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3 changed files with 290 additions and 0 deletions
103
src/main/target/VRRACE/target.c
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103
src/main/target/VRRACE/target.c
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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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#include <stdint.h>
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#include <platform.h>
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#include "drivers/io.h"
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#include "drivers/pwm_mapping.h"
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const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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const uint16_t airPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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0xFFFF
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};
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const uint16_t airPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // PPM
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{ TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S2_IN
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{ TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S3_IN
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{ TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S4_IN
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{ TIM9, IO_TAG(PE6), TIM_Channel_1, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S5_IN
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{ TIM9, IO_TAG(PE7), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S6_IN
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{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S1_OUT
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{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S2_OUT
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{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
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{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S4_OUT
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
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};
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180
src/main/target/VRRACE/target.h
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src/main/target/VRRACE/target.h
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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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#pragma once
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#define TARGET_BOARD_IDENTIFIER "VRRA"
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#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
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#define USBD_PRODUCT_STRING "VRRACE"
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#define LED0 PD14
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#define LED1 PD15
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#define BEEPER PA0
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#define BEEPER_INVERTED
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#define INVERTER PD7
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#define INVERTER_USART USART6
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#define MPU6500_CS_PIN PE10
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#define MPU6500_SPI_INSTANCE SPI2
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#define ACC
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#define USE_ACC_SPI_MPU6500
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#define ACC_MPU6500_ALIGN CW270_DEG
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#define GYRO
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#define USE_GYRO_SPI_MPU6500
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#define GYRO_MPU6500_ALIGN CW270_DEG
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// MPU6500 interrupts
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#define USE_MPU_DATA_READY_SIGNAL
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#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
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#define MPU_INT_EXTI PD10
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#define USE_EXTI
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/*
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#define BARO
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#define USE_BARO_MS5611
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#define MS5611_I2C_INSTANCE I2CDEV_1
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#define USE_SDCARD
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#define SDCARD_DETECT_INVERTED
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#define SDCARD_DETECT_PIN PD2
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#define SDCARD_SPI_INSTANCE SPI2
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#define SDCARD_SPI_CS_PIN PB12
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*/
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/*
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#define SDCARD_DETECT_PIN PD2
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#define SDCARD_DETECT_EXTI_LINE EXTI_Line2
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#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource2
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#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
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#define SDCARD_DETECT_EXTI_IRQn EXTI2_IRQn
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#define SDCARD_SPI_INSTANCE SPI3
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#define SDCARD_SPI_CS_PIN PB3
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*/
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// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
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/*
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#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
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*/
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// Divide to under 25MHz for normal operation:
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/*
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#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
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*/
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/*
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#define SDCARD_DMA_CHANNEL_TX DMA1_Stream4
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#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
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#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
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#define SDCARD_DMA_CHANNEL DMA_Channel_0
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*/
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/*
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#define USE_FLASHFS
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#define USE_FLASH_M25P16
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#define M25P16_CS_PIN PB3
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#define M25P16_SPI_INSTANCE SPI3
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*/
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#define USE_VCP
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#define VBUS_SENSING_PIN PA9
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//#define VBUS_SENSING_ENABLED
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#define USE_UART1
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#define UART1_RX_PIN PB7
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#define UART1_TX_PIN PB6
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#define USE_UART2
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#define UART2_RX_PIN PD6
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#define UART2_TX_PIN PD5
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#define USE_UART3
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#define UART3_RX_PIN PD9
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#define UART3_TX_PIN PD8
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#define USE_UART6
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#define UART6_RX_PIN PC7
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#define UART6_TX_PIN PC6
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#define USE_SOFTSERIAL1
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#define SOFTSERIAL_1_TIMER TIM1
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#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
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#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
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#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
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#define USE_SPI
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#define USE_SPI_DEVICE_1
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#define USE_SPI_DEVICE_2
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#define SPI2_NSS_PIN PE10
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#define SPI2_SCK_PIN PB13
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#define SPI2_MISO_PIN PB14
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#define SPI2_MOSI_PIN PB15
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/*
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#define USE_SPI_DEVICE_3
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#define SPI3_NSS_PIN PB3
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#define SPI3_SCK_PIN PC10
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#define SPI3_MISO_PIN PC11
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#define SPI3_MOSI_PIN PC12
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_1) // PB8-SCL, PB8-SDA
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#define USE_I2C_PULLUP
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#define I2C1_SCL PB8
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#define I2C1_SDA PB9
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*/
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#define USE_ADC
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#define BOARD_HAS_VOLTAGE_DIVIDER
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#define VBAT_ADC_PIN PC0
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#define RSSI_ADC_GPIO_PIN PB1
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#define CURRENT_METER_ADC_PIN PA5
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#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_ONESHOT125 | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
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#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
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#define SERIALRX_PROVIDER SERIALRX_SBUS
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//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
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/*
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#define SPEKTRUM_BIND
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// USART3 Rx, PB11
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#define BIND_PIN PB11
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*/
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define TARGET_IO_PORTD 0xffff
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#define TARGET_IO_PORTE 0xffff
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#define USABLE_TIMER_CHANNEL_COUNT 12
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#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
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7
src/main/target/VRRACE/target.mk
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7
src/main/target/VRRACE/target.mk
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F405_TARGETS += $(TARGET)
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FEATURES += VCP
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TARGET_SRC = \
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drivers/accgyro_spi_mpu6000.c \
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drivers/accgyro_spi_mpu6500.c \
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drivers/accgyro_mpu6500.c
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