From 5a493ff6a0a31f4e38e8ad2bf734d61dcfd1f2a5 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 31 Jul 2016 15:42:03 +1000 Subject: [PATCH 1/2] AIRHEROF3 from MultiWiiCopter basic support RC4 fix, LEDSTRIP enable OUT2 Fix Features Alignment fix Add BMP280 baro on SPI bus --- Makefile | 4 + src/main/target/AIRHEROF3/target.c | 106 +++++++++++++++++++++++++ src/main/target/AIRHEROF3/target.h | 115 ++++++++++++++++++++++++++++ src/main/target/AIRHEROF3/target.mk | 12 +++ src/main/target/system_stm32f30x.c | 8 +- 5 files changed, 244 insertions(+), 1 deletion(-) create mode 100755 src/main/target/AIRHEROF3/target.c create mode 100755 src/main/target/AIRHEROF3/target.h create mode 100755 src/main/target/AIRHEROF3/target.mk diff --git a/Makefile b/Makefile index 777c04026d..31485f26a5 100644 --- a/Makefile +++ b/Makefile @@ -329,6 +329,10 @@ ifneq ($(FLASH_SIZE),) DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE) endif +ifneq ($(HSE_VALUE),) +DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE) +endif + TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET) TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c)) diff --git a/src/main/target/AIRHEROF3/target.c b/src/main/target/AIRHEROF3/target.c new file mode 100755 index 0000000000..08ff2bcbce --- /dev/null +++ b/src/main/target/AIRHEROF3/target.c @@ -0,0 +1,106 @@ +/* + * 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 . + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM4 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (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 +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + 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), + PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8 + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM4 | (MAP_TO_PPM_INPUT << 8), // PPM input + 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), + PWM13 | (MAP_TO_SERVO_OUTPUT << 8), + PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5 + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + PWM7 | (MAP_TO_SERVO_OUTPUT << 8), + PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8 + 0xFFFF +}; + +const uint16_t airPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + 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), + PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8 + 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), + PWM13 | (MAP_TO_SERVO_OUTPUT << 8), + PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1}, // PWM1 - RC1 + { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1}, // PWM2 - RC2 + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1}, // PWM3 - RC3 + { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1}, // PWM4 - RC4 + { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2}, // PWM5 - RC5 + { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2}, // PWM6 - RC6 + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2}, // PWM7 - RC7 + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2}, // PWM8 - RC8 + + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6}, // PWM9 - OUT1 + { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_11}, // PWM10 - OUT2 + { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2}, // PWM11 - OUT3 + { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2}, // PWM12 - OUT4 + { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2}, // PWM13 - OUT5 + { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2} // PWM14 - OUT6 +}; diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h new file mode 100755 index 0000000000..e4fa195c05 --- /dev/null +++ b/src/main/target/AIRHEROF3/target.h @@ -0,0 +1,115 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "AIR3" + +#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT +#define CONFIG_PREFER_ACC_ON + +#define LED0 PB3 +#define LED1 PB4 + +#define BEEPER PA12 +#define BEEPER_INVERTED + +#define USE_EXTI +#define MPU_INT_EXTI PC13 +#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU INT +#define USE_MPU_DATA_READY_SIGNAL +#define ENSURE_MPU_DATA_READY_IS_LOW + +#define USE_SPI +#define USE_SPI_DEVICE_2 + +#define MPU6500_CS_PIN PB12 +#define MPU6500_SPI_INSTANCE SPI2 + +#define GYRO +#define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW0_DEG + +#define ACC +#define USE_ACC_SPI_MPU6500 +#define ACC_MPU6500_ALIGN CW0_DEG + +#define BARO +#define USE_BARO_SPI_BMP280 + +#define BMP280_SPI_INSTANCE SPI2 +#define BMP280_CS_PIN PB5 + +#define USE_UART1 +#define USE_UART2 +#define USE_UART3 +#define USE_SOFTSERIAL1 +#define USE_SOFTSERIAL2 +#define SERIAL_PORT_COUNT 5 + +#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_RX_HARDWARE 6 // PWM 7 +#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8 + +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#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 BOARD_HAS_VOLTAGE_DIVIDER +#define USE_ADC +#define CURRENT_METER_ADC_PIN PB1 +#define VBAT_ADC_PIN PA4 +#define RSSI_ADC_PIN PA1 + +#define LED_STRIP +#define WS2811_TIMER TIM3 +#define WS2811_PIN PA6 +#define WS2811_DMA_CHANNEL DMA1_Channel6 +#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER + +#define GPS + +#define DEFAULT_FEATURES FEATURE_VBAT +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART2 +#define TARGET_CONFIG +#define RX_CHANNELS_TAER + +#define SPEKTRUM_BIND +// USART3, +#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 USABLE_TIMER_CHANNEL_COUNT 14 +#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) ) diff --git a/src/main/target/AIRHEROF3/target.mk b/src/main/target/AIRHEROF3/target.mk new file mode 100755 index 0000000000..372f7bf799 --- /dev/null +++ b/src/main/target/AIRHEROF3/target.mk @@ -0,0 +1,12 @@ +F3_TARGETS += $(TARGET) +HSE_VALUE = 12000000 + +TARGET_SRC = \ + drivers/accgyro_mpu.c \ + drivers/accgyro_mpu6500.c \ + drivers/accgyro_spi_mpu6500.c \ + drivers/barometer_spi_bmp280.c \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f30x.c \ + drivers/sonar_hcsr04.c \ + drivers/serial_softserial.c diff --git a/src/main/target/system_stm32f30x.c b/src/main/target/system_stm32f30x.c index 5d62e47aa3..f6bb082a97 100644 --- a/src/main/target/system_stm32f30x.c +++ b/src/main/target/system_stm32f30x.c @@ -331,7 +331,13 @@ void SetSysClock(void) /* PLL configuration */ RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); - RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9); + + if (HSE_VALUE == 12000000) { + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL6); + } + else { + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9); + } /* Enable PLL */ RCC->CR |= RCC_CR_PLLON; From 0a33960258bb4e01f988b19caa4e6cac3fa344dc Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 10 Aug 2016 16:19:44 +1000 Subject: [PATCH 2/2] Remove target config --- src/main/target/AIRHEROF3/target.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h index e4fa195c05..a578be44ec 100755 --- a/src/main/target/AIRHEROF3/target.h +++ b/src/main/target/AIRHEROF3/target.h @@ -96,7 +96,6 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_UART SERIAL_PORT_USART2 -#define TARGET_CONFIG #define RX_CHANNELS_TAER #define SPEKTRUM_BIND