From adb60520540f330a133dfab03042fe1db08582db Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 9 Jun 2016 23:23:22 +0100 Subject: [PATCH] Started moving F3 PWM and timers into target.c --- src/main/drivers/pwm_mapping.c | 376 -------------------------- src/main/drivers/pwm_mapping.h | 7 + src/main/drivers/timer.c | 126 +-------- src/main/target/CC3D/target.c | 144 ++++++++++ src/main/target/CC3D/target.h | 5 + src/main/target/CJMCU/target.c | 55 ++++ src/main/target/CJMCU/target.h | 6 + src/main/target/COLIBRI_RACE/target.h | 3 - src/main/target/DOGE/target.c | 74 +++++ src/main/target/DOGE/target.h | 29 +- src/main/target/MOTOLAB/target.c | 56 ++++ src/main/target/MOTOLAB/target.h | 19 +- src/main/target/SINGULARITY/target.c | 77 ++++++ src/main/target/SINGULARITY/target.h | 15 +- src/main/target/SPRACINGF3/target.c | 105 +++++++ src/main/target/SPRACINGF3/target.h | 9 + 16 files changed, 586 insertions(+), 520 deletions(-) create mode 100644 src/main/target/CC3D/target.c create mode 100644 src/main/target/CJMCU/target.c create mode 100644 src/main/target/DOGE/target.c create mode 100644 src/main/target/MOTOLAB/target.c create mode 100644 src/main/target/SINGULARITY/target.c create mode 100644 src/main/target/SPRACINGF3/target.c diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index afa1e3f9a7..2e424a8aff 100755 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -136,159 +136,6 @@ const uint16_t airPWM[] = { }; #endif -#ifdef CC3D -const uint16_t multiPPM[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM5 | (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), // input #6 - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 - 0xFFFF -}; - -const uint16_t airPPM[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), - PWM11 | (MAP_TO_SERVO_OUTPUT << 8), - PWM12 | (MAP_TO_SERVO_OUTPUT << 8), - PWM2 | (MAP_TO_SERVO_OUTPUT << 8), - PWM3 | (MAP_TO_SERVO_OUTPUT << 8), - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 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), // input #6 - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 - PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 - PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 - 0xFFFF -}; -const uint16_t multiPPM_BP6[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - 0xFFFF -}; - -const uint16_t multiPWM_BP6[] = { - 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), // input #6 - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM_BP6[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), - PWM11 | (MAP_TO_SERVO_OUTPUT << 8), - PWM2 | (MAP_TO_SERVO_OUTPUT << 8), - PWM3 | (MAP_TO_SERVO_OUTPUT << 8), - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPWM_BP6[] = { - 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), // input #6 - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 - PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 - 0xFFFF -}; -#endif - -#ifdef CJMCU -const uint16_t multiPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t multiPWM[] = { - PWM1 | (MAP_TO_PWM_INPUT << 8), - PWM2 | (MAP_TO_PWM_INPUT << 8), - PWM3 | (MAP_TO_PWM_INPUT << 8), - PWM4 | (MAP_TO_PWM_INPUT << 8), - PWM9 | (MAP_TO_PWM_INPUT << 8), - PWM10 | (MAP_TO_PWM_INPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM[] = { - 0xFFFF -}; - -const uint16_t airPWM[] = { - 0xFFFF -}; -#endif #if defined(COLIBRI_RACE) || defined(LUX_RACE) const uint16_t multiPPM[] = { @@ -394,82 +241,6 @@ const uint16_t airPWM[] = { }; #endif -#ifdef SPRACINGF3 -const uint16_t multiPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input - - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM16 | (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), - 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), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM[] = { - PWM1 | (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), - PWM15 | (MAP_TO_SERVO_OUTPUT << 8), - PWM16 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - PWM6 | (MAP_TO_SERVO_OUTPUT << 8), - PWM7 | (MAP_TO_SERVO_OUTPUT << 8), - PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10 - 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), - PWM15 | (MAP_TO_SERVO_OUTPUT << 8), - PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6 - 0xFFFF -}; -#endif #ifdef SPRACINGF3EVO const uint16_t multiPPM[] = { @@ -532,100 +303,6 @@ const uint16_t airPWM[] = { }; #endif -#if defined(MOTOLAB) -const uint16_t multiPPM[] = { - PWM9 | (MAP_TO_PPM_INPUT << 8), // PPM input - - PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t multiPWM[] = { - PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM[] = { - // TODO - 0xFFFF -}; - -const uint16_t airPWM[] = { - // TODO - 0xFFFF -}; -#endif - -#if defined(SINGULARITY) -const uint16_t multiPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t multiPWM[] = { - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - PWM6 | (MAP_TO_SERVO_OUTPUT << 8), - PWM7 | (MAP_TO_SERVO_OUTPUT << 8), - PWM8 | (MAP_TO_SERVO_OUTPUT << 8), - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPWM[] = { - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - PWM6 | (MAP_TO_SERVO_OUTPUT << 8), - PWM7 | (MAP_TO_SERVO_OUTPUT << 8), - PWM8 | (MAP_TO_SERVO_OUTPUT << 8), - PWM9 | (MAP_TO_SERVO_OUTPUT << 8), - PWM10 | (MAP_TO_SERVO_OUTPUT << 8), - 0xFFFF -}; -#endif - #ifdef SPRACINGF3MINI const uint16_t multiPPM[] = { PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input @@ -687,59 +364,6 @@ const uint16_t airPWM[] = { }; #endif -#ifdef DOGE -const uint16_t multiPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t multiPWM[] = { - // prevent crashing, but do nothing - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; - -const uint16_t airPWM[] = { - // prevent crashing, but do nothing - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - 0xFFFF -}; -#endif const uint16_t * const hardwareMaps[] = { multiPWM, diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h index 9e7ae6b21c..777778ddbd 100644 --- a/src/main/drivers/pwm_mapping.h +++ b/src/main/drivers/pwm_mapping.h @@ -140,4 +140,11 @@ extern const uint16_t multiPWM[]; extern const uint16_t airPPM[]; extern const uint16_t airPWM[]; +#ifdef CC3D +extern const uint16_t multiPPM_BP6[]; +extern const uint16_t multiPWM_BP6[]; +extern const uint16_t airPPM_BP6[]; +extern const uint16_t airPWM_BP6[]; +#endif + pwmOutputConfiguration_t *pwmGetOutputConfiguration(void); diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c index 68935eb210..6e0b6a318b 100755 --- a/src/main/drivers/timer.c +++ b/src/main/drivers/timer.c @@ -42,7 +42,7 @@ TIM4 4 channels */ -#if defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R) +#if defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R) const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // PWM1 - RC1 { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // PWM2 - RC2 @@ -66,28 +66,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB) #endif -#ifdef CC3D -const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD}, // S1_IN - { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD}, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger - { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD}, // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC - { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD}, // S4_IN - Current - { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // S5_IN - Vbattery - { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // S6_IN - PPM IN - - { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S1_OUT - { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S2_OUT - { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S3_OUT - { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, GPIO_Mode_AF_PP}, // S4_OUT - { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 1, GPIO_Mode_AF_PP}, // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip - { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, GPIO_Mode_AF_PP} // S6_OUT -}; - -#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4)) - -#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) -#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB) -#endif #if defined(STM32F3DISCOVERY) && !(defined(CHEBUZZF3)) const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { @@ -141,30 +119,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #endif -#ifdef DOGE -const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource8, GPIO_AF_6}, // PWM1 - PA8 - - { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2}, // PWM2 - PB8 - { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2}, // PWM3 - PB9 - - { TIM2, GPIOA, Pin_10, TIM_Channel_4, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_10}, // PMW4 - PA10 - { TIM2, GPIOA, Pin_9, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_10}, // PWM5 - PA9 - { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // PWM6 - PA0 - { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM7 - PA1 - - { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource0, GPIO_AF_2}, // PWM8 - PB1 - { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource1, GPIO_AF_2}, // PWM9 - PB0 -}; - -#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15)) - -#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) -#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15) -#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) - -#endif - #ifdef CHEBUZZF3 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { // INPUTS CH1-8 @@ -270,37 +224,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #endif -#if defined(SPRACINGF3) -const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // RC_CH1 - PA0 - *TIM2_CH1 - { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N - // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype. - { TIM2, GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7) - { TIM2, GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7) - { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // RC_CH5 - PB4 - *TIM3_CH1 - { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource5, GPIO_AF_2}, // RC_CH6 - PB5 - *TIM3_CH2 - { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N - { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N - - { TIM16, GPIOA, Pin_6, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_1}, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1 - { TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_1}, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1 - { TIM4, GPIOA, Pin_11, TIM_Channel_1, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_10}, // PWM3 - PA11 - { TIM4, GPIOA, Pin_12, TIM_Channel_2, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_10}, // PWM4 - PA12 - { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2}, // PWM5 - PB8 - { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2}, // PWM6 - PB9 - { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // PWM7 - PA2 - { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM8 - PA3 - - { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // GPIO_TIMER / LED_STRIP -}; - -#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 TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) -#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17) -#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) - -#endif #if defined(SPRACINGF3EVO) const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { @@ -332,29 +255,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #endif -#if defined(MOTOLAB) -const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - PA4 - *TIM3_CH2 - { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM2 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1 - { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM3 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N - { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM4 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N - { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM5 - PA1 - *TIM2_CH2, TIM15_CH1N - { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_1}, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1 - { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM7 - PA3 - *TIM15_CH2, TIM2_CH4 - { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // PWM8 - PA8 - *TIM1_CH1, TIM4_ETR - - { TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource7, GPIO_AF_1}, // PPM - PA7 - *TIM17_CH1, TIM1_CH1N, TIM8_CH1 -}; - -#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17)) -#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM17) - -#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) - -#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) - -#endif - #if defined(SPRACINGF3MINI) const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { // PPM Pad @@ -391,30 +291,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #endif -#ifdef SINGULARITY -const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM2, GPIOA, Pin_15, TIM_Channel_1, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1}, // PPM/SERIAL RX - - { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource5, GPIO_AF_2}, // PWM2 - { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM3 - { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM4 - { TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_1}, // PWM5 - { TIM17, GPIOB, Pin_9, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_1}, // PWM6 - - { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // SOFTSERIAL1 RX (NC) - { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // SOFTSERIAL1 TX - - { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // LED_STRIP -}; - -#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(16) |TIM_N(17)) - -#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) -#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17) -#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) - -#endif #define USED_TIMER_COUNT BITCOUNT(USED_TIMERS) #define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4 diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c new file mode 100644 index 0000000000..29a41ef4cc --- /dev/null +++ b/src/main/target/CC3D/target.c @@ -0,0 +1,144 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM5 | (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), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), + PWM2 | (MAP_TO_SERVO_OUTPUT << 8), + PWM3 | (MAP_TO_SERVO_OUTPUT << 8), + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 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), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + 0xFFFF +}; + +const uint16_t multiPPM_BP6[] = { + PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + 0xFFFF +}; + +const uint16_t multiPWM_BP6[] = { + 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), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM_BP6[] = { + PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + PWM2 | (MAP_TO_SERVO_OUTPUT << 8), + PWM3 | (MAP_TO_SERVO_OUTPUT << 8), + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPWM_BP6[] = { + 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), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 + 0xFFFF +}; + + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD}, // S1_IN + { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD}, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD}, // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD}, // S4_IN - Current + { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // S5_IN - Vbattery + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // S6_IN - PPM IN + + { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S1_OUT + { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S2_OUT + { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, GPIO_Mode_AF_PP}, // S3_OUT + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, GPIO_Mode_AF_PP}, // S4_OUT + { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 1, GPIO_Mode_AF_PP}, // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip + { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, GPIO_Mode_AF_PP} // S6_OUT +}; + diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 743a92c5bd..708d4547a0 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -133,3 +133,8 @@ #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 TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB) diff --git a/src/main/target/CJMCU/target.c b/src/main/target/CJMCU/target.c new file mode 100644 index 0000000000..3e63c49826 --- /dev/null +++ b/src/main/target/CJMCU/target.c @@ -0,0 +1,55 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), + PWM2 | (MAP_TO_PWM_INPUT << 8), + PWM3 | (MAP_TO_PWM_INPUT << 8), + PWM4 | (MAP_TO_PWM_INPUT << 8), + PWM9 | (MAP_TO_PWM_INPUT << 8), + PWM10 | (MAP_TO_PWM_INPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + 0xFFFF +}; + +const uint16_t airPWM[] = { + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // PWM1 - RC1 + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // PWM2 - RC2 + { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD}, // PWM3 - RC3 + { TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD}, // PWM4 - RC4 + { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD}, // PWM5 - RC5 + { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD}, // PWM6 - RC6 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD}, // PWM7 - RC7 + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD}, // PWM8 - RC8 + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD}, // PWM9 - OUT1 + { TIM1, GPIOA, Pin_11, TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD}, // PWM10 - OUT2 + { TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD}, // PWM11 - OUT3 + { TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD}, // PWM12 - OUT4 + { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD}, // PWM13 - OUT5 + { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD} // PWM14 - OUT6 +}; + diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h index 192a9568d1..b4cfd23a9f 100644 --- a/src/main/target/CJMCU/target.h +++ b/src/main/target/CJMCU/target.h @@ -67,3 +67,9 @@ #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 TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB) + diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h index 4b3995988b..6d6bf2e83e 100755 --- a/src/main/target/COLIBRI_RACE/target.h +++ b/src/main/target/COLIBRI_RACE/target.h @@ -21,9 +21,6 @@ #define BST_DEVICE_NAME "COLIBRI RACE" #define BST_DEVICE_NAME_LENGTH 12 -#ifdef CONFIG_FASTLOOP_PREFERRED_ACC -#undef CONFIG_FASTLOOP_PREFERRED_ACC -#endif #define CONFIG_FASTLOOP_PREFERRED_ACC 0 #define LED0 PC15 diff --git a/src/main/target/DOGE/target.c b/src/main/target/DOGE/target.c new file mode 100644 index 0000000000..5ab6628e26 --- /dev/null +++ b/src/main/target/DOGE/target.c @@ -0,0 +1,74 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t multiPWM[] = { + // prevent crashing, but do nothing + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPWM[] = { + // prevent crashing, but do nothing + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource8, GPIO_AF_6}, // PWM1 - PA8 + + { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2}, // PWM2 - PB8 + { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2}, // PWM3 - PB9 + + { TIM2, GPIOA, Pin_10, TIM_Channel_4, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_10}, // PMW4 - PA10 + { TIM2, GPIOA, Pin_9, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_10}, // PWM5 - PA9 + { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // PWM6 - PA0 + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM7 - PA1 + + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource0, GPIO_AF_2}, // PWM8 - PB1 + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource1, GPIO_AF_2}, // PWM9 - PB0 +}; + diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h index 471cf9a3a5..188118ccc2 100644 --- a/src/main/target/DOGE/target.h +++ b/src/main/target/DOGE/target.h @@ -28,7 +28,7 @@ #define LED1 PA14 // tqfp48 pin 38 -#define LED2 Pa15 +#define LED2 PA15 #define BEEPER PB2 #define BEEPER_INVERTED @@ -36,7 +36,7 @@ // tqfp48 pin 3 #define MPU6500_CS_GPIO_CLK_PERIPHERAL RCC_AHBPeriph_GPIOC #define MPU6500_CS_GPIO GPIOC -#define MPU6500_CS_PIN GPIO_Pin_14 +#define MPU6500_CS_PIN PC14 #define MPU6500_SPI_INSTANCE SPI1 // tqfp48 pin 25 @@ -52,25 +52,25 @@ #define SPI1_GPIO GPIOB #define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB // tqfp48 pin 39 -#define SPI1_SCK_PIN GPIO_Pin_3 +#define SPI1_SCK_PIN PB3 #define SPI1_SCK_PIN_SOURCE GPIO_PinSource3 // tqfp48 pin 40 -#define SPI1_MISO_PIN GPIO_Pin_4 +#define SPI1_MISO_PIN PB4 #define SPI1_MISO_PIN_SOURCE GPIO_PinSource4 // tqfp48 pin 41 -#define SPI1_MOSI_PIN GPIO_Pin_5 +#define SPI1_MOSI_PIN PB5 #define SPI1_MOSI_PIN_SOURCE GPIO_PinSource5 #define SPI2_GPIO GPIOB #define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB // tqfp48 pin 26 -#define SPI2_SCK_PIN GPIO_Pin_13 +#define SPI2_SCK_PIN PB13 #define SPI2_SCK_PIN_SOURCE GPIO_PinSource13 // tqfp48 pin 27 -#define SPI2_MISO_PIN GPIO_Pin_14 +#define SPI2_MISO_PIN PB14 #define SPI2_MISO_PIN_SOURCE GPIO_PinSource14 // tqfp48 pin 28 -#define SPI2_MOSI_PIN GPIO_Pin_15 +#define SPI2_MOSI_PIN PB15 #define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15 // timer definitions in drivers/timer.c @@ -181,3 +181,16 @@ #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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15)) + +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) + diff --git a/src/main/target/MOTOLAB/target.c b/src/main/target/MOTOLAB/target.c new file mode 100644 index 0000000000..dab944eaca --- /dev/null +++ b/src/main/target/MOTOLAB/target.c @@ -0,0 +1,56 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM9 | (MAP_TO_PPM_INPUT << 8), // PPM input + + PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + // TODO + 0xFFFF +}; + +const uint16_t airPWM[] = { + // TODO + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - PA4 - *TIM3_CH2 + { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM2 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM3 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM4 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM5 - PA1 - *TIM2_CH2, TIM15_CH1N + { TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_1}, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1 + { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM7 - PA3 - *TIM15_CH2, TIM2_CH4 + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // PWM8 - PA8 - *TIM1_CH1, TIM4_ETR + + { TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource7, GPIO_AF_1}, // PPM - PA7 - *TIM17_CH1, TIM1_CH1N, TIM8_CH1 +}; + diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h index 6a1b6d537e..6a873bf287 100644 --- a/src/main/target/MOTOLAB/target.h +++ b/src/main/target/MOTOLAB/target.h @@ -53,7 +53,7 @@ #define ACC_MPU6000_ALIGN CW180_DEG #define MPU6000_CS_GPIO GPIOB -#define MPU6000_CS_PIN GPIO_Pin_12 +#define MPU6000_CS_PIN PB12 #define MPU6000_SPI_INSTANCE SPI2 //#define BARO @@ -94,20 +94,19 @@ #define I2C2_SCL_GPIO GPIOA #define I2C2_SCL_GPIO_AF GPIO_AF_4 -#define I2C2_SCL_PIN GPIO_Pin_9 +#define I2C2_SCL_PIN PA9 #define I2C2_SCL_PIN_SOURCE GPIO_PinSource9 #define I2C2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOA #define I2C2_SDA_GPIO GPIOA #define I2C2_SDA_GPIO_AF GPIO_AF_4 -#define I2C2_SDA_PIN GPIO_Pin_10 +#define I2C2_SDA_PIN PA10 #define I2C2_SDA_PIN_SOURCE GPIO_PinSource10 #define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA #define USE_SPI #define USE_SPI_DEVICE_2 -#define M25P16_CS_GPIO GPIOB -#define M25P16_CS_PIN GPIO_Pin_12 +#define M25P16_CS_PIN PB12 #define M25P16_SPI_INSTANCE SPI2 //#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG) @@ -183,4 +182,12 @@ #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_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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17)) + +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM17) +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) diff --git a/src/main/target/SINGULARITY/target.c b/src/main/target/SINGULARITY/target.c new file mode 100644 index 0000000000..352753a648 --- /dev/null +++ b/src/main/target/SINGULARITY/target.c @@ -0,0 +1,77 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + PWM7 | (MAP_TO_SERVO_OUTPUT << 8), + PWM8 | (MAP_TO_SERVO_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPWM[] = { + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + PWM7 | (MAP_TO_SERVO_OUTPUT << 8), + PWM8 | (MAP_TO_SERVO_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM2, GPIOA, Pin_15, TIM_Channel_1, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource15, GPIO_AF_1}, // PPM/SERIAL RX + + { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 + { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource5, GPIO_AF_2}, // PWM2 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM3 + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM4 + { TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_1}, // PWM5 + { TIM17, GPIOB, Pin_9, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_1}, // PWM6 + + { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // SOFTSERIAL1 RX (NC) + { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // SOFTSERIAL1 TX + + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // LED_STRIP +}; + diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h index ae44083dea..34b4f83240 100644 --- a/src/main/target/SINGULARITY/target.h +++ b/src/main/target/SINGULARITY/target.h @@ -19,6 +19,8 @@ #define TARGET_BOARD_IDENTIFIER "SING" +#define CONFIG_FASTLOOP_PREFERRED_ACC 1 + #define LED0 PB3 #define BEEPER PC15 @@ -85,7 +87,7 @@ #define RTC6705_SPI_INSTANCE SPI1 #define M25P16_CS_GPIO GPIOB -#define M25P16_CS_PIN GPIO_Pin_12 +#define M25P16_CS_PIN PB12 #define M25P16_SPI_INSTANCE SPI2 #define USE_ADC @@ -128,4 +130,13 @@ #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_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 USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(16) |TIM_N(17)) + +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) + diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c new file mode 100644 index 0000000000..595b5228a2 --- /dev/null +++ b/src/main/target/SPRACINGF3/target.c @@ -0,0 +1,105 @@ + +#include +#include + +#include +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM16 | (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), + 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), + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (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), + PWM15 | (MAP_TO_SERVO_OUTPUT << 8), + PWM16 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + PWM7 | (MAP_TO_SERVO_OUTPUT << 8), + PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10 + 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), + PWM15 | (MAP_TO_SERVO_OUTPUT << 8), + PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6 + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // RC_CH1 - PA0 - *TIM2_CH1 + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N + // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype. + { TIM2, GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7) + { TIM2, GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7) + { TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // RC_CH5 - PB4 - *TIM3_CH1 + { TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource5, GPIO_AF_2}, // RC_CH6 - PB5 - *TIM3_CH2 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N + + { TIM16, GPIOA, Pin_6, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_1}, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1 + { TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_1}, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1 + { TIM4, GPIOA, Pin_11, TIM_Channel_1, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_10}, // PWM3 - PA11 + { TIM4, GPIOA, Pin_12, TIM_Channel_2, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource12, GPIO_AF_10}, // PWM4 - PA12 + { TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2}, // PWM5 - PB8 + { TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2}, // PWM6 - PB9 + { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // PWM7 - PA2 + { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM8 - PA3 + + { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // GPIO_TIMER / LED_STRIP +}; + diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index 9ec1398f5b..d0bc6c26e3 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -19,6 +19,8 @@ #define TARGET_BOARD_IDENTIFIER "SRF3" +#define CONFIG_FASTLOOP_PREFERRED_ACC 1 + #define LED0 PB3 #define BEEPER PC15 @@ -158,3 +160,10 @@ #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) | TIM_N(16) |TIM_N(17)) + +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) +