_UART3
|
||||
#define USE_SOFTSERIAL1
|
||||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
|
|
@ -134,8 +130,8 @@
|
|||
#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
|
||||
|
||||
// USART3 only on NAZE32_SP - Flex Port
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
|
@ -145,23 +141,23 @@
|
|||
// #define SOFT_I2C_PB67
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
|
||||
|
||||
#define LED_STRIP
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_PIN PA6
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_PIN PA6
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
|
||||
|
||||
#undef GPS
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART2, PA3
|
||||
#define BIND_PIN PA3
|
||||
#define BIND_PIN PA3
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
|
|
@ -186,8 +182,8 @@
|
|||
#endif // ALIENFLIGHTF1
|
||||
|
||||
// IO - assuming all IOs on 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_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) )
|
||||
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
|
||||
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
|
||||
|
|
|
|||
|
|
@ -23,12 +23,12 @@
|
|||
//#define OLIMEXINO_UNCUT_LED2_E_JUMPER
|
||||
|
||||
#ifdef OLIMEXINO_UNCUT_LED1_E_JUMPER
|
||||
#define LED0 PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
|
||||
#define LED0 PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
|
||||
#endif
|
||||
|
||||
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
|
||||
// "LED2" is using one of the PWM pins (CH2/PWM2), so we must not use PWM2 unless the jumper is cut. @See pwmInit()
|
||||
#define LED1 PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
|
||||
#define LED1 PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
|
||||
#endif
|
||||
|
||||
#define GYRO
|
||||
|
|
@ -59,14 +59,14 @@
|
|||
#define USE_MAG_HMC5883
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_SOFTSERIAL1
|
||||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
|
|
@ -79,17 +79,16 @@
|
|||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
|
||||
|
||||
// IO - assuming all IOs on smt32f103rb LQFP64 package
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
|
|
|
|||
|
|
@ -21,9 +21,9 @@
|
|||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
|
||||
|
||||
#define LED0 PB3
|
||||
#define LED0 PB3
|
||||
|
||||
#define BEEPER PC15
|
||||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 10 // 6 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
|
||||
|
|
@ -35,19 +35,19 @@
|
|||
#define MPU_INT_EXTI PC13
|
||||
#define USE_EXTI
|
||||
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW90_DEG
|
||||
#define GYRO_MPU6000_ALIGN CW90_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW90_DEG
|
||||
#define ACC_MPU6000_ALIGN CW90_DEG
|
||||
|
||||
#define BMP280_SPI_INSTANCE SPI1
|
||||
#define BMP280_CS_PIN PA13
|
||||
#define BMP280_SPI_INSTANCE SPI1
|
||||
#define BMP280_CS_PIN PA13
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_BMP280
|
||||
|
|
@ -60,13 +60,12 @@
|
|||
//#define MAG_AK8975_ALIGN CW90_DEG_FLIP
|
||||
|
||||
//#define SONAR
|
||||
//#define SONAR_ECHO_PIN PB1
|
||||
//#define SONAR_TRIGGER_PIN PB0
|
||||
//#define SONAR_ECHO_PIN PB1
|
||||
//#define SONAR_TRIGGER_PIN PB0
|
||||
|
||||
#define USB_IO
|
||||
#define USB_CABLE_DETECTION
|
||||
|
||||
#define USB_DETECT_PIN PB5
|
||||
#define USB_DETECT_PIN PB5
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_UART1
|
||||
|
|
@ -74,14 +73,14 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PA9 // PA9
|
||||
#define UART1_RX_PIN PA10 // PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define UART2_TX_PIN PA14 // PA14 / SWCLK
|
||||
#define UART2_RX_PIN PA15 // PA15
|
||||
#define UART2_TX_PIN PA14 // PA14 / SWCLK
|
||||
#define UART2_RX_PIN PA15
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
|
||||
//#define USE_I2C
|
||||
//#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
|
|
@ -100,8 +99,8 @@
|
|||
#define OSD
|
||||
// include the max7456 driver
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_INSTANCE SPI1
|
||||
#define MAX7456_SPI_CS_PIN PB1
|
||||
#define MAX7456_SPI_INSTANCE SPI1
|
||||
#define MAX7456_SPI_CS_PIN PB1
|
||||
//#define MAX7456_DMA_CHANNEL_TX DMA1_Channel3
|
||||
//#define MAX7456_DMA_CHANNEL_RX DMA1_Channel2
|
||||
//#define MAX7456_DMA_IRQ_HANDLER_ID DMA1_CH3_HANDLER
|
||||
|
|
@ -169,27 +168,28 @@
|
|||
#define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
|
||||
|
||||
#define BUTTONS
|
||||
#define BUTTON_A_PORT GPIOB
|
||||
#define BUTTON_A_PIN Pin_1
|
||||
#define BUTTON_B_PORT GPIOB
|
||||
#define BUTTON_B_PIN Pin_0
|
||||
#define BUTTON_A_PORT GPIOB
|
||||
#define BUTTON_A_PIN Pin_1
|
||||
#define BUTTON_B_PORT GPIOB
|
||||
#define BUTTON_B_PIN Pin_0
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3,
|
||||
#define BIND_PIN PB11
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#define HARDWARE_BIND_PLUG
|
||||
#define BINDPLUG_PIN PB0
|
||||
#define BINDPLUG_PIN PB0
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#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)|BIT(4))
|
||||
#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)|BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
|
||||
|
|
|
|||
|
|
@ -93,7 +93,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
|||
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM8 }, // S4_IN
|
||||
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM8 }, // S5_IN
|
||||
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM8 }, // S6_IN
|
||||
|
||||
|
||||
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S1_OUT
|
||||
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S2_OUT
|
||||
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM9 }, // S3_OUT
|
||||
|
|
@ -101,5 +101,3 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
|||
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
|
||||
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S6_OUT
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -22,63 +22,63 @@
|
|||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PB9
|
||||
#define LED1 PB5
|
||||
#define LED0 PB9
|
||||
#define LED1 PB5
|
||||
|
||||
#define BEEPER PA0
|
||||
#define BEEPER PA0
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 9
|
||||
|
||||
// MPU6000 interrupts
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PA15
|
||||
#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 GYRO_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define MPU6000_CS_GPIO GPIOB
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_INSTANCE SPI2
|
||||
#define ACC
|
||||
#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_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define UART1_TX_PIN PB6 // PB6
|
||||
#define UART1_RX_PIN PB7 // PB7
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
#define UART2_TX_PIN PB3 // PB3
|
||||
#define UART2_RX_PIN PB4 // PB4
|
||||
#define UART2_TX_PIN PB3
|
||||
#define UART2_RX_PIN PB4
|
||||
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
#define UART3_TX_PIN PB10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN PB11 // PB11 (AF7)
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define SENSORS_SET (SENSOR_ACC)
|
||||
#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 CURRENT_METER_ADC_PIN PA2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define CURRENT_METER_ADC_PIN PA2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define LED_STRIP
|
||||
#if 1
|
||||
|
|
@ -124,16 +124,17 @@
|
|||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3, PB11
|
||||
#define BIND_PIN 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))
|
||||
#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 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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
|
||||
|
|
|
|||
|
|
@ -19,36 +19,36 @@
|
|||
|
||||
#define TARGET_BOARD_IDENTIFIER "103R"
|
||||
|
||||
#define LED0 PB3 // PB3 (LED)
|
||||
#define LED1 PB4 // PB4 (LED)
|
||||
#define LED2 PD2 // PD2 (LED) - Labelled LED4
|
||||
#define LED0 PB3
|
||||
#define LED1 PB4
|
||||
#define LED2 PD2 // PD2 (LED) - Labelled LED4
|
||||
|
||||
#define BEEPER PA12 // PA12 (Beeper)
|
||||
#define BEEPER PA12 // PA12 (Beeper)
|
||||
|
||||
#define BARO_XCLR_GPIO GPIOC
|
||||
#define BARO_XCLR_PIN PC13
|
||||
#define BARO_EOC_GPIO GPIOC
|
||||
#define BARO_EOC_PIN PC14
|
||||
#define BARO_APB2_PERIPHERALS RCC_APB2Periph_GPIOC
|
||||
#define BARO_XCLR_GPIO GPIOC
|
||||
#define BARO_XCLR_PIN PC13
|
||||
#define BARO_EOC_GPIO GPIOC
|
||||
#define BARO_EOC_PIN PC14
|
||||
#define BARO_APB2_PERIPHERALS RCC_APB2Periph_GPIOC
|
||||
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define PORT103R_SPI_INSTANCE SPI2
|
||||
#define PORT103R_SPI_CS_PIN PB12
|
||||
#define PORT103R_SPI_INSTANCE SPI2
|
||||
#define PORT103R_SPI_CS_PIN PB12
|
||||
|
||||
// We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
|
||||
#define M25P16_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define M25P16_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
#define M25P16_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define M25P16_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
|
||||
#define MPU6000_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define MPU6000_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
#define MPU6000_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define MPU6000_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
|
||||
#define MPU6500_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define MPU6500_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
#define MPU6500_CS_PIN PORT103R_SPI_CS_PIN
|
||||
#define MPU6500_SPI_INSTANCE PORT103R_SPI_INSTANCE
|
||||
|
||||
#define GYRO
|
||||
#define USE_FAKE_GYRO
|
||||
|
|
@ -93,37 +93,35 @@
|
|||
#define USE_UART2
|
||||
#define USE_SOFTSERIAL1
|
||||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
|
||||
#define SOFTSERIAL_2_TIMER TIM3
|
||||
#define SOFTSERIAL_2_TIMER TIM3
|
||||
#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
|
||||
#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
// #define SOFT_I2C // enable to test software i2c
|
||||
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
|
||||
// #define SOFT_I2C_PB67
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - stm32f103RCT6 in 64pin package
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
|
||||
|
||||
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show more
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Add table
Add a link
Reference in a new issue