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Add MERCURYG4 (#12461)

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Mark Haslinghuis 2023-03-29 23:22:02 +02:00 • committed by GitHub
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/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software 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.
*
* Betaflight 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define FC_TARGET_MCU STM32G47X
#define BOARD_NAME MERCURYG4
#define MANUFACTURER_ID ANYL
#define USE_ACC
#define USE_ACC_SPI_ICM42688P
#define USE_GYRO
#define USE_GYRO_SPI_ICM42688P
#define USE_BARO
#define USE_BARO_DPS310
#define USE_FLASH
#define USE_FLASH_M25P16
#define BEEPER_PIN PA10
#define MOTOR1_PIN PC6
#define MOTOR2_PIN PA4
#define MOTOR3_PIN PB0
#define MOTOR4_PIN PB1
#define UART1_TX_PIN PB6
#define UART1_RX_PIN PB7
// UART 2: ELRS receiver
#define UART2_TX_PIN PB3
#define UART2_RX_PIN PB4
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11
// UART 4: OSD
#define UART4_TX_PIN PC10
#define UART4_RX_PIN PC11
// LPUART 1:
#define UART9_TX_PIN PA2
#define UART9_RX_PIN PA3
// I2C
#define I2C1_SCL_PIN PA15
#define I2C1_SDA_PIN PB9
// I2C2: Barometer
#define I2C2_SCL_PIN PA9
#define I2C2_SDA_PIN PA8
#define BARO_I2C_INSTANCE (I2CDEV_2)
// TODO #define LED0_PIN
// TODO #define LED1_PIN
#define ADC_VBAT_PIN PA1 // ADC2 in 2
#define ADC_CURR_PIN PB2 // ADC2 in 12
#define FLASH_CS_PIN PA0
#define FLASH_SPI_INSTANCE SPI2
#define GYRO_1_EXTI_PIN PC13
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_1_ALIGN_YAW 1800
// SPI 1: IMU
#define SPI_SCK1_PIN PA5
#define SPI_MISO1_PIN PA6
#define SPI_MOSI1_PIN PA7
// SPI 2: Blackbox flash
#define SPI_SCK2_PIN PB13
#define SPI_MISO2_PIN PB14
#define SPI_MOSI2_PIN PB15
/*
# We don't use ADC 1 directly, but it is mandatory to assign it, since
# the MCU's temperature sensor, and VDDA measurement are on ADC1.
dma ADC 1 6
dma ADC 2 7
dma SPI_MOSI 1 8
dma SPI_MISO 1 9
dma SPI_MOSI 2 10
dma SPI_MISO 2 11
# Motors and timer pins for burst DMA DSHOT
timer C06 AF2 # Tim3 ch1
timer A04 AF2 # Tim3 ch2
timer B00 AF2 # Tim3 ch3
timer B01 AF2 # Tim3 ch4
resource MOTOR 1 C06
resource MOTOR 2 A04
resource MOTOR 3 B00
resource MOTOR 4 B01
timer A10 AF10 # Beeper: Tim2 ch4
resource BEEPER 1 A10
*/
#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1) \
TIMER_PIN_MAP( 1, MOTOR1_PIN , 1, -1) \
TIMER_PIN_MAP( 2, MOTOR2_PIN , 1, -1) \
TIMER_PIN_MAP( 3, MOTOR3_PIN , 1, -1) \
TIMER_PIN_MAP( 4, MOTOR4_PIN , 1, -1)
#define ADC_INSTANCE ADC1
#define ADC1_DMA_OPT 0
#define ADC2_DMA_OPT 0
#define SPI1_TX_DMA_OPT 0
#define SPI1_RX_DMA_OPT 0
#define SPI2_TX_DMA_OPT 0
#define SPI2_RX_DMA_OPT 0
#define UART1_TX_DMA_OPT 0
#define UART1_RX_DMA_OPT 0
#define UART2_TX_DMA_OPT 0
#define UART2_RX_DMA_OPT 0
#define UART3_TX_DMA_OPT 0
#define UART3_RX_DMA_OPT 0
#define UART4_TX_DMA_OPT 0
#define UART4_RX_DMA_OPT 0
#define UART5_TX_DMA_OPT 0
#define UART5_RX_DMA_OPT 0
#define BEEPER_INVERTED
#define SYSTEM_HSE_MHZ 16
#define PID_PROCESS_DENOM 2
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_CRSF
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 118
/*
# Barometer
set baro_hardware = DPS310
set baro_i2c_address = 119 # 0x77
set i2c2_clockspeed_khz = 400
set i2c2_pullup = ON # No hardware PUs are present.
set mco_on_pa8 = OFF
# ADC
set adc_device = 2
set vbat_divider = 5
set vbat_multiplier = 2
# Control Rx
set serialrx_provider = CRSF
# For RSSI on the OSD, use AUX11/ch15 for Link Quality Indictaor, or AUX12/ch16 for RSSI dBm
set rssi_channel = 15
# Motors and timer pins for burst DMA DSHOT
timer PC6 AF2 # Tim3 ch1
timer PA4 AF2 # Tim3 ch2
timer PB0 AF2 # Tim3 ch3
timer PB1 AF2 # Tim3 ch4
timer PA10 AF10 # Beeper: Tim2 ch4
# DMA
# Assign DMA channels explicitly. Leaving the default assignments triggers
# system failures indicated by the attitude indication responding strangely
# on the `Setup` page.
# We don't use ADC 1 directly, but it is mandatory to assign it, since
# the MCU's temperature sensor, and VDDA measurement are on ADC1.
dma ADC 1 6
dma ADC 2 7
dma SPI_MOSI 1 8
dma SPI_MISO 1 9
dma SPI_MOSI 2 10
dma SPI_MISO 2 11
# Features
feature TELEMETRY
feature OSD
feature RX_SERIAL # For the built-en ELRS receiver, via CRSF.
# Configure UART4 for digital (MSP Displayport) OSD.
serial 3 1 115200 57600 0 115200
# Configure UART2 for the built-in ELRS receiver, via CRSF.
serial 1 64 115200 57600 0 115200
# Master
set system_hse_mhz = 16
# 4kHz PID loop frequency.
set pid_process_denom = 2
*/