mirror of
https://github.com/betaflight/betaflight.git
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Merge pull request #3527 from brucesdad13/target-alienwhoop
New ALIENWHOOP target
This commit is contained in:
Martin Budden
GitHub
commit
dcb21a92c1
7 changed files with 408 additions and 0 deletions
4
Makefile
4
Makefile
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@ -88,6 +88,7 @@ HSE_VALUE ?= 8000000
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FEATURES =
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OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
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SKIP_TARGETS := ALIENWHOOP
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ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
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OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
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OSD_SLAVE_TARGETS = SPRACINGF3OSD
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@ -96,6 +97,7 @@ VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
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VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
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VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
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VALID_TARGETS := $(sort $(VALID_TARGETS))
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VALID_TARGETS := $(filter-out $(SKIP_TARGETS), $(VALID_TARGETS))
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GROUP_1_TARGETS := \
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AFROMINI \
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@ -108,6 +110,8 @@ GROUP_1_TARGETS := \
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ALIENFLIGHTF3 \
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ALIENFLIGHTF4 \
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ALIENFLIGHTNGF7 \
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ALIENWHOOPF4 \
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ALIENWHOOPF7 \
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ANYFCF7 \
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BEEBRAIN \
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BEEROTORF4 \
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0
src/main/target/ALIENWHOOP/ALIENWHOOPF4.mk
Normal file
0
src/main/target/ALIENWHOOP/ALIENWHOOPF4.mk
Normal file
0
src/main/target/ALIENWHOOP/ALIENWHOOPF7.mk
Normal file
0
src/main/target/ALIENWHOOP/ALIENWHOOPF7.mk
Normal file
86
src/main/target/ALIENWHOOP/config.c
Normal file
86
src/main/target/ALIENWHOOP/config.c
Normal file
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@ -0,0 +1,86 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
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||||
* the Free Software Foundation, either version 3 of the License, or
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||||
* (at your option) any later version.
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||||
*
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||||
* Cleanflight is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
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||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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||||
* GNU General Public License for more details.
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||||
*
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||||
* You should have received a copy of the GNU General Public License
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||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
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||||
_ \ | | _| . | \ \ \ / __ | ( |( |__/
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||||
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
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||||
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Take me to your leader-board...
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <platform.h>
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#ifdef TARGET_CONFIG
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#include "common/axis.h"
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#include "config/feature.h"
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#include "drivers/pwm_esc_detect.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "sensors/barometer.h"
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#include "sensors/boardalignment.h"
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#include "sensors/compass.h"
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#ifdef BRUSHED_MOTORS_PWM_RATE
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#undef BRUSHED_MOTORS_PWM_RATE
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#endif
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#define BRUSHED_MOTORS_PWM_RATE 666 // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
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void targetConfiguration(void)
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{
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if (hardwareMotorType == MOTOR_BRUSHED) {
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motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfigMutable()->minthrottle = 1080;
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motorConfigMutable()->maxthrottle = 2000;
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pidConfigMutable()->pid_process_denom = 1;
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}
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rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
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#if defined(ALIENWHOOPF4)
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rxConfigMutable()->sbus_inversion = 0; // TODO: what to do about F4 inversion?
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#else
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rxConfigMutable()->sbus_inversion = 1; // invert on F7
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#endif
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/* Breadboard-specific settings for development purposes only
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*/
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#if defined(BREADBOARD)
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boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
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barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
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#endif
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compassConfigMutable()->mag_hardware = MAG_DEFAULT;
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}
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#endif
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53
src/main/target/ALIENWHOOP/target.c
Normal file
53
src/main/target/ALIENWHOOP/target.c
Normal file
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@ -0,0 +1,53 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
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||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
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||||
*
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||||
* You should have received a copy of the GNU General Public License
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||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
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_ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
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||||
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||||
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Take me to your leader-board...
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*/
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#include <stdint.h>
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#include <platform.h>
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#include "drivers/io.h"
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#include "drivers/timer.h"
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#include "drivers/timer_def.h"
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#include "drivers/dma.h"
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/* Currently only supporting brushed quad configuration e.g. Tiny Whoop. Care must be
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* taken to ensure functionality on both F4 and F7 (STM32F405RGT and STM32F722RET)
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*/
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
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DEF_TIM(TIM3, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
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DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
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DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
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};
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240
src/main/target/ALIENWHOOP/target.h
Normal file
240
src/main/target/ALIENWHOOP/target.h
Normal file
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@ -0,0 +1,240 @@
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/*
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||||
* This file is part of Cleanflight.
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||||
*
|
||||
* 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/>.
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||||
*/
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||||
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||||
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/*
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||||
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||||
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||||
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||||
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\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
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||||
_ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||
|
||||
|
||||
Take me to your leader-board...
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||||
|
||||
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||||
|
||||
*/
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#pragma once
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/* Multi-Arch Support for 168MHz or 216MHz ARM Cortex processors - STM32F405RGT or STM32F7RET
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*/
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#if defined(ALIENWHOOPF4)
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#define TARGET_BOARD_IDENTIFIER "AWF4"
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#define USBD_PRODUCT_STRING "AlienWhoopF4"
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#else
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#define TARGET_BOARD_IDENTIFIER "AWF7"
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#define USBD_PRODUCT_STRING "AlienWhoopF7"
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#endif
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#define TARGET_CONFIG // see config.c for target specific customizations
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#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
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#define BRUSHED_MOTORS
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#define BRUSHED_ESC_AUTODETECT
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/* Visual Alerts - SMD LEDs
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*/
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#define LED0_PIN PC12 // conflicts UART5
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#define LED1_PIN PD2 // conflicts UART5
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/* Lost Quad Mode and Alerts - RCX03-787 Low Voltage Active Buzzer
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*/
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#if defined(V2DRAFT) // a few boards exist with older pinout
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#define BEEPER PC13 // PC13... limited... current (3 mA)...
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#else
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#define BEEPER PA2 // PC13... limited... current (3 mA)...
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#endif
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#define BEEPER_INVERTED // [and] must not be used [to drive LED etc]
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/* Serial Peripheral Interface (SPI) - Up to 50 Mbit/s on F7
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*/
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#define USE_SPI
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#define USE_SPI_DEVICE_1 // SPI1 can communicate at up to 42 Mbits/s on F4
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#define USE_SPI_DEVICE_2 // SPI2 and SPI3 can communicate at up to 21 Mbit/s on F4
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#define USE_SPI_DEVICE_3 // All SPIs can be served by the DMA controller.
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#if defined(ALIENWHOOPF7)
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//TODO:
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//#define USE_SPI_DEVICE_4
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//#define USE_SPI_DEVICE_5
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#endif
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#define SPI1_NSS_PIN PA4 // LQFP64 pin 20 (PA4)
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#define SPI1_SCK_PIN PA5 // LQFP64 pin 21 (PA5)
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#define SPI1_MISO_PIN PA6 // LQFP64 pin 22 (PA6)
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#define SPI1_MOSI_PIN PA7 // LQFP64 pin 23 (PA7)
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#define SPI2_NSS_PIN PB12 // LQFP64 pin 33 (PB12)
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#define SPI2_SCK_PIN PB13 // LQFP64 pin 34 (PB13)
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#define SPI2_MISO_PIN PB14 // LQFP64 pin 35 (PB14)
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#define SPI2_MOSI_PIN PB15 // LQFP64 pin 36 (PB15)
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#define SPI3_NSS_PIN PA15 // LQFP64 pin 50 (PA15)
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//#define SPI3_SCK_PIN PC10 // LQFP64 pin 51 (PC10)
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//#define SPI3_MISO_PIN PC11 // LQFP64 pin 52 (PC11)
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//#define SPI3_MOSI_PIN PC12 // LQFP64 pin 53 (PC12)
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#define SPI3_SCK_PIN PB3 // LQFP64 pin 55 (PB3)
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#define SPI3_MISO_PIN PB4 // LQFP64 pin 56 (PB4)
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#define SPI3_MOSI_PIN PB5 // LQFP64 pin 57 (PB5)
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#if defined(ALIENWHOOPF7)
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//TODO: define SPI4 and SPI5 for F7 target
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//#define SPI4_NSS_PIN
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//#define SPI4_SCK_PIN
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//#define SPI4_MISO_PIN
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//#define SPI4_MOSI_PIN
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//#define SPI5_NSS_PIN
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//#define SPI5_SCK_PIN
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//#define SPI5_MISO_PIN
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//#define SPI5_MOSI_PIN
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#endif
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/* Motion Processing Unit (MPU) - Invensense 6-axis MPU-6500 or 9-axis MPU-9250
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*/
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// Interrupt
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#define USE_EXTI
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#define MPU_INT_EXTI PC14
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// MPU
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#define MPU6500_CS_PIN SPI1_NSS_PIN
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#define MPU6500_SPI_INSTANCE SPI1
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#define USE_MPU_DATA_READY_SIGNAL
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#define ENSURE_MPU_DATA_READY_IS_LOW
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// MAG
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#define MAG
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#define USE_MAG_AK8963
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#define MAG_AK8963_ALIGN CW0_DEG
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#define USE_MAG_DATA_READY_SIGNAL
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#define ENSURE_MAG_DATA_READY_IS_HIGH
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// GYRO
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#define GYRO
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#define USE_GYRO_SPI_MPU6500
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#define GYRO_MPU6500_ALIGN CW0_DEG
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// ACC
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#define ACC
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#define USE_ACC_SPI_MPU6500
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#define ACC_MPU6500_ALIGN CW0_DEG
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/* Optional Digital Pressure Sensor (barometer) - Bosch BMP280
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* TODO: not implemented on V1 or V2 pcb
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*/
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#define BARO
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#define USE_BARO_BMP280
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#define USE_BARO_SPI_BMP280
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#define BMP280_SPI_INSTANCE SPI3
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#define BMP280_CS_PIN SPI3_NSS_PIN
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/* Serial ports etc.
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*/
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#define USE_VCP
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#define USE_UART1
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#define USE_UART2
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#define USE_UART3
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#define USE_UART4
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#define USE_UART5
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#define SERIAL_PORT_COUNT 6
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// USART1
|
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#define UART1_TX_PIN PA9 // PB1 INCOMPAT F4 -> F7
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#define UART1_RX_PIN PA10 // PB0 INCOMPAT F4 -> F7
|
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// USART2
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#define UART2_TX_PIN PA2 //PA12
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#define UART2_RX_PIN PA3 //PA13
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// USART3
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#define UART3_TX_PIN PC10 // PB10 INCOMPAT F4 -> F7
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#define UART3_RX_PIN PC11 // PB11 INCOMPAT F4 -> F7
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// UART4 async only on F4
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#define UART4_TX_PIN PA0 // PC10 currently used by USART3
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#define UART4_RX_PIN PA1 // PC11 currently used by USART3
|
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|
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// UART5 async only on F4
|
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//#define UART5_TX_PIN PB3 // PC12
|
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//#define UART5_RX_PIN PB4 // PD2
|
||||
|
||||
/* Receiver - e.g. FrSky XM/XM+ or Spektrum/Lemon DSM/DSMX capable of 3.3V
|
||||
*/
|
||||
/* Assume Spektrum following defines inherited from common_fc_pre.h:
|
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//#define USE_SERIALRX_SPEKTRUM
|
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//#define USE_SPEKTRUM_BIND
|
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//#define USE_SPEKTRUM_BIND_PLUG
|
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*/
|
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#if defined(V2DRAFT) // a few of these boards still exist
|
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#define BINDPLUG_PIN PB14
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#define SPEKTRUM_BIND_PIN PA3
|
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#define SERIALRX_UART SERIAL_PORT_USART2
|
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#define RX_CHANNELS_AETR // FrSky AETR TAER SpektrumRC
|
||||
#else
|
||||
#define BINDPLUG_PIN PC13 // formerly used for beeper (erroneously) on V1 pcb
|
||||
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
|
||||
#define SERIALRX_UART SERIAL_PORT_USART3
|
||||
#define RX_CHANNELS_TAER //RX_CHANNELS_AETR
|
||||
#endif
|
||||
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM1024 //SERIALRX_SBUS
|
||||
|
||||
/* Defaults - What do we want out of the box?
|
||||
*/
|
||||
#if defined(BREADBOARD)
|
||||
#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP )
|
||||
#else
|
||||
#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP | FEATURE_FAILSAFE) // FEATURE_TELEMETRY changes bind pin from rx to tx
|
||||
#endif
|
||||
|
||||
#undef VTX_COMMON
|
||||
#undef VTX_CONTROL
|
||||
#undef VTX_SMARTAUDIO
|
||||
#undef VTX_TRAMP
|
||||
|
||||
/* OLED Support
|
||||
*/
|
||||
#if defined(BREADBOARD)
|
||||
#define CMS
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
#define USE_I2C_PULLUP
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
#else
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||||
#undef CMS
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||||
#undef USE_I2C
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||||
#endif
|
||||
|
||||
/* MCU Pin Mapping - LPFQ64 Flags
|
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*/
|
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#define TARGET_IO_PORTA 0xffff
|
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#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#if defined(ALIENWHOOPF4)
|
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// STM32F405RGT
|
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#define TARGET_IO_PORTD (BIT(2))
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#else
|
||||
// STM32F722RET
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
#endif
|
||||
|
||||
/* Timers
|
||||
*/
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 4
|
||||
#define USED_TIMERS ( TIM_N(3) | TIM_N(8) )
|
||||
|
||||
25
src/main/target/ALIENWHOOP/target.mk
Normal file
25
src/main/target/ALIENWHOOP/target.mk
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
#
|
||||
#
|
||||
# \ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
|
||||
# _ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||
# _/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||
#
|
||||
#
|
||||
ifeq ($(TARGET), ALIENWHOOPF4)
|
||||
F405_TARGETS += $(TARGET) # STM32F405RGT
|
||||
else
|
||||
ifeq ($(TARGET), ALIENWHOOPF7)
|
||||
F7X2RE_TARGETS += $(TARGET) # STM32F722RET
|
||||
else
|
||||
# Nothing to do for generic ALIENWHOOP... an MCU arch should be specified
|
||||
endif
|
||||
endif
|
||||
|
||||
FEATURES += VCP
|
||||
|
||||
TARGET_SRC = \
|
||||
drivers/accgyro/accgyro_mpu6500.c \
|
||||
drivers/accgyro/accgyro_spi_mpu6500.c \
|
||||
drivers/barometer/barometer_bmp280.c \
|
||||
drivers/barometer/barometer_spi_bmp280.c \
|
||||
drivers/compass/compass_ak8963.c
|
||||
Loading…
Add table
Add a link
Reference in a new issue