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https://github.com/betaflight/betaflight.git
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Merge pull request #4318 from czchc/beebrain_v2
seperate BEEBRAIN_V2 to V2D and V2F
This commit is contained in:
Michael Keller
GitHub
commit
e1926b8468
6 changed files with 170 additions and 99 deletions
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@ -1,90 +0,0 @@
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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 <stdbool.h>
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#include <stdint.h>
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#include <string.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/light_led.h"
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#include "drivers/pwm_esc_detect.h"
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#include "fc/config.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "rx/rx.h"
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#include "io/serial.h"
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#include "io/osd.h"
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#include "sensors/battery.h"
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#include "sensors/gyro.h"
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#include "telemetry/telemetry.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 32000 // 32kHz
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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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pidConfigMutable()->pid_process_denom = 1;
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}
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#ifndef BEEBRAIN_V2_DSM
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// Frsky version
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serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL;
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#endif
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for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
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pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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pidProfile->pid[PID_ROLL].P = 90;
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pidProfile->pid[PID_ROLL].I = 44;
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pidProfile->pid[PID_ROLL].D = 60;
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pidProfile->pid[PID_PITCH].P = 90;
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pidProfile->pid[PID_PITCH].I = 44;
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pidProfile->pid[PID_PITCH].D = 60;
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}
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*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
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*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
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*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
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*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
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*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
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*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
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*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
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*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
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strcpy(pilotConfigMutable()->name, "BeeBrain V2");
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osdConfigMutable()->item_pos[OSD_CRAFT_NAME] = OSD_POS(9, 11) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | VISIBLE_FLAG;
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}
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#endif
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1
src/main/target/BEEBRAIN_V2F/BEEBRAIN_V2D.mk
Executable file
1
src/main/target/BEEBRAIN_V2F/BEEBRAIN_V2D.mk
Executable file
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@ -0,0 +1 @@
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# BEEBRAIN_V2D is a variant of BEEBRAIN_V2F with DSM receiver
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159
src/main/target/BEEBRAIN_V2F/config.c
Executable file
159
src/main/target/BEEBRAIN_V2F/config.c
Executable file
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@ -0,0 +1,159 @@
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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 <stdbool.h>
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#include <stdint.h>
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#include <string.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 "common/maths.h"
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#include "config/feature.h"
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#include "drivers/light_led.h"
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#include "drivers/pwm_esc_detect.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "rx/rx.h"
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#include "io/serial.h"
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#include "io/osd.h"
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#include "sensors/battery.h"
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#include "sensors/gyro.h"
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#include "telemetry/telemetry.h"
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#if !defined(BEEBRAIN_V2D)
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#define BBV2_FRSKY_RSSI_CH_IDX 9
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#endif
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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 32000 // 32kHz
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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 = 1030;
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pidConfigMutable()->pid_process_denom = 1;
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}
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for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
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pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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pidProfile->pid[PID_ROLL].P = 86;
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pidProfile->pid[PID_ROLL].I = 50;
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pidProfile->pid[PID_ROLL].D = 60;
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pidProfile->pid[PID_PITCH].P = 90;
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pidProfile->pid[PID_PITCH].I = 55;
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pidProfile->pid[PID_PITCH].D = 60;
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pidProfile->pid[PID_YAW].P = 123;
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pidProfile->pid[PID_YAW].I = 75;
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}
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for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
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controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
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controlRateConfig->rcYawRate8 = 120;
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controlRateConfig->rcExpo8 = 15;
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controlRateConfig->rcYawExpo8 = 15;
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controlRateConfig->rates[FD_ROLL] = 85;
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controlRateConfig->rates[FD_PITCH] = 85;
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}
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batteryConfigMutable()->batteryCapacity = 250;
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batteryConfigMutable()->vbatmincellvoltage = 28;
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batteryConfigMutable()->vbatwarningcellvoltage = 33;
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*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
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*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
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*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
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*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
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vcdProfileMutable()->video_system = VIDEO_SYSTEM_NTSC;
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strcpy(pilotConfigMutable()->name, "BeeBrain V2");
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osdConfigMutable()->cap_alarm = 250;
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osdConfigMutable()->item_pos[OSD_CRAFT_NAME] = OSD_POS(9, 11) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2] = OSD_POS(2, 10) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_FLYMODE] = OSD_POS(17, 10) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_VTX_CHANNEL] = OSD_POS(10, 10) | VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_RSSI_VALUE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_THROTTLE_POS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_CROSSHAIRS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_HORIZON_SIDEBARS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ARTIFICIAL_HORIZON] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_CURRENT_DRAW] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_MAH_DRAWN] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_GPS_SPEED] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_GPS_LON] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_GPS_LAT] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_GPS_SATS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_HOME_DIR] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_HOME_DIST] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_COMPASS_BAR] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ALTITUDE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ROLL_PIDS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_PITCH_PIDS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_YAW_PIDS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_DEBUG] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_POWER] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_PIDRATE_PROFILE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_WARNINGS] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_AVG_CELL_VOLTAGE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_PITCH_ANGLE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ROLL_ANGLE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_MAIN_BATT_USAGE] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_DISARMED] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_NUMERICAL_HEADING] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_NUMERICAL_VARIO] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ESC_TMP] &= ~VISIBLE_FLAG;
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osdConfigMutable()->item_pos[OSD_ESC_RPM] &= ~VISIBLE_FLAG;
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#if defined(BEEBRAIN_V2D)
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// DSM version
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for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) {
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rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex);
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channelRangeConfig->min = 1160;
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channelRangeConfig->max = 1840;
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}
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#else
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// Frsky version
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serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL;
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rxConfigMutable()->rssi_channel = BBV2_FRSKY_RSSI_CH_IDX;
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rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(BBV2_FRSKY_RSSI_CH_IDX - 1);
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channelFailsafeConfig->mode = RX_FAILSAFE_MODE_SET;
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channelFailsafeConfig->step = CHANNEL_VALUE_TO_RXFAIL_STEP(1000);
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osdConfigMutable()->item_pos[OSD_RSSI_VALUE] = OSD_POS(2, 11) | VISIBLE_FLAG;
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#endif
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}
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#endif
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@ -29,4 +29,5 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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DEF_TIM(TIM15, CH1, PB14, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM2 - PB14 - DMA1_CH5 - TIM1_CH2N, *TIM15_CH1
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DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM3 - PA8 - DMA1_CH2 - *TIM1_CH1, TIM4_ETR
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DEF_TIM(TIM8, CH2N, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED ), // PWM4 - PB0 - DMA2_CH5 - TIM3_CH3, TIM1_CH2N, *TIM8_CH2N
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DEF_TIM(TIM16, CH1, PB8, TIM_USE_TRANSPONDER, TIMER_OUTPUT_ENABLED ),
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};
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@ -28,7 +28,6 @@
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#define LED1_PIN PB2
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#define USE_EXTI
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// #define DEBUG_MPU_DATA_READY_INTERRUPT
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#define MPU_INT_EXTI PB6
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#define USE_MPU_DATA_READY_SIGNAL
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@ -90,22 +89,23 @@
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#define RTC6705_SPICLK_PIN PC13
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#define USE_ADC
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// #define BOARD_HAS_VOLTAGE_DIVIDER
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#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
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#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_NONE
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#define ADC_INSTANCE ADC3
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#define VBAT_ADC_PIN PB13
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#define TRANSPONDER
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#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
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#define SERIALRX_UART SERIAL_PORT_USART2
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#define RX_CHANNELS_TAER
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// #define BEEBRAIN_V2_DSM
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#ifdef BEEBRAIN_V2_DSM
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#if defined(BEEBRAIN_V2D)
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// Receiver - DSM
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#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_OSD)
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#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD)
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#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
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#define RX_CHANNELS_TAER
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#else
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// Receiver - Frsky
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#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_OSD | FEATURE_TELEMETRY)
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#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD | FEATURE_TELEMETRY)
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#define SERIALRX_PROVIDER SERIALRX_SBUS
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#endif
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@ -115,5 +115,5 @@
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#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
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#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
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#define USABLE_TIMER_CHANNEL_COUNT 4
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#define USED_TIMERS ( TIM_N(1) | TIM_N(8) | TIM_N(15) )
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#define USABLE_TIMER_CHANNEL_COUNT 5
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#define USED_TIMERS ( TIM_N(1) | TIM_N(8) | TIM_N(15) | TIM_N(16) )
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