Merge pull request #688 from SergDoc/betaflight

add F4BY

src/main/target/F4BY/target.c

@@ -0,0 +1,104 @@
+
+#include <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM16  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),          // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     
+    PWM7  | (MAP_TO_PWM_INPUT << 8),      
+    PWM8  | (MAP_TO_PWM_INPUT << 8),         // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM16 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM11  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM15  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM16  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),          // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     
+    PWM7  | (MAP_TO_PWM_INPUT << 8),      
+    PWM8  | (MAP_TO_PWM_INPUT << 8),         // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #5
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #6
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM3, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, IOCFG_IPD, GPIO_Mode_AF,  GPIO_AF_TIM3, 0},       // S1_IN
+    { TIM3, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, IOCFG_IPD, GPIO_Mode_AF,  GPIO_AF_TIM3, 0},      // S2_IN
+    { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, IOCFG_IPD, GPIO_Mode_AF,  GPIO_AF_TIM3, 0},      // S3_IN
+    { TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, IOCFG_IPD, GPIO_Mode_AF,  GPIO_AF_TIM3, 0},      // S4_IN
+    { TIM4, IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM4, 0}, // S5_IN
+    { TIM4, IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM4, 0}, // S6_IN
+    { TIM4, IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM4, 0}, // S7_IN
+    { TIM4, IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn, IOCFG_IPD, GPIO_Mode_AF, GPIO_AF_TIM4, 0}, // S8_IN
+
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM2, 0},    // S1_OUT
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM2, 0},    // S2_OUT
+    { TIM5, IO_TAG(PA2), TIM_Channel_3, TIM5_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5, 0},    // S3_OUT
+    { TIM5, IO_TAG(PA3), TIM_Channel_4, TIM5_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5, 0},    // S4_OUT
+    { TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM1, 0},    // S5_OUT
+    { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM1, 0},    // S6_OUT
+    { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM1, 0},    // S7_OUT
+    { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM1, 0},    // S8_OUT
+};
+

src/main/target/F4BY/target.h

@@ -0,0 +1,159 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "F4BY"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "Swift-Flyer F4BY"
+
+#define LED0 PE3 // Blue LED
+#define LED1 PE2 // Red LED
+#define LED2 PE1 // Blue LED
+#define BEEPER PE5
+
+#define INVERTER PD3
+#define INVERTER_USART USART6
+
+
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI PB0
+#define USE_EXTI
+
+#define MPU6000_CS_PIN       PA4
+#define MPU6000_SPI_INSTANCE SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN    CW90_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN   CW90_DEG
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN    CW90_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define USE_SDCARD
+
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PE15
+
+// SPI3 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+// Performance logging for SD card operations:
+
+#define USABLE_TIMER_CHANNEL_COUNT 16
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+
+#define USE_USART1
+#define USART1_RX_PIN PB7
+#define USART1_TX_PIN PB6
+#define USART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+
+#define USE_USART2
+#define USART2_RX_PIN PD6
+#define USART2_TX_PIN PD5
+
+#define USE_USART3
+#define USART3_RX_PIN PD9
+#define USART3_TX_PIN PD8
+
+#define USE_USART6
+#define USART6_RX_PIN PC7
+#define USART6_TX_PIN PC6
+
+
+#define SERIAL_PORT_COUNT    5
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN    PA5
+#define SPI1_MISO_PIN   PA6
+#define SPI1_MOSI_PIN   PA7
+#define SPI1_NSS_PIN NONE
+
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN         NONE
+#define SPI2_SCK_PIN         PB3
+#define SPI2_MISO_PIN        PB4
+#define SPI2_MOSI_PIN        PB5
+
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2)
+#define USE_I2C_PULLUP
+#define I2C2_SCL PB10 
+#define I2C2_SDA PB11
+
+#define USE_ADC
+//#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN               PC3
+#define CURRENT_METER_ADC_PIN      PC2
+#define RSSI_ADC_PIN               PC1
+
+ 
+#define SENSORS_SET (SENSOR_ACC)
+
+
+// alternative defaults for  F4BY 
+//#define F4BY
+
+#define SPEKTRUM_BIND
+// USART6, PC7
+#define BIND_PIN             PC7
+
+#define HARDWARE_BIND_PLUG
+// Hardware bind plug at PB2 (Pin 28)
+#define BINDPLUG_PIN         PB2
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define BRUSHED_MOTORS
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTD      0xffff
+#define TARGET_IO_PORTE	     0xffff
+
+#define USED_TIMERS  ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
+

src/main/target/F4BY/target.mk

@@ -0,0 +1,8 @@
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP
+
+TARGET_SRC = \
+             drivers/accgyro_spi_mpu6000.c \
+             drivers/barometer_ms5611.c \
+             drivers/compass_hmc5883l.c
+