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merge in savaga

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This commit is contained in:
nathan 2016-06-16 02:29:52 -07:00
commit b95e540217
41 changed files with 408 additions and 323 deletions
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4
Makefile
View file

@ -363,8 +363,6 @@ COMMON_SRC = \
$(TARGET_DIR_SRC) \
main.c \
mw.c \
scheduler.c \
scheduler_tasks.c \
common/encoding.c \
common/filter.c \
common/maths.c \
@ -414,6 +412,8 @@ COMMON_SRC = \
rx/sumd.c \
rx/sumh.c \
rx/xbus.c \
scheduler/scheduler.c \
scheduler/scheduler_tasks.c \
sensors/acceleration.c \
sensors/battery.c \
sensors/boardalignment.c \

1
src/main/config/config.c
View file

@ -435,6 +435,7 @@ static void resetConf(void)
#ifdef USE_RTC6705
masterConfig.vtx_channel = 19; // default to Boscam E channel 4
masterConfig.vtx_power = 1;
#endif
#ifdef BOARD_HAS_VOLTAGE_DIVIDER

6
src/main/config/config_master.h
View file

@ -125,8 +125,12 @@ typedef struct master_t {
uint8_t transponderData[6];
#endif
#ifdef OSD
#ifdef USE_RTC6705
uint8_t vtx_channel;
uint8_t vtx_power;
#endif
#ifdef OSD
osd_profile osdProfile;
#endif

10
src/main/drivers/max7456.c
View file

@ -38,13 +38,13 @@
static IO_t max7456CsPin = IO_NONE;
/** PAL or NTSC, value is number of chars total */
#define VIDEO_MODE_PIXELS_NTSC 390
#define VIDEO_MODE_PIXELS_PAL 480
#define VIDEO_BUFFER_CHARS_NTSC 390
#define VIDEO_BUFFER_CHARS_PAL 480
uint16_t max_screen_size;
uint8_t video_signal_type = 0;
uint8_t max7456_lock = 0;
char screen[VIDEO_MODE_PIXELS_PAL];
char screen[VIDEO_BUFFER_CHARS_PAL];
uint8_t max7456_send(uint8_t add, uint8_t data) {
@ -93,10 +93,10 @@ void max7456_init(uint8_t system) {
}
if (video_signal_type) { //PAL
max_screen_size = VIDEO_MODE_PIXELS_PAL;
max_screen_size = VIDEO_BUFFER_CHARS_PAL;
max_screen_rows = 16;
} else { // NTSC
max_screen_size = VIDEO_MODE_PIXELS_NTSC;
max_screen_size = VIDEO_BUFFER_CHARS_NTSC;
max_screen_rows = 13;
}

9
src/main/drivers/pwm_mapping.c
View file

@ -189,12 +189,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif
#ifdef SONAR
if (init->sonarGPIOConfig &&
if (init->sonarConfig &&
(
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) ||
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin)
)
) {
timerHardwarePtr->pin == init->sonarConfig->triggerPin ||
timerHardwarePtr->pin == init->sonarConfig->echoPin
)) {
continue;
}
#endif

13
src/main/drivers/pwm_mapping.h
View file

@ -16,7 +16,7 @@
*/
#pragma once
#include "gpio.h"
#include "timer.h"
#define MAX_PWM_MOTORS 12
@ -42,11 +42,10 @@
#define ONESHOT42_TIMER_MHZ 24
#define ONESHOT125_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
uint16_t triggerPin;
uint16_t echoPin;
} sonarGPIOConfig_t;
typedef struct sonarIOConfig_s {
ioTag_t triggerPin;
ioTag_t echoPin;
} sonarIOConfig_t;
typedef struct drv_pwm_config_s {
bool useParallelPWM;
@ -78,7 +77,7 @@ typedef struct drv_pwm_config_s {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarGPIOConfig_t *sonarGPIOConfig;
sonarIOConfig_t *sonarConfig;
} drv_pwm_config_t;
enum {

29
src/main/drivers/sonar_hcsr04.c
View file

@ -22,7 +22,6 @@
#include "build_config.h"
#include "system.h"
#include "gpio.h"
#include "nvic.h"
#include "io.h"
#include "exti.h"
@ -43,8 +42,9 @@ static uint32_t lastMeasurementAt;
static sonarHardware_t const *sonarHardware;
extiCallbackRec_t hcsr04_extiCallbackRec;
static IO_t echoIO;
//static IO_t triggerIO;
static IO_t triggerIO;
void hcsr04_extiHandler(extiCallbackRec_t* cb)
{
@ -52,7 +52,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb)
uint32_t timing_stop;
UNUSED(cb);
if (digitalIn(sonarHardware->echo_gpio, sonarHardware->echo_pin) != 0) {
if (IORead(echoIO) != 0) {
timing_start = micros();
}
else {
@ -71,32 +71,27 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware, sonarRange_t *sona
sonarRange->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
#if !defined(UNIT_TEST)
gpio_config_t gpio;
#ifdef STM32F10X
// enable AFIO for EXTI support
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
#ifdef STM32F303xC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
#if defined(STM32F3) || defined(STM32F4)
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
// trigger pin
gpio.pin = sonarHardware->trigger_pin;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(sonarHardware->trigger_gpio, &gpio);
triggerIO = IOGetByTag(sonarHardware->triggerIO);
IOInit(triggerIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
// echo pin
gpio.pin = sonarHardware->echo_pin;
gpio.mode = Mode_IN_FLOATING;
gpioInit(sonarHardware->echo_gpio, &gpio);
echoIO = IOGetByTag(sonarHardware->echoIO);
IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
#ifdef USE_EXTI
EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
@ -123,10 +118,10 @@ void hcsr04_start_reading(void)
lastMeasurementAt = now;
digitalHi(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOHi(triggerIO);
// The width of trig signal must be greater than 10us
delayMicroseconds(11);
digitalLo(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOLo(triggerIO);
#endif
}

4
src/main/drivers/sonar_hcsr04.h
View file

@ -21,10 +21,6 @@
#include "io.h"
typedef struct sonarHardware_s {
uint16_t trigger_pin;
GPIO_TypeDef* trigger_gpio;
uint16_t echo_pin;
GPIO_TypeDef* echo_gpio;
ioTag_t triggerIO;
ioTag_t echoIO;
} sonarHardware_t;

5
src/main/drivers/vtx_soft_spi_rtc6705.c
View file

@ -148,4 +148,9 @@ void rtc6705_soft_spi_set_channel(uint16_t channel_freq) {
rtc6705_write_register(0, 400);
rtc6705_write_register(1, (N << 7) | A);
}
void rtc6705_soft_spi_set_rf_power(uint8_t power) {
rtc6705_write_register(7, (power ? PA_CONTROL_DEFAULT : (PA_CONTROL_DEFAULT | PD_Q5G_MASK) & (~(PA5G_PW_MASK | PA5G_BS_MASK))));
}
#endif

12
src/main/drivers/vtx_soft_spi_rtc6705.h
View file

@ -17,9 +17,21 @@
#pragma once
#define DP_5G_MASK 0x7000
#define PA5G_BS_MASK 0x0E00
#define PA5G_PW_MASK 0x0180
#define PD_Q5G_MASK 0x0040
#define QI_5G_MASK 0x0038
#define PA_BS_MASK 0x0007
#define PA_CONTROL_DEFAULT 0x4FBD
extern char* vtx_bands[];
extern uint16_t vtx_freq[];
extern uint16_t current_vtx_channel;
void rtc6705_soft_spi_init(void);
void rtc6705_soft_spi_set_channel(uint16_t channel_freq);
void rtc6705_soft_spi_set_rf_power(uint8_t power);

4
src/main/io/display.c
View file

@ -63,9 +63,9 @@
#include "config/runtime_config.h"
#include "config/config_profile.h"
#include "display.h"
#include "io/display.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
extern profile_t *currentProfile;

4
src/main/io/osd.c
View file

@ -22,7 +22,7 @@
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
#include "common/axis.h"
#include "common/color.h"
@ -111,7 +111,6 @@
#include "drivers/vtx_soft_spi_rtc6705.h"
#endif
#include "scheduler.h"
#include "common/printf.h"
#define MICROSECONDS_IN_A_SECOND (1000 * 1000)
@ -713,6 +712,7 @@ void osdInit(void)
rtc6705_soft_spi_init();
current_vtx_channel = masterConfig.vtx_channel;
rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]);
rtc6705_soft_spi_set_rf_power(masterConfig.vtx_power);
#endif
max7456_init(masterConfig.osdProfile.system);

6
src/main/io/serial_cli.c
View file

@ -24,7 +24,6 @@
#include <ctype.h>
#include "platform.h"
#include "scheduler.h"
#include "version.h"
#include "debug.h"
@ -92,7 +91,8 @@
#include "common/printf.h"
#include "serial_cli.h"
#include "io/serial_cli.h"
#include "scheduler/scheduler.h"
// FIXME remove this for targets that don't need a CLI. Perhaps use a no-op macro when USE_CLI is not enabled
// signal that we're in cli mode
@ -302,6 +302,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
@ -805,6 +806,7 @@ const clivalue_t valueTable[] = {
#endif
#ifdef USE_RTC6705
{ "vtx_channel", VAR_INT16 | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0, 39 } },
{ "vtx_power", VAR_UINT8 | MASTER_VALUE, &masterConfig.vtx_power, .config.minmax = { 0, 1 } },
#endif
#ifdef OSD
{ "osd_system", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.system, .config.minmax = { 0, 2 } },

3
src/main/io/serial_msp.c
View file

@ -24,7 +24,6 @@
#include "build_config.h"
#include "debug.h"
#include "platform.h"
#include "scheduler.h"
#include "common/axis.h"
#include "common/color.h"
@ -64,6 +63,8 @@
#include "telemetry/telemetry.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"

17
src/main/main.c
View file

@ -22,8 +22,6 @@
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
@ -78,6 +76,8 @@
#include "io/osd.h"
#include "io/vtx.h"
#include "scheduler/scheduler.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/barometer.h"
@ -267,12 +267,11 @@ void init(void)
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.gpio = SONAR_GPIO,
.triggerPin = sonarHardware->echo_pin,
.echoPin = sonarHardware->trigger_pin,
sonarIOConfig_t sonarConfig = {
.triggerPin = sonarHardware->triggerIO,
.echoPin = sonarHardware->echoIO
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
pwm_params.sonarConfig = &sonarConfig;
}
#endif
@ -354,10 +353,6 @@ void init(void)
.isInverted = false
#endif
};
#ifdef AFROMINI
beeperConfig.isOD = true;
beeperConfig.isInverted = true;
#endif
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.

7
src/main/mw.c
View file

@ -21,7 +21,6 @@
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "debug.h"
#include "common/maths.h"
@ -88,6 +87,9 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#include "scheduler/scheduler.h"
#include "scheduler/scheduler_tasks.h"
// June 2013 V2.2-dev
enum {
@ -841,8 +843,9 @@ void taskUpdateBattery(void)
}
}
bool taskUpdateRxCheck(void)
bool taskUpdateRxCheck(uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
updateRx(currentTime);
return shouldProcessRx(currentTime);
}

4
src/main/scheduler.c → src/main/scheduler/scheduler.c
View file

@ -23,10 +23,12 @@
#include "platform.h"
#include "scheduler.h"
#include "debug.h"
#include "build_config.h"
#include "scheduler/scheduler.h"
#include "scheduler/scheduler_tasks.h"
#include "common/maths.h"
#include "drivers/system.h"

0
src/main/scheduler.h → src/main/scheduler/scheduler.h
View file

28
src/main/scheduler_tasks.c → src/main/scheduler/scheduler_tasks.c
View file

@ -20,33 +20,9 @@
#include <stdint.h>
#include <platform.h>
#include "scheduler.h"
void taskSystem(void);
void taskMainPidLoopCheck(void);
void taskUpdateAccelerometer(void);
void taskUpdateAttitude(void);
bool taskUpdateRxCheck(uint32_t currentDeltaTime);
void taskUpdateRxMain(void);
void taskHandleSerial(void);
void taskUpdateBattery(void);
void taskUpdateBeeper(void);
void taskProcessGPS(void);
void taskUpdateCompass(void);
void taskUpdateBaro(void);
void taskUpdateSonar(void);
void taskCalculateAltitude(void);
void taskUpdateDisplay(void);
void taskTelemetry(void);
void taskLedStrip(void);
void taskTransponder(void);
#ifdef OSD
void taskUpdateOsd(void);
#endif
#ifdef USE_BST
void taskBstReadWrite(void);
void taskBstMasterProcess(void);
#endif
#include "scheduler/scheduler.h"
#include "scheduler/scheduler_tasks.h"
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {

45
src/main/scheduler/scheduler_tasks.h Normal file
View file

@ -0,0 +1,45 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
void taskSystem(void);
void taskMainPidLoopCheck(void);
void taskUpdateAccelerometer(void);
void taskUpdateAttitude(void);
bool taskUpdateRxCheck(uint32_t currentDeltaTime);
void taskUpdateRxMain(void);
void taskHandleSerial(void);
void taskUpdateBattery(void);
void taskUpdateBeeper(void);
void taskProcessGPS(void);
void taskUpdateCompass(void);
void taskUpdateBaro(void);
void taskUpdateSonar(void);
void taskCalculateAltitude(void);
void taskUpdateDisplay(void);
void taskTelemetry(void);
void taskLedStrip(void);
void taskTransponder(void);
#ifdef OSD
void taskUpdateOsd(void);
#endif
#ifdef USE_BST
void taskBstReadWrite(void);
void taskBstMasterProcess(void);
#endif

2
src/main/sensors/barometer.c
View file

@ -20,8 +20,6 @@
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "common/maths.h"
#include "drivers/barometer.h"

78
src/main/sensors/sonar.c
View file

@ -26,7 +26,7 @@
#include "common/axis.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
@ -48,79 +48,21 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude;
#ifdef SONAR_CUSTOM_CONFIG
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig);
#endif
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
static const sonarHardware_t const sonarPWM56 = {
.trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant
.trigger_gpio = GPIOB,
.echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
#elif defined(OLIMEXINO)
#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(CC3D)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_5, // (PB5)
.trigger_gpio = GPIOB,
.echo_pin = Pin_0, // (PB0) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB5),
.echoIO = IO_TAG(PB0),
};
return &sonarHardware;
// TODO - move sonar pin selection to CLI
#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3) || defined(RMDO) || defined(OMNIBUS)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(SPARKY)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_2, // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOA,
.echo_pin = Pin_1, // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PA2),
.echoIO = IO_TAG(PB1),
.triggerIO = IO_TAG(SONAR_TRIGGER_PIN),
.echoIO = IO_TAG(SONAR_ECHO_PIN),
};
return &sonarHardware;
#elif defined(SONAR_CUSTOM_CONFIG)
return sonarGetTargetHardwareConfiguration(batteryConfig);
#elif defined(UNIT_TEST)
UNUSED(batteryConfig);
return 0;

3
src/main/target/CC3D/target.h
View file

@ -118,6 +118,9 @@
#define DISPLAY
#define SONAR
#define SONAR_ECHO_PIN PB0
#define SONAR_TRIGGER_PIN PB5
#undef GPS
#undef BARO

28
src/main/target/EUSTM32F103RC/sonar_config.c Normal file
View file

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/EUSTM32F103RC/target.h
View file

@ -69,6 +69,8 @@
#define MAG_AK8975_ALIGN CW180_DEG_FLIP
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

3
src/main/target/FURYF3/target.h
View file

@ -184,6 +184,9 @@
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES FEATURE_BLACKBOX

1
src/main/target/NAZE/AFROMINI.mk Normal file
View file

@ -0,0 +1 @@
# AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5

28
src/main/target/NAZE/sonar_config.c Normal file
View file

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

4
src/main/target/NAZE/target.h
View file

@ -26,6 +26,9 @@
#define LED1 PB4 // PB4 (LED)
#define BEEPER PA12 // PA12 (Beeper)
#ifdef AFROMINI
#define BEEPER_INVERTED
#endif
#define BARO_XCLR_PIN PC13
#define BARO_EOC_PIN PC14
@ -108,6 +111,7 @@
#define MAG_HMC5883_ALIGN CW180_DEG
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/OLIMEXINO/target.h
View file

@ -59,6 +59,8 @@
#define USE_MAG_HMC5883
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

28
src/main/target/PORT103R/sonar_config.c Normal file
View file

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/PORT103R/target.h
View file

@ -87,6 +87,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/RMDO/target.h
View file

@ -52,6 +52,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

12
src/main/target/SIRINFPV/target.c
View file

@ -49,13 +49,13 @@ const uint16_t airPWM[] = {
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2, 0}, // PWM1 - PB6
{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2, 0}, // PWM2 - PB6
{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2, 0}, // PWM3 - PB8
{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2, 0}, // PWM4 - PB9
{ TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM1 - PB6
{ TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM2 - PB6
{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM3 - PB8
{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM4 - PB9
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2, 0}, // PWM5 - PB0 - *TIM3_CH3
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2, 0}, // PWM6 - PB1 - *TIM3_CH4
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM5 - PB0 - *TIM3_CH3
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM6 - PB1 - *TIM3_CH4
};

3
src/main/target/SPARKY/target.h
View file

@ -156,6 +156,9 @@
// USART2, PA3
#define BIND_PIN PA3
//#define SONAR
//#define SONAR_ECHO_PIN PB1
//#define SONAR_TRIGGER_PIN PA2
// available IO pins (from schematics)
//#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))

2
src/main/target/SPRACINGF3/target.h
View file

@ -61,6 +61,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

2
src/main/target/SPRACINGF3MINI/target.h
View file

@ -64,6 +64,8 @@
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USB_IO
#define USB_CABLE_DETECTION

2
src/test/unit/scheduler_unittest.cc
View file

@ -19,7 +19,7 @@
extern "C" {
#include "platform.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
}
#include "unittest_macros.h"