From 5290e4be5637b23b45fac03c45f291c15537b3ac Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Mon, 4 Apr 2016 23:28:29 +0200 Subject: [PATCH 1/9] Fix arming on Low Throttle when 3D Mode On switch disabled --- src/main/io/rc_controls.c | 11 ++++-- src/main/io/serial_1wire.h~HEAD | 37 +++++++++++++++++++ ...h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 | 36 ++++++++++++++++++ 3 files changed, 80 insertions(+), 4 deletions(-) create mode 100644 src/main/io/serial_1wire.h~HEAD create mode 100644 src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c index 4b6f8204f3..3264b0269a 100644 --- a/src/main/io/rc_controls.c +++ b/src/main/io/rc_controls.c @@ -113,10 +113,13 @@ bool areSticksInApModePosition(uint16_t ap_mode) throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle) { - if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle))) - return THROTTLE_LOW; - else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->mincheck)) - return THROTTLE_LOW; + if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) { + if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle))) + return THROTTLE_LOW; + } else { + if (rcData[THROTTLE] < rxConfig->mincheck) + return THROTTLE_LOW; + } return THROTTLE_HIGH; } diff --git a/src/main/io/serial_1wire.h~HEAD b/src/main/io/serial_1wire.h~HEAD new file mode 100644 index 0000000000..594cdd43a3 --- /dev/null +++ b/src/main/io/serial_1wire.h~HEAD @@ -0,0 +1,37 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + * + * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c + * by Nathan Tsoi + */ + +#pragma once + +#ifdef USE_SERIAL_1WIRE + +extern uint8_t escCount; + +typedef struct { + GPIO_TypeDef* gpio; + uint16_t pinpos; + uint16_t pin; +} escHardware_t; + + +void usb1WireInitialize(); +void usb1WirePassthrough(uint8_t escIndex); +void usb1WireDeInitialize(void); +#endif diff --git a/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 b/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 new file mode 100644 index 0000000000..1e560ed938 --- /dev/null +++ b/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 @@ -0,0 +1,36 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + * + * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c + * by Nathan Tsoi + */ + +#pragma once + +#ifdef USE_SERIAL_1WIRE + +extern uint8_t escCount; + +typedef struct { + GPIO_TypeDef* gpio; + uint16_t pinpos; + uint16_t pin; +} escHardware_t; + + +void usb1WireInitialize(); +void usb1WirePassthrough(uint8_t escIndex); +#endif From 81b94e5cb80afc8650cebe185adaed988556e5ae Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Tue, 5 Apr 2016 00:36:28 +0200 Subject: [PATCH 2/9] Prevent re-arming when gyro calibration on arm enabled (only for switch armers due to safety reasons) --- src/main/mw.c | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/main/mw.c b/src/main/mw.c index f795c7b026..11149dc044 100644 --- a/src/main/mw.c +++ b/src/main/mw.c @@ -117,6 +117,7 @@ extern bool antiWindupProtection; uint16_t filteredCycleTime; static bool isRXDataNew; +static bool armingCalibrationWasInitialised; typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype @@ -312,7 +313,7 @@ void annexCode(void) if (ARMING_FLAG(ARMED)) { LED0_ON; } else { - if (IS_RC_MODE_ACTIVE(BOXARM) == 0) { + if (IS_RC_MODE_ACTIVE(BOXARM) == 0 || armingCalibrationWasInitialised) { ENABLE_ARMING_FLAG(OK_TO_ARM); } @@ -341,6 +342,8 @@ void annexCode(void) void mwDisarm(void) { + armingCalibrationWasInitialised = false; + if (ARMING_FLAG(ARMED)) { DISABLE_ARMING_FLAG(ARMED); @@ -366,11 +369,12 @@ void releaseSharedTelemetryPorts(void) { void mwArm(void) { - static bool armingCalibrationWasInitialisedOnce; + static bool firstArmingCalibrationWasCompleted; - if (masterConfig.gyro_cal_on_first_arm && !armingCalibrationWasInitialisedOnce) { + if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) { gyroSetCalibrationCycles(calculateCalibratingCycles()); - armingCalibrationWasInitialisedOnce = true; + armingCalibrationWasInitialised = true; + firstArmingCalibrationWasCompleted = true; } if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated From 8b7b47da9a2b26ac351215ba4b1e81d8f9f01b86 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Wed, 6 Apr 2016 00:20:56 +0200 Subject: [PATCH 3/9] Sync Ibus with Cleanflight // Add extra AUX channels --- src/main/rx/ibus.c | 26 ++++++++++++-------------- src/main/rx/ibus.h | 1 + 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c index b2028e8efc..299ff4fce2 100755 --- a/src/main/rx/ibus.c +++ b/src/main/rx/ibus.c @@ -13,13 +13,19 @@ * * You should have received a copy of the GNU General Public License * along with Cleanflight. If not, see . + * + * + * Driver for IBUS (Flysky) receiver + * - initial implementation for MultiWii by Cesco/Plüschi + * - implementation for BaseFlight by Andreas (fiendie) Tacke + * - ported to CleanFlight by Konstantin (digitalentity) Sharlaimov */ #include #include #include -#include "platform.h" +#include #include "build_config.h" @@ -32,9 +38,7 @@ #include "rx/rx.h" #include "rx/ibus.h" -// Driver for IBUS (Flysky) receiver - -#define IBUS_MAX_CHANNEL 8 +#define IBUS_MAX_CHANNEL 10 #define IBUS_BUFFSIZE 32 #define IBUS_SYNCBYTE 0x20 @@ -95,7 +99,7 @@ static void ibusDataReceive(uint16_t c) uint8_t ibusFrameStatus(void) { - uint8_t i; + uint8_t i, offset; uint8_t frameStatus = SERIAL_RX_FRAME_PENDING; uint16_t chksum, rxsum; @@ -112,15 +116,9 @@ uint8_t ibusFrameStatus(void) rxsum = ibus[30] + (ibus[31] << 8); if (chksum == rxsum) { - ibusChannelData[0] = (ibus[ 3] << 8) + ibus[ 2]; - ibusChannelData[1] = (ibus[ 5] << 8) + ibus[ 4]; - ibusChannelData[2] = (ibus[ 7] << 8) + ibus[ 6]; - ibusChannelData[3] = (ibus[ 9] << 8) + ibus[ 8]; - ibusChannelData[4] = (ibus[11] << 8) + ibus[10]; - ibusChannelData[5] = (ibus[13] << 8) + ibus[12]; - ibusChannelData[6] = (ibus[15] << 8) + ibus[14]; - ibusChannelData[7] = (ibus[17] << 8) + ibus[16]; - + for (i = 0, offset = 2; i < IBUS_MAX_CHANNEL; i++, offset += 2) { + ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8); + } frameStatus = SERIAL_RX_FRAME_COMPLETE; } diff --git a/src/main/rx/ibus.h b/src/main/rx/ibus.h index f206052d83..1106659fd5 100755 --- a/src/main/rx/ibus.h +++ b/src/main/rx/ibus.h @@ -18,3 +18,4 @@ #pragma once uint8_t ibusFrameStatus(void); +bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); From 04aaab1cae1f108ed33f530107274141748889b2 Mon Sep 17 00:00:00 2001 From: "Carsten.Wache" Date: Wed, 6 Apr 2016 20:18:33 +0200 Subject: [PATCH 4/9] Send averaged cell voltage on A4 --- src/main/telemetry/smartport.c | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 281b44dc93..f9060539bd 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -83,7 +83,7 @@ enum // remaining 3 bits are crc (according to comments in openTx code) }; -// these data identifiers are obtained from http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter +// these data identifiers are obtained from https://github.com/opentx/opentx/blob/master/radio/src/telemetry/frsky.h enum { FSSP_DATAID_SPEED = 0x0830 , @@ -106,6 +106,8 @@ enum FSSP_DATAID_T1 = 0x0400 , FSSP_DATAID_T2 = 0x0410 , FSSP_DATAID_GPS_ALT = 0x0820 , + FSSP_DATAID_A3 = 0x0900 , + FSSP_DATAID_A4 = 0x0910 , }; const uint16_t frSkyDataIdTable[] = { @@ -130,6 +132,7 @@ const uint16_t frSkyDataIdTable[] = { FSSP_DATAID_T1 , FSSP_DATAID_T2 , FSSP_DATAID_GPS_ALT , + FSSP_DATAID_A4 , 0 }; @@ -471,6 +474,12 @@ void handleSmartPortTelemetry(void) } break; #endif + case FSSP_DATAID_A4 : + if (feature(FEATURE_VBAT)) { + smartPortSendPackage(id, vbat * 10 / batteryCellCount ); // given in 0.1V, convert to volts + smartPortHasRequest = 0; + } + break; default: break; // if nothing is sent, smartPortHasRequest isn't cleared, we already incremented the counter, just loop back to the start From f6b05a489466b2fc17c0d16fbdfd0e53be042483 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Thu, 7 Apr 2016 00:39:08 +0200 Subject: [PATCH 5/9] Faster Multishot Math for F1 processors --- src/main/drivers/pwm_output.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index d521153bfe..97a8fef655 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -159,7 +159,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value) static void pwmWriteMultiShot(uint8_t index, uint16_t value) { - *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f)+ 60; + *motors[index]->ccr = 60001 * (value - 1000) / 250000 + 60; } void pwmWriteMotor(uint8_t index, uint16_t value) From d6550827d0156abd6465c6de65998ce4562ce84e Mon Sep 17 00:00:00 2001 From: rigoneri Date: Wed, 6 Apr 2016 22:10:58 -0500 Subject: [PATCH 6/9] Fixed issue that was causing the SPRacingF3Mini target not to build when transponder code was uncommented out. Fixes #179 --- Makefile | 3 ++- src/main/io/serial_cli.c | 2 +- src/main/io/transponder_ir.h | 1 + src/main/main.c | 10 ++++------ 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Makefile b/Makefile index e4dc3b51a3..b5207bdc76 100644 --- a/Makefile +++ b/Makefile @@ -356,7 +356,8 @@ VCP_SRC = \ vcp/usb_istr.c \ vcp/usb_prop.c \ vcp/usb_pwr.c \ - drivers/serial_usb_vcp.c + drivers/serial_usb_vcp.c \ + drivers/usb_io.c NAZE_SRC = startup_stm32f10x_md_gcc.S \ drivers/accgyro_adxl345.c \ diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 1976423ccb..3df26829f2 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -193,7 +193,7 @@ static const char * const featureNames[] = { "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE", "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM", "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125", - "BLACKBOX", "CHANNEL_FORWARDING", NULL + "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", NULL }; // sync this with rxFailsafeChannelMode_e diff --git a/src/main/io/transponder_ir.h b/src/main/io/transponder_ir.h index 7c52a4cd06..1ccbee77c8 100644 --- a/src/main/io/transponder_ir.h +++ b/src/main/io/transponder_ir.h @@ -17,6 +17,7 @@ #pragma once +void transponderInit(uint8_t* transponderCode); void transponderEnable(void); void transponderDisable(void); diff --git a/src/main/main.c b/src/main/main.c index 1450ae07cd..125efdd892 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -33,6 +33,7 @@ #include "drivers/sensor.h" #include "drivers/system.h" +#include "drivers/dma.h" #include "drivers/gpio.h" #include "drivers/light_led.h" #include "drivers/sound_beeper.h" @@ -52,9 +53,9 @@ #include "drivers/flash_m25p16.h" #include "drivers/sonar_hcsr04.h" #include "drivers/gyro_sync.h" +#include "drivers/sdcard.h" #include "drivers/usb_io.h" #include "drivers/transponder_ir.h" -#include "drivers/sdcard.h" #include "rx/rx.h" @@ -130,8 +131,6 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse); void spektrumBind(rxConfig_t *rxConfig); const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig); void sonarInit(const sonarHardware_t *sonarHardware); -void transponderInit(uint8_t* transponderCode); -//void usbCableDetectInit(void); #ifdef STM32F303xC // from system_stm32f30x.c @@ -256,6 +255,8 @@ void init(void) timerInit(); // timer must be initialized before any channel is allocated + dmaInit(); + serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL)); #ifdef USE_SERVOS @@ -534,12 +535,10 @@ void init(void) } #endif -/* TODO - Fix in the future #ifdef USB_CABLE_DETECTION usbCableDetectInit(); #endif - #ifdef TRANSPONDER if (feature(FEATURE_TRANSPONDER)) { transponderInit(masterConfig.transponderData); @@ -548,7 +547,6 @@ void init(void) systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED; } #endif -*/ #ifdef USE_FLASHFS #ifdef NAZE From 3cad4793e9e64083ddaae384d87d1bb943b66190 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 8 Apr 2016 11:14:43 +0200 Subject: [PATCH 7/9] SPRACINGF3EVO initial support --- Makefile | 28 +- fake_travis_build.sh | 1 + src/main/drivers/pwm_mapping.c | 61 +++ src/main/drivers/timer.c | 30 ++ src/main/io/serial_msp.c | 2 +- src/main/sensors/initialisation.c | 2 +- .../target/SPRACINGF3EVO/system_stm32f30x.c | 371 ++++++++++++++++++ .../target/SPRACINGF3EVO/system_stm32f30x.h | 76 ++++ src/main/target/SPRACINGF3EVO/target.h | 239 +++++++++++ top_makefile | 2 + 10 files changed, 807 insertions(+), 5 deletions(-) create mode 100755 src/main/target/SPRACINGF3EVO/system_stm32f30x.c create mode 100755 src/main/target/SPRACINGF3EVO/system_stm32f30x.h create mode 100755 src/main/target/SPRACINGF3EVO/target.h diff --git a/Makefile b/Makefile index b5207bdc76..a20beb44a4 100644 --- a/Makefile +++ b/Makefile @@ -42,7 +42,7 @@ FORKNAME = betaflight CC3D_TARGETS = CC3D CC3D_OPBL -VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI +VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO # Valid targets for OP VCP support VCP_VALID_TARGETS = $(CC3D_TARGETS) @@ -52,9 +52,9 @@ OPBL_VALID_TARGETS = CC3D_OPBL 64K_TARGETS = CJMCU 128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI -256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI +256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO -F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI +F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO # Configure default flash sizes for the targets @@ -710,6 +710,28 @@ IRCFUSIONF3_SRC = \ $(HIGHEND_SRC) \ $(COMMON_SRC) +SPRACINGF3EVO_SRC = \ + $(STM32F30x_COMMON_SRC) \ + drivers/accgyro_mpu.c \ + drivers/accgyro_mpu6500.c \ + drivers/accgyro_spi_mpu6500.c \ + drivers/barometer_bmp280.c \ + drivers/compass_ak8963.c \ + drivers/display_ug2864hsweg01.h \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f30x.c \ + drivers/serial_usb_vcp.c \ + drivers/sdcard.c \ + drivers/sdcard_standard.c \ + drivers/transponder_ir.c \ + drivers/transponder_ir_stm32f30x.c \ + io/asyncfatfs/asyncfatfs.c \ + io/asyncfatfs/fat_standard.c \ + io/transponder_ir.c \ + $(HIGHEND_SRC) \ + $(COMMON_SRC) \ + $(VCP_SRC) + MOTOLAB_SRC = \ $(STM32F30x_COMMON_SRC) \ drivers/accgyro_mpu.c \ diff --git a/fake_travis_build.sh b/fake_travis_build.sh index 9f2d05e670..e7b9082f1f 100755 --- a/fake_travis_build.sh +++ b/fake_travis_build.sh @@ -6,6 +6,7 @@ targets=("PUBLISHMETA=True" \ "TARGET=COLIBRI_RACE" \ "TARGET=LUX_RACE" \ "TARGET=SPRACINGF3" \ + "TARGET=SPRACINGF3EVO" \ "TARGET=SPRACINGF3MINI" \ "TARGET=NAZE" \ "TARGET=AFROMINI" \ diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index 28651dd00e..942a680254 100755 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -479,6 +479,67 @@ static const uint16_t airPWM[] = { }; #endif +#ifdef SPRACINGF3EVO +static 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), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +static 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), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +static const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + 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), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +static const uint16_t airPWM[] = { + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + 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), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; +#endif + #if defined(MOTOLAB) static const uint16_t multiPPM[] = { PWM9 | (MAP_TO_PPM_INPUT << 8), // PPM input diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c index cb5c30fccd..87637e3226 100755 --- a/src/main/drivers/timer.c +++ b/src/main/drivers/timer.c @@ -278,6 +278,36 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { #endif +#if defined(SPRACINGF3EVO) +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + // PPM / UART2 RX + { TIM8, GPIOA, Pin_15, TIM_Channel_1, TIM8_CC_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource15, GPIO_AF_2}, // PPM + + { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // PWM1 + { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM2 + { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // PWM3 + { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM4 + { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM5 + { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2}, // PWM6 + { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM7 + { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM8 + + // UART3 RX/TX + { TIM2, GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7) + { TIM2, GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7) + + // IR / LED Strip Pad + { 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(8) | TIM_N(15)) + +#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3) +#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM15) +#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB) + +#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 diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index e3ec3579ef..85931b0232 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -131,7 +131,7 @@ void setGyroSamplingSpeed(uint16_t looptime) { masterConfig.mag_hardware = 1; masterConfig.pid_process_denom = 2; } else if (looptime < 375) { -#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) +#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO) masterConfig.acc_hardware = 0; #else masterConfig.acc_hardware = 1; diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index cad9b5fe66..5b6c6074f5 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -117,7 +117,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void) #endif #endif -#if defined(SPRACINGF3) || defined(SPRACINGF3MINI) +#if defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(SPRACINGF3EVO) static const extiConfig_t spRacingF3MPUIntExtiConfig = { .gpioAHBPeripherals = RCC_AHBPeriph_GPIOC, .gpioPort = GPIOC, diff --git a/src/main/target/SPRACINGF3EVO/system_stm32f30x.c b/src/main/target/SPRACINGF3EVO/system_stm32f30x.c new file mode 100755 index 0000000000..b750c1d9c5 --- /dev/null +++ b/src/main/target/SPRACINGF3EVO/system_stm32f30x.c @@ -0,0 +1,371 @@ +/** + ****************************************************************************** + * @file system_stm32f30x.c + * @author MCD Application Team + * @version V1.1.1 + * @date 28-March-2014 + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * This file contains the system clock configuration for STM32F30x devices, + * and is generated by the clock configuration tool + * stm32f30x_Clock_Configuration_V1.0.0.xls + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * and Divider factors, AHB/APBx prescalers and Flash settings), + * depending on the configuration made in the clock xls tool. + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f30x.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f30x.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define + * in "stm32f30x.h" file. When HSE is used as system clock source, directly or + * through PLL, and you are using different crystal you have to adapt the HSE + * value to your own configuration. + * + * 5. This file configures the system clock as follows: + *============================================================================= + * Supported STM32F30x device + *----------------------------------------------------------------------------- + * System Clock source | PLL (HSE) + *----------------------------------------------------------------------------- + * SYSCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * HCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * AHB Prescaler | 1 + *----------------------------------------------------------------------------- + * APB2 Prescaler | 2 + *----------------------------------------------------------------------------- + * APB1 Prescaler | 2 + *----------------------------------------------------------------------------- + * HSE Frequency(Hz) | 8000000 + *---------------------------------------------------------------------------- + * PLLMUL | 9 + *----------------------------------------------------------------------------- + * PREDIV | 1 + *----------------------------------------------------------------------------- + * USB Clock | ENABLE + *----------------------------------------------------------------------------- + * Flash Latency(WS) | 2 + *----------------------------------------------------------------------------- + * Prefetch Buffer | ON + *----------------------------------------------------------------------------- + *============================================================================= + ****************************************************************************** + * @attention + * + *

© COPYRIGHT 2014 STMicroelectronics

+ * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f30x_system + * @{ + */ + +/** @addtogroup STM32F30x_System_Private_Includes + * @{ + */ + +#include "stm32f30x.h" + +uint32_t hse_value = HSE_VALUE; + +/** + * @} + */ + +/* Private typedef -----------------------------------------------------------*/ + +/** @addtogroup STM32F30x_System_Private_Defines + * @{ + */ +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +/** + * @} + */ + +/* Private macro -------------------------------------------------------------*/ + +/** @addtogroup STM32F30x_System_Private_Variables + * @{ + */ + + uint32_t SystemCoreClock = 72000000; + + __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_FunctionPrototypes + * @{ + */ + +void SetSysClock(void); + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + + /* Reset the RCC clock configuration to the default reset state ------------*/ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset CFGR register */ + RCC->CFGR &= 0xF87FC00C; + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + + /* Reset PREDIV1[3:0] bits */ + RCC->CFGR2 &= (uint32_t)0xFFFFFFF0; + + /* Reset USARTSW[1:0], I2CSW and TIMs bits */ + RCC->CFGR3 &= (uint32_t)0xFF00FCCC; + + /* Disable all interrupts */ + RCC->CIR = 0x00000000; + + /* Configure the System clock source, PLL Multiplier and Divider factors, + AHB/APBx prescalers and Flash settings ----------------------------------*/ + //SetSysClock(); // called from main() + +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + { + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + break; + default: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock source, PLL Multiplier and Divider factors, + * AHB/APBx prescalers and Flash settings + * @note This function should be called only once the RCC clock configuration + * is reset to the default reset state (done in SystemInit() function). + * @param None + * @retval None + */ +void SetSysClock(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + +/******************************************************************************/ +/* PLL (clocked by HSE) used as System clock source */ +/******************************************************************************/ + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer and set Flash Latency */ + FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK / 2 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + + /* PLL configuration */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9); + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/src/main/target/SPRACINGF3EVO/system_stm32f30x.h b/src/main/target/SPRACINGF3EVO/system_stm32f30x.h new file mode 100755 index 0000000000..b14d1a565b --- /dev/null +++ b/src/main/target/SPRACINGF3EVO/system_stm32f30x.h @@ -0,0 +1,76 @@ +/** + ****************************************************************************** + * @file system_stm32f30x.h + * @author MCD Application Team + * @version V1.1.1 + * @date 28-March-2014 + * @brief CMSIS Cortex-M4 Device System Source File for STM32F30x devices. + ****************************************************************************** + * @attention + * + *

© COPYRIGHT 2014 STMicroelectronics

+ * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f30x_system + * @{ + */ + +/** + * @brief Define to prevent recursive inclusion + */ +#ifndef __SYSTEM_STM32F30X_H +#define __SYSTEM_STM32F30X_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Exported types ------------------------------------------------------------*/ +extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ +/* Exported constants --------------------------------------------------------*/ +/* Exported macro ------------------------------------------------------------*/ +/* Exported functions ------------------------------------------------------- */ + +/** @addtogroup STM32F30x_System_Exported_Functions + * @{ + */ + +extern void SystemInit(void); +extern void SystemCoreClockUpdate(void); + +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /*__SYSTEM_STM32F30X_H */ + +/** + * @} + */ + +/** + * @} + */ +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h new file mode 100755 index 0000000000..6e511e3ab6 --- /dev/null +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -0,0 +1,239 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "SPEV" + +#define LED0_GPIO GPIOB +#define LED0_PIN Pin_8 +#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOB + +#define BEEP_GPIO GPIOC +#define BEEP_PIN Pin_15 +#define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOC +#define BEEPER_INVERTED + +#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip + +#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect + +#define USE_MPU_DATA_READY_SIGNAL +#define ENSURE_MPU_DATA_READY_IS_LOW + +#define USE_MAG_DATA_READY_SIGNAL +#define ENSURE_MAG_DATA_READY_IS_HIGH + + +#define GYRO +//#define USE_FAKE_GYRO +#define USE_GYRO_SPI_MPU6500 + +#define ACC +//#define USE_FAKE_ACC +#define USE_ACC_SPI_MPU6500 + +#define ACC_MPU6500_ALIGN CW180_DEG +#define GYRO_MPU6500_ALIGN CW180_DEG + +#define BARO +#define USE_BARO_BMP280 + +#define MAG +#define USE_MPU9250_MAG // Enables bypass configuration +#define USE_MAG_AK8963 +//#define USE_MAG_HMC5883 // External + +#define MAG_AK8963_ALIGN CW90_DEG_FLIP + +//#define SONAR +#define BEEPER +#define LED0 + +#define USB_IO + +#define USE_VCP +#define USE_USART1 +#define USE_USART2 +#define USE_USART3 +#define SERIAL_PORT_COUNT 4 + +#ifndef UART1_GPIO +#define UART1_TX_PIN GPIO_Pin_9 // PA9 +#define UART1_RX_PIN GPIO_Pin_10 // PA10 +#define UART1_GPIO GPIOA +#define UART1_GPIO_AF GPIO_AF_7 +#define UART1_TX_PINSOURCE GPIO_PinSource9 +#define UART1_RX_PINSOURCE GPIO_PinSource10 +#endif + +#define UART2_TX_PIN GPIO_Pin_14 // PA14 / SWCLK +#define UART2_RX_PIN GPIO_Pin_15 // PA15 +#define UART2_GPIO GPIOA +#define UART2_GPIO_AF GPIO_AF_7 +#define UART2_TX_PINSOURCE GPIO_PinSource14 +#define UART2_RX_PINSOURCE GPIO_PinSource15 + +#ifndef UART3_GPIO +#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7) +#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7) +#define UART3_GPIO_AF GPIO_AF_7 +#define UART3_GPIO GPIOB +#define UART3_TX_PINSOURCE GPIO_PinSource10 +#define UART3_RX_PINSOURCE GPIO_PinSource11 +#endif + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA + +#define USE_SPI +#define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU) +#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5 SPI2 (SDCard) + +#define SPI1_GPIO GPIOB +#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB +#define SPI1_NSS_PIN Pin_9 +#define SPI1_NSS_PIN_SOURCE GPIO_PinSource9 +#define SPI1_SCK_PIN Pin_3 +#define SPI1_SCK_PIN_SOURCE GPIO_PinSource3 +#define SPI1_MISO_PIN Pin_4 +#define SPI1_MISO_PIN_SOURCE GPIO_PinSource4 +#define SPI1_MOSI_PIN Pin_5 +#define SPI1_MOSI_PIN_SOURCE GPIO_PinSource5 + +#define SPI2_GPIO GPIOB +#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB +#define SPI2_NSS_PIN Pin_12 +#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12 +#define SPI2_SCK_PIN Pin_13 +#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13 +#define SPI2_MISO_PIN Pin_14 +#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14 +#define SPI2_MOSI_PIN Pin_15 +#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15 + +#define USE_SDCARD +#define USE_SDCARD_SPI2 + +#define SDCARD_DETECT_INVERTED + +#define SDCARD_DETECT_PIN GPIO_Pin_14 +#define SDCARD_DETECT_EXTI_LINE EXTI_Line14 +#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource14 +#define SDCARD_DETECT_GPIO_PORT GPIOC +#define SDCARD_DETECT_GPIO_CLK RCC_AHBPeriph_GPIOC +#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOC +#define SDCARD_DETECT_EXTI_IRQn EXTI15_10_IRQn + +#define SDCARD_SPI_INSTANCE SPI2 +#define SDCARD_SPI_CS_GPIO SPI2_GPIO +#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN + +// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init: +#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128 +// Divide to under 25MHz for normal operation: +#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2 + +// Note, this is the same DMA channel as USART1_RX. Luckily we don't use DMA for USART Rx. +#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5 +#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5 + +#define MPU6500_CS_GPIO_CLK_PERIPHERAL SPI1_GPIO_PERIPHERAL +#define MPU6500_CS_GPIO SPI1_GPIO +#define MPU6500_CS_PIN GPIO_Pin_9 +#define MPU6500_SPI_INSTANCE SPI1 + +#define USE_ADC +#define BOARD_HAS_VOLTAGE_DIVIDER + + +#define ADC_INSTANCE ADC2 +#define ADC_DMA_CHANNEL DMA2_Channel1 +#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA2 + +#define VBAT_ADC_GPIO GPIOA +#define VBAT_ADC_GPIO_PIN GPIO_Pin_4 +#define VBAT_ADC_CHANNEL ADC_Channel_1 + +#define CURRENT_METER_ADC_GPIO GPIOA +#define CURRENT_METER_ADC_GPIO_PIN GPIO_Pin_5 +#define CURRENT_METER_ADC_CHANNEL ADC_Channel_2 + +#define RSSI_ADC_GPIO GPIOB +#define RSSI_ADC_GPIO_PIN GPIO_Pin_2 +#define RSSI_ADC_CHANNEL ADC_Channel_12 + +#define LED_STRIP +#define LED_STRIP_TIMER TIM1 + +#define USE_LED_STRIP_ON_DMA1_CHANNEL2 +#define WS2811_GPIO GPIOA +#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA +#define WS2811_GPIO_AF GPIO_AF_6 +#define WS2811_PIN GPIO_Pin_8 +#define WS2811_PIN_SOURCE GPIO_PinSource8 +#define WS2811_TIMER TIM1 +#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1 +#define WS2811_DMA_CHANNEL DMA1_Channel2 +#define WS2811_IRQ DMA1_Channel2_IRQn +#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER + +#define TRANSPONDER +#define TRANSPONDER_GPIO GPIOA +#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA +#define TRANSPONDER_GPIO_AF GPIO_AF_6 +#define TRANSPONDER_PIN GPIO_Pin_8 +#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8 +#define TRANSPONDER_TIMER TIM1 +#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1 +#define TRANSPONDER_DMA_CHANNEL DMA1_Channel2 +#define TRANSPONDER_IRQ DMA1_Channel2_IRQn +#define TRANSPONDER_DMA_TC_FLAG DMA1_FLAG_TC2 +#define TRANSPONDER_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER + +#define DEFAULT_RX_FEATURE FEATURE_RX_PPM + +#define GPS +#define BLACKBOX +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +#define TELEMETRY +#define SERIAL_RX +#define DISPLAY +#define USE_SERVOS +#define USE_CLI + +#define SPEKTRUM_BIND +// USART3, +#define BIND_PORT GPIOB +#define BIND_PIN Pin_11 + +#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER +#define USE_SERIAL_4WAY_SK_BOOTLOADER + +#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER)) +#ifdef USE_VCP +#define USE_SERIAL_1WIRE_VCP +#else +#define USE_SERIAL_1WIRE +#endif +#endif + +#define S1W_TX_GPIO UART1_GPIO +#define S1W_TX_PIN UART1_TX_PIN +#define S1W_RX_GPIO UART1_GPIO +#define S1W_RX_PIN UART1_RX_PIN diff --git a/top_makefile b/top_makefile index 71c877f85a..e409e50bbb 100644 --- a/top_makefile +++ b/top_makefile @@ -2,6 +2,7 @@ ALL_TARGETS := naze ALL_TARGETS += cc3d ALL_TARGETS += cc3d_opbl ALL_TARGETS += spracingf3 +ALL_TARGETS += spracingf3evo ALL_TARGETS += spracingf3mini ALL_TARGETS += sparky ALL_TARGETS += alienflightf1 @@ -20,6 +21,7 @@ clean_cc3d cc3d: opts := TARGET=CC3D clean_cc3d_opbl cc3d_opbl : opts := TARGET=CC3D_OPBL clean_spracingf3mini spracingf3mini : opts := TARGET=SPRACINGF3MINI clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3 +clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3EVO clean_sparky sparky : opts := TARGET=SPARKY clean_alienflightf1 alienflightf1 : opts := TARGET=ALIENFLIGHTF1 clean_alienflightf3 alienflightf3 : opts := TARGET=ALIENFLIGHTF3 From 50b7f87251099ffe73752713633111ddaad20284 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 8 Apr 2016 14:11:52 +0200 Subject: [PATCH 8/9] Equal PIDs and Rates for rewrite and luxfloat (Luxfloat adopted to rewrite) --- src/main/flight/pid.c | 35 ++++++++++++++++++++--------------- 1 file changed, 20 insertions(+), 15 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 9a1e96efa9..a2e454f032 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -138,6 +138,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float + // Scaling factors for Pids to match rewrite and use same defaults + static const float luxPTermScale = 1.0f / 128; + static const float luxITermScale = 1000000.0f / 0x1000000; + static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 256; + if (FLIGHT_MODE(HORIZON_MODE)) { // Figure out the raw stick positions const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc)); @@ -145,10 +150,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle); // Progressively turn off the horizon self level strength as the stick is banged over horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection - if(pidProfile->H_sensitivity == 0){ + if(pidProfile->D8[PIDLEVEL] == 0){ horizonLevelStrength = 0; } else { - horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1); + horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1); } } @@ -158,31 +163,31 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate - AngleRate = (float)((rate + 10) * rcCommand[YAW]) / 50.0f; + AngleRate = (float)((rate + 47) * rcCommand[YAW]) / 32.0f; } else { // ACRO mode, control is GYRO based, direct sticks control is applied to rate PID - AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate + AngleRate = (float)((rate + 27) * rcCommand[axis]) / 16.0f; // 200dps to 1200dps max roll/pitch rate if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // calculate error angle and limit the angle to the max inclination #ifdef GPS - const float errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination), - +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here + const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination), + +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here #else - const float errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination), - +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here + const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination), + +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here #endif if (FLIGHT_MODE(ANGLE_MODE)) { // ANGLE mode - control is angle based, so control loop is needed - AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f; + AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f; } else { // HORIZON mode - direct sticks control is applied to rate PID // mix up angle error to desired AngleRate to add a little auto-level feel - AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] / 10.0f * horizonLevelStrength; + AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f; } } } - gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps + gyroRate = gyroADC[axis] / 4.0f; // gyro output scaled to rewrite scale // --------low-level gyro-based PID. ---------- // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes @@ -192,9 +197,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa // -----calculate P component if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) { - PTerm = (pidProfile->P8[axis] / 40.0f * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig)); + PTerm = (luxPTermScale * pidProfile->P8[axis] * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig)); } else { - PTerm = RateError * (pidProfile->P8[axis] / 40.0f) * tpaFactor; + PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor; } // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply @@ -203,7 +208,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa } // -----calculate I component. - errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f); + errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * pidProfile->I8[axis], -250.0f, 250.0f); if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) { if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0; @@ -246,7 +251,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa // Apply moving average if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]); - DTerm = constrainf(delta * (float)pidProfile->D8[axis] * 0.001f * tpaFactor, -300.0f, 300.0f); + DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f); } // -----calculate total PID output From 216f0d047b9329a1f585d99b0a1724fb20995e5b Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 8 Apr 2016 14:20:49 +0200 Subject: [PATCH 9/9] top_makefile fix --- top_makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/top_makefile b/top_makefile index e409e50bbb..50385bfa3d 100644 --- a/top_makefile +++ b/top_makefile @@ -21,7 +21,7 @@ clean_cc3d cc3d: opts := TARGET=CC3D clean_cc3d_opbl cc3d_opbl : opts := TARGET=CC3D_OPBL clean_spracingf3mini spracingf3mini : opts := TARGET=SPRACINGF3MINI clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3 -clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3EVO +clean_spracingf3 spracingf3evo : opts := TARGET=SPRACINGF3EVO clean_sparky sparky : opts := TARGET=SPARKY clean_alienflightf1 alienflightf1 : opts := TARGET=ALIENFLIGHTF1 clean_alienflightf3 alienflightf3 : opts := TARGET=ALIENFLIGHTF3