Add NUCLEOF103RG target (#8929)

Add NUCLEOF103RG target

make/targets_list.mk

@@ -75,6 +75,7 @@ UNSUPPORTED_TARGETS := \
     MIDELICF3 \
     MOTOLAB \
     MULTIFLITEPICO \
+    NUCLEOF103RG \
     OMNIBUS \
     RACEBASE \
     RCEXPLORERF3 \

src/link/stm32_flash_f103_1024k.ld

@@ -0,0 +1,25 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_1m.ld
+**
+**  Abstract    : Linker script for STM32F103RG Device with
+**                1MByte FLASH, 96KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Specify the memory areas. */
+MEMORY
+{
+    FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 1020K
+    FLASH_CONFIG (r)  : ORIGIN = 0x0803F000, LENGTH = 4K
+
+    RAM (xrw)         : ORIGIN = 0x20000000, LENGTH = 96K
+    MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+REGION_ALIAS("STACKRAM", RAM)
+REGION_ALIAS("FASTRAM", RAM)
+
+INCLUDE "stm32_flash.ld"

src/main/target/NUCLEOF103RG/README.txt

@@ -0,0 +1,21 @@
+NUCLEOF103RG is a target for Nucleo-F103RG (Nucleo-F103RB transplanted with STM32F103RG which has 1MB of FLASH).
+Such hardware with this target comes in handy when a firmware that doesn't fit in smaller FLASH variant when compiled with DEBUG option must be debugged with a debugger.
+
+The target definition files are straight copy of NAZE, except LED0_PIN has been redefined to use Nucleo's LD2 (User LED).
+
+It is also easy to convert exisiting F1 targets to be built to run on the Nucleo-F103RG board:
+
+- Add
+    #define FLASH_PAGE_SIZE 0x800
+    to target.h
+
+- Also add
+#undef USE_DSHOT
+#undef USE_LED_STRIP
+#undef USE_TRANSPONDER
+#undef USE_CAMERA_CONTROL
+    to target.h to avoid non-F1 compatible code from getting in.
+
+- Add
+FLASH_SIZE  = 1024
+    to target.mk

src/main/target/NUCLEOF103RG/config.c

@@ -0,0 +1,79 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_TARGET_CONFIG
+
+#include "common/axis.h"
+#include "common/utils.h"
+
+#include "drivers/io.h"
+
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+#include "fc/controlrate_profile.h"
+
+#include "flight/failsafe.h"
+#include "flight/pid.h"
+
+#include "pg/rx.h"
+
+#include "rx/rx.h"
+
+#include "sensors/acceleration.h"
+#include "sensors/compass.h"
+#include "sensors/gyro.h"
+
+#include "pg/beeper_dev.h"
+#include "pg/flash.h"
+#include "pg/motor.h"
+
+#include "hardware_revision.h"
+
+void targetConfiguration(void)
+{
+    if (hardwareRevision >= NAZE32_REV5) {
+        // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
+        beeperDevConfigMutable()->isOpenDrain = false;
+        beeperDevConfigMutable()->isInverted = true;
+    } else {
+        beeperDevConfigMutable()->isOpenDrain = true;
+        beeperDevConfigMutable()->isInverted = false;
+        flashConfigMutable()->csTag = IO_TAG_NONE;
+    }
+
+#ifdef MAG_INT_EXTI
+    if (hardwareRevision < NAZE32_REV5) {
+        compassConfigMutable()->interruptTag = IO_TAG(PB12);
+    }
+#endif
+}
+
+void targetValidateConfiguration(void)
+{
+    if (hardwareRevision < NAZE32_REV5 && accelerometerConfig()->acc_hardware == ACC_ADXL345) {
+        accelerometerConfigMutable()->acc_hardware = ACC_NONE;
+    }
+}
+#endif

src/main/target/NUCLEOF103RG/hardware_revision.c

@@ -0,0 +1,123 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_mpu6500.h"
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+#include "drivers/time.h"
+#include "drivers/system.h"
+
+#include "hardware_revision.h"
+
+uint8_t hardwareRevision = UNKNOWN;
+
+void detectHardwareRevision(void)
+{
+    if (hse_value == 8000000)
+        hardwareRevision = NAZE32;
+    else if (hse_value == 12000000)
+        hardwareRevision = NAZE32_REV5;
+}
+
+#ifdef USE_SPI
+
+#define DISABLE_SPI_CS       IOHi(nazeSpiCsPin)
+#define ENABLE_SPI_CS        IOLo(nazeSpiCsPin)
+
+#define SPI_DEVICE_NONE (0)
+#define SPI_DEVICE_FLASH (1)
+#define SPI_DEVICE_MPU (2)
+
+#define M25P16_INSTRUCTION_RDID 0x9F
+#define FLASH_M25P16_ID (0x202015)
+
+static IO_t nazeSpiCsPin = IO_NONE;
+
+uint8_t detectSpiDevice(void)
+{
+#ifdef NAZE_SPI_CS_PIN
+    nazeSpiCsPin = IOGetByTag(IO_TAG(NAZE_SPI_CS_PIN));
+#endif
+
+    const uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0 };
+    uint8_t in[4];
+    uint32_t flash_id;
+
+    // try autodetect flash chip
+    delay(50); // short delay required after initialisation of SPI device instance.
+    ENABLE_SPI_CS;
+    spiTransfer(NAZE_SPI_INSTANCE, out, in, sizeof(out));
+    DISABLE_SPI_CS;
+
+    flash_id = in[1] << 16 | in[2] << 8 | in[3];
+    if (flash_id == FLASH_M25P16_ID)
+        return SPI_DEVICE_FLASH;
+
+
+    // try autodetect MPU
+    delay(50);
+    ENABLE_SPI_CS;
+    spiTransferByte(NAZE_SPI_INSTANCE, MPU_RA_WHO_AM_I | MPU6500_BIT_RESET);
+    in[0] = spiTransferByte(NAZE_SPI_INSTANCE, 0xff);
+    DISABLE_SPI_CS;
+
+    if (in[0] == MPU6500_WHO_AM_I_CONST)
+        return SPI_DEVICE_MPU;
+
+    return SPI_DEVICE_NONE;
+}
+
+#endif
+
+void updateHardwareRevision(void)
+{
+#ifdef USE_SPI
+    uint8_t detectedSpiDevice = detectSpiDevice();
+
+    if (detectedSpiDevice == SPI_DEVICE_MPU && hardwareRevision == NAZE32_REV5)
+        hardwareRevision = NAZE32_SP;
+#endif
+}
+
+ioTag_t selectMPUIntExtiConfigByHardwareRevision(void)
+{
+
+#ifdef AFROMINI
+    return IO_TAG(PC13);
+#else
+    if (hardwareRevision < NAZE32_REV5) {
+        // MPU_INT output on rev4 PB13
+        return IO_TAG(PB13);
+    } else {
+        // MPU_INT output on rev5 PC13
+        return IO_TAG(PC13);
+    }
+#endif
+}

src/main/target/NUCLEOF103RG/hardware_revision.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef enum nazeHardwareRevision_t {
+    UNKNOWN = 0,
+    NAZE32, // Naze32 and compatible with 8MHz HSE
+    NAZE32_REV5, // Naze32 and compatible with 12MHz HSE
+    NAZE32_SP // Naze32 w/Sensor Platforms
+} nazeHardwareRevision_e;
+
+extern uint8_t hardwareRevision;
+
+void updateHardwareRevision(void);
+void detectHardwareRevision(void);
+
+void spiBusInit(void);
+
+ioTag_t selectMPUIntExtiConfigByHardwareRevision(void);

src/main/target/NUCLEOF103RG/initialisation.c

@@ -0,0 +1,62 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+
+#include "hardware_revision.h"
+
+#include "io/serial.h"
+
+#include "pg/bus_i2c.h"
+#include "pg/bus_spi.h"
+
+#include "sensors/initialisation.h"
+
+void targetBusInit(void)
+{
+#ifdef USE_SPI
+    spiPinConfigure(spiPinConfig(0));
+    sensorsPreInit();
+    spiPreinit();
+#ifdef USE_SPI_DEVICE_2
+    spiInit(SPIDEV_2);
+#endif
+#endif
+
+    if (hardwareRevision == NAZE32_SP) {
+        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
+
+        if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
+            serialRemovePort(SERIAL_PORT_USART3);
+            i2cHardwareConfigure(i2cConfig(0));
+            i2cInit(I2C_DEVICE);
+        }
+    } else {
+        i2cHardwareConfigure(i2cConfig(0));
+        i2cInit(I2C_DEVICE);
+    }
+}

src/main/target/NUCLEOF103RG/target.c

@@ -0,0 +1,45 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2, CH1, PA0,  TIM_USE_PPM | TIM_USE_PWM, 0), // PWM1 - RC1
+    DEF_TIM(TIM2, CH2, PA1,  TIM_USE_PWM,               0), // PWM2 - RC2
+    DEF_TIM(TIM2, CH3, PA2,  TIM_USE_PWM,               0), // PWM3 - RC3
+    DEF_TIM(TIM2, CH4, PA3,  TIM_USE_PWM,               0), // PWM4 - RC4
+    DEF_TIM(TIM3, CH1, PA6,  TIM_USE_PWM | TIM_USE_LED, 0), // PWM5 - RC5
+    DEF_TIM(TIM3, CH2, PA7,  TIM_USE_PWM,               0), // PWM6 - RC6
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,               0), // PWM7 - RC7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,               0), // PWM8 - RC8
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MOTOR,             0), // PWM9 - OUT1
+    DEF_TIM(TIM1, CH4, PA11, TIM_USE_MOTOR,             0), // PWM10 - OUT2
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MOTOR,             0), // PWM11 - OUT3
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MOTOR,             0), // PWM12 - OUT4
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR,             0), // PWM13 - OUT5
+    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR,             0), // PWM14 - OUT6
+};

src/main/target/NUCLEOF103RG/target.h

@@ -0,0 +1,160 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// XL chips has 0x800 page size
+#define FLASH_PAGE_SIZE 0x800
+
+// Limit some options that are not generally available for F1 targets to avoid non-F1 compatible code to get in
+#undef USE_DSHOT
+#undef USE_LED_STRIP
+#undef USE_TRANSPONDER
+#undef USE_CAMERA_CONTROL
+
+#define TARGET_BOARD_IDENTIFIER "N1RG"
+
+#define USE_TELEMETRY_IBUS
+
+#define USE_TARGET_CONFIG
+#define TARGET_VALIDATECONFIG
+#define USE_HARDWARE_REVISION_DETECTION
+#define TARGET_BUS_INIT
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+
+//#define LED0_PIN                PB3
+#define LED0_PIN                PA5
+//#define LED1_PIN                PB4
+
+#define USE_BEEPER
+#define BEEPER_PIN              PA12
+
+//#define BARO_XCLR_PIN           PC13
+//#define BARO_EOC_PIN            PC14
+
+#define INVERTER_PIN_UART2        PB2 // PB2 (BOOT1) abused as inverter select GPIO
+
+#define USE_RX_MSP
+
+#define USE_EXTI
+#define MAG_INT_EXTI            PC14
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN         PC13
+//#define MMA8451_INT_PIN         PA5
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define USE_MAG_DATA_READY_SIGNAL
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2
+
+#define NAZE_SPI_INSTANCE       SPI2
+#define NAZE_SPI_CS_PIN         PB12
+
+// We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
+#define FLASH_CS_PIN            NAZE_SPI_CS_PIN
+#define FLASH_SPI_INSTANCE      NAZE_SPI_INSTANCE
+
+#define GYRO_1_CS_PIN           NAZE_SPI_CS_PIN
+#define GYRO_1_SPI_INSTANCE     NAZE_SPI_INSTANCE
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_GYRO
+#define USE_FAKE_GYRO
+#define USE_GYRO_MPU3050
+#define USE_GYRO_MPU6050
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+
+#define GYRO_1_ALIGN            CW0_DEG
+
+#define USE_ACC
+#define USE_FAKE_ACC
+//#define USE_ACC_ADXL345
+//#define USE_ACC_BMA280
+//#define USE_ACC_MMA8452
+#define USE_ACC_MPU6050
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+
+//#define ACC_ADXL345_ALIGN       CW270_DEG
+//#define ACC_MMA8452_ALIGN       CW90_DEG
+//#define ACC_BMA280_ALIGN        CW0_DEG
+
+#define USE_BARO
+#define USE_BARO_MS5611 // needed for Flip32 board
+#define USE_BARO_BMP280
+
+/*
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW180_DEG
+*/
+
+//#define USE_RANGEFINDER
+//#define USE_RANGEFINDER_HCSR04
+//#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
+//#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
+//#define RANGEFINDER_HCSR04_TRIGGER_PIN_PWM   PB8
+//#define RANGEFINDER_HCSR04_ECHO_PIN_PWM      PB9
+
+#define USE_UART1
+#define USE_UART2
+/* only 2 uarts available on the NAZE, add ifdef here if present on other boards */
+//#define USE_UART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT       4
+
+#define SOFTSERIAL1_RX_PIN      PA6 // PWM 5
+#define SOFTSERIAL1_TX_PIN      PA7 // PWM 6
+
+#define SOFTSERIAL2_RX_PIN      PB0 // PWM 7
+#define SOFTSERIAL2_TX_PIN      PB1 // PWM 8
+
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_I2C
+#define USE_I2C_DEVICE_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 DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+
+// 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 USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )

src/main/target/NUCLEOF103RG/target.mk

@@ -0,0 +1,15 @@
+F1_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH
+FLASH_SIZE  = 1024
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_fake.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu3050.c \
+            drivers/accgyro/accgyro_mpu6050.c \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_hmc5883l.c