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Merge pull request #1227 from mmiers/local3.0.0

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XRacerSPI
This commit is contained in:
borisbstyle 2016-10-02 01:01:25 +02:00 • committed by GitHub
commit 63e6182ee5
5 changed files with 48 additions and 32 deletions
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22
src/main/drivers/pwm_mapping.c
View file

@ -229,6 +229,23 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
type = MAP_TO_SERVO_OUTPUT; type = MAP_TO_SERVO_OUTPUT;
#endif #endif
#if defined(X_RACERSPI)
// skip UART2 ports when necessary
if (init->useUART2) {
// this board maps UART2 and PWM13,PWM14 to the same pins
if (timerIndex == PWM13 || timerIndex == PWM14)
continue;
// remap PWM5+6 as servos when using UART2 .. except if softserial1, but that's caught above
if ((timerIndex == PWM5 || timerIndex == PWM6) && timerHardwarePtr->tim == TIM3)
type = MAP_TO_SERVO_OUTPUT;
} else {
// remap PWM13+14 as servos
if ((timerIndex == PWM13 || timerIndex == PWM14) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3MINI) || defined(OMNIBUS) #if defined(SPRACINGF3MINI) || defined(OMNIBUS)
// remap PWM6+7 as servos // remap PWM6+7 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15) if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
@ -286,7 +303,12 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
// remap PWM5..8 as servos when used in extended servo mode // remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8) if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT; type = MAP_TO_SERVO_OUTPUT;
#elif defined(X_RACERSPI)
// remap PWM3..6 as servos when used in extended servo mode
if (timerIndex >= PWM3 && timerIndex <= PWM6)
type = MAP_TO_SERVO_OUTPUT;
#endif #endif
} }
#endif // USE_SERVOS #endif // USE_SERVOS

3
src/main/main.c
View file

@ -263,6 +263,7 @@ void init(void)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2); pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif #endif
#ifdef STM32F303xC #ifdef STM32F303xC
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3); pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
#endif #endif
#if defined(USE_UART2) && defined(STM32F40_41xxx) #if defined(USE_UART2) && defined(STM32F40_41xxx)
@ -396,7 +397,7 @@ void init(void)
} }
#endif #endif
#if defined(SPRACINGF3MINI) || defined(OMNIBUS) #if defined(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
#if defined(SONAR) && defined(USE_SOFTSERIAL1) #if defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1); serialRemovePort(SERIAL_PORT_SOFTSERIAL1);

52
src/main/target/X_RACERSPI/target.c
View file

@ -9,18 +9,18 @@
const uint16_t multiPPM[] = { const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF 0xFFFF
}; };
@ -31,33 +31,31 @@ const uint16_t multiPWM[] = {
PWM4 | (MAP_TO_PWM_INPUT << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (MAP_TO_PWM_INPUT << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (MAP_TO_PWM_INPUT << 8), PWM6 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (MAP_TO_PWM_INPUT << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_PWM_INPUT << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF 0xFFFF
}; };
const uint16_t airPPM[] = { const uint16_t airPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
PWM15 | (MAP_TO_SERVO_OUTPUT << 8), PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM16 | (MAP_TO_SERVO_OUTPUT << 8), PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (MAP_TO_SERVO_OUTPUT << 8), PWM6 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
0xFFFF 0xFFFF
}; };
@ -67,17 +65,15 @@ const uint16_t airPWM[] = {
PWM3 | (MAP_TO_PWM_INPUT << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (MAP_TO_PWM_INPUT << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (MAP_TO_PWM_INPUT << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (MAP_TO_PWM_INPUT << 8), PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
PWM7 | (MAP_TO_PWM_INPUT << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6
0xFFFF 0xFFFF
}; };
@ -86,10 +82,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7) { TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7) { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
{ TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4 - *TIM3_CH1 { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5 - *TIM3_CH2 { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
{ TIM16, IO_TAG(PA6), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1 { TIM16, IO_TAG(PA6), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
{ TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1 { TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1

2
src/main/target/X_RACERSPI/target.h
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@ -26,7 +26,7 @@
#define BEEPER PC15 #define BEEPER PC15
#define BEEPER_INVERTED #define BEEPER_INVERTED
#define USABLE_TIMER_CHANNEL_COUNT 17 #define USABLE_TIMER_CHANNEL_COUNT 15
#define USE_MAG_DATA_READY_SIGNAL #define USE_MAG_DATA_READY_SIGNAL
#define ENSURE_MAG_DATA_READY_IS_HIGH #define ENSURE_MAG_DATA_READY_IS_HIGH

1
src/main/target/X_RACERSPI/target.mk
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@ -1,6 +1,5 @@
F3_TARGETS += $(TARGET) F3_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH FEATURES = ONBOARDFLASH
TARGET_FLAGS = -DSPRACINGF3
TARGET_SRC = \ TARGET_SRC = \
drivers/accgyro_mpu.c \ drivers/accgyro_mpu.c \