mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
3bd4cd2ed2
like too many folders. Extracted code from some files into separate files to fit with the new layout.
329 lines
8.4 KiB
C
Executable file
329 lines
8.4 KiB
C
Executable file
#pragma once
|
|
|
|
// for roundf()
|
|
#define __USE_C99_MATH
|
|
|
|
#include <stdbool.h>
|
|
#include <stdlib.h>
|
|
#include <stdint.h>
|
|
#include <math.h>
|
|
#include <ctype.h>
|
|
#include <string.h>
|
|
#include <stdio.h>
|
|
|
|
#include "stm32f10x_conf.h"
|
|
#include "core_cm3.h"
|
|
|
|
#ifndef __CC_ARM
|
|
// only need this garbage on gcc
|
|
#define USE_LAME_PRINTF
|
|
#define PRINTF_LONG_SUPPORT
|
|
|
|
#include "printf.h"
|
|
#endif
|
|
|
|
#include "drivers/system_common.h" // timers, delays, etc
|
|
#include "drivers/gpio_common.h"
|
|
|
|
#ifndef M_PI
|
|
#define M_PI 3.14159265358979323846f
|
|
#endif /* M_PI */
|
|
|
|
#define RADX10 (M_PI / 1800.0f) // 0.001745329252f
|
|
#define RAD (M_PI / 180.0f)
|
|
|
|
#define min(a, b) ((a) < (b) ? (a) : (b))
|
|
#define max(a, b) ((a) > (b) ? (a) : (b))
|
|
#define abs(x) ((x) > 0 ? (x) : -(x))
|
|
|
|
// Chip Unique ID on F103
|
|
#define U_ID_0 (*(uint32_t*)0x1FFFF7E8)
|
|
#define U_ID_1 (*(uint32_t*)0x1FFFF7EC)
|
|
#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
|
|
|
|
typedef enum {
|
|
SENSOR_GYRO = 1 << 0, // always present
|
|
SENSOR_ACC = 1 << 1,
|
|
SENSOR_BARO = 1 << 2,
|
|
SENSOR_MAG = 1 << 3,
|
|
SENSOR_SONAR = 1 << 4,
|
|
SENSOR_GPS = 1 << 5,
|
|
SENSOR_GPSMAG = 1 << 6,
|
|
} AvailableSensors;
|
|
|
|
// Type of accelerometer used/detected
|
|
typedef enum AccelSensors {
|
|
ACC_DEFAULT = 0,
|
|
ACC_ADXL345 = 1,
|
|
ACC_MPU6050 = 2,
|
|
ACC_MMA8452 = 3,
|
|
ACC_BMA280 = 4,
|
|
ACC_NONE = 5
|
|
} AccelSensors;
|
|
|
|
typedef enum {
|
|
FEATURE_PPM = 1 << 0,
|
|
FEATURE_VBAT = 1 << 1,
|
|
FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
|
|
FEATURE_SERIALRX = 1 << 3,
|
|
FEATURE_MOTOR_STOP = 1 << 4,
|
|
FEATURE_SERVO_TILT = 1 << 5,
|
|
FEATURE_SOFTSERIAL = 1 << 6,
|
|
FEATURE_LED_RING = 1 << 7,
|
|
FEATURE_GPS = 1 << 8,
|
|
FEATURE_FAILSAFE = 1 << 9,
|
|
FEATURE_SONAR = 1 << 10,
|
|
FEATURE_TELEMETRY = 1 << 11,
|
|
FEATURE_POWERMETER = 1 << 12,
|
|
FEATURE_VARIO = 1 << 13,
|
|
FEATURE_3D = 1 << 14,
|
|
} AvailableFeatures;
|
|
|
|
typedef enum {
|
|
SERIALRX_SPEKTRUM1024 = 0,
|
|
SERIALRX_SPEKTRUM2048 = 1,
|
|
SERIALRX_SBUS = 2,
|
|
SERIALRX_SUMD = 3,
|
|
} SerialRXType;
|
|
|
|
typedef enum {
|
|
GPS_NMEA = 0,
|
|
GPS_UBLOX,
|
|
GPS_MTK_NMEA,
|
|
GPS_MTK_BINARY,
|
|
GPS_MAG_BINARY,
|
|
GPS_HARDWARE_MAX = GPS_MAG_BINARY,
|
|
} GPSHardware;
|
|
|
|
typedef enum {
|
|
GPS_BAUD_115200 = 0,
|
|
GPS_BAUD_57600,
|
|
GPS_BAUD_38400,
|
|
GPS_BAUD_19200,
|
|
GPS_BAUD_9600,
|
|
GPS_BAUD_MAX = GPS_BAUD_9600
|
|
} GPSBaudRates;
|
|
|
|
typedef enum {
|
|
TELEMETRY_PROVIDER_FRSKY = 0,
|
|
TELEMETRY_PROVIDER_HOTT,
|
|
TELEMETRY_PROVIDER_MAX = TELEMETRY_PROVIDER_HOTT
|
|
} TelemetryProvider;
|
|
|
|
typedef enum {
|
|
TELEMETRY_PORT_UART = 0,
|
|
TELEMETRY_PORT_SOFTSERIAL_1, // Requires FEATURE_SOFTSERIAL
|
|
TELEMETRY_PORT_SOFTSERIAL_2, // Requires FEATURE_SOFTSERIAL
|
|
TELEMETRY_PORT_MAX = TELEMETRY_PORT_SOFTSERIAL_2
|
|
} TelemetryPort;
|
|
|
|
typedef enum {
|
|
X = 0,
|
|
Y,
|
|
Z
|
|
} sensor_axis_e;
|
|
|
|
typedef enum {
|
|
ALIGN_DEFAULT = 0, // driver-provided alignment
|
|
CW0_DEG = 1,
|
|
CW90_DEG = 2,
|
|
CW180_DEG = 3,
|
|
CW270_DEG = 4,
|
|
CW0_DEG_FLIP = 5,
|
|
CW90_DEG_FLIP = 6,
|
|
CW180_DEG_FLIP = 7,
|
|
CW270_DEG_FLIP = 8
|
|
} sensor_align_e;
|
|
|
|
enum {
|
|
GYRO_UPDATED = 1 << 0,
|
|
ACC_UPDATED = 1 << 1,
|
|
MAG_UPDATED = 1 << 2,
|
|
TEMP_UPDATED = 1 << 3
|
|
};
|
|
|
|
typedef struct sensor_data_t
|
|
{
|
|
int16_t gyro[3];
|
|
int16_t acc[3];
|
|
int16_t mag[3];
|
|
float temperature;
|
|
int updated;
|
|
} sensor_data_t;
|
|
|
|
typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype
|
|
typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
|
|
typedef void (* baroOpFuncPtr)(void); // baro start operation
|
|
typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
|
|
typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app
|
|
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
|
|
typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype
|
|
|
|
typedef struct sensor_t
|
|
{
|
|
sensorInitFuncPtr init; // initialize function
|
|
sensorReadFuncPtr read; // read 3 axis data function
|
|
sensorReadFuncPtr temperature; // read temperature if available
|
|
float scale; // scalefactor (currently used for gyro only, todo for accel)
|
|
} sensor_t;
|
|
|
|
typedef struct baro_t
|
|
{
|
|
uint16_t ut_delay;
|
|
uint16_t up_delay;
|
|
baroOpFuncPtr start_ut;
|
|
baroOpFuncPtr get_ut;
|
|
baroOpFuncPtr start_up;
|
|
baroOpFuncPtr get_up;
|
|
baroCalculateFuncPtr calculate;
|
|
} baro_t;
|
|
|
|
// Hardware definitions and GPIO
|
|
#ifdef FY90Q
|
|
// FY90Q
|
|
#define LED0_GPIO GPIOC
|
|
#define LED0_PIN Pin_12
|
|
#define LED1_GPIO GPIOA
|
|
#define LED1_PIN Pin_15
|
|
|
|
#define GYRO
|
|
#define ACC
|
|
#define LED0
|
|
#define LED1
|
|
|
|
#define SENSORS_SET (SENSOR_ACC)
|
|
|
|
#else
|
|
|
|
#ifdef OLIMEXINO
|
|
// OLIMEXINO
|
|
|
|
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
|
|
// LED2 is using one of the pwm pins (PWM2), so we must not use PWM2. @See pwmInit()
|
|
#define LED0_GPIO GPIOA
|
|
#define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
|
|
#define LED0
|
|
#endif
|
|
|
|
#ifdef OLIMEXINO_UNCUT_LED1_E_JUMPER
|
|
#define LED1_GPIO GPIOA
|
|
#define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
|
|
#define LED1
|
|
#endif
|
|
|
|
#define GYRO
|
|
#define ACC
|
|
|
|
#define SENSORS_SET (SENSOR_ACC)
|
|
|
|
#else
|
|
// Afroflight32
|
|
|
|
#define LED0_GPIO GPIOB
|
|
#define LED0_PIN Pin_3 // PB3 (LED)
|
|
#define LED1_GPIO GPIOB
|
|
#define LED1_PIN Pin_4 // PB4 (LED)
|
|
#define BEEP_GPIO GPIOA
|
|
#define BEEP_PIN Pin_12 // PA12 (Buzzer)
|
|
#define BARO_GPIO GPIOC
|
|
#define BARO_PIN Pin_13
|
|
|
|
#define GYRO
|
|
#define ACC
|
|
#define MAG
|
|
#define BARO
|
|
#define LEDRING
|
|
#define SONAR
|
|
#define BUZZER
|
|
#define LED0
|
|
#define LED1
|
|
|
|
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
|
|
|
|
#endif
|
|
#endif
|
|
|
|
// Helpful macros
|
|
#ifdef LED0
|
|
#define LED0_TOGGLE digitalToggle(LED0_GPIO, LED0_PIN);
|
|
#define LED0_OFF digitalHi(LED0_GPIO, LED0_PIN);
|
|
#define LED0_ON digitalLo(LED0_GPIO, LED0_PIN);
|
|
#else
|
|
#define LED0_TOGGLE
|
|
#define LED0_OFF
|
|
#define LED0_ON
|
|
#endif
|
|
|
|
#ifdef LED1
|
|
#define LED1_TOGGLE digitalToggle(LED1_GPIO, LED1_PIN);
|
|
#define LED1_OFF digitalHi(LED1_GPIO, LED1_PIN);
|
|
#define LED1_ON digitalLo(LED1_GPIO, LED1_PIN);
|
|
#else
|
|
#define LED1_TOGGLE
|
|
#define LED1_OFF
|
|
#define LED1_ON
|
|
#endif
|
|
|
|
#ifdef BEEP_GPIO
|
|
#define BEEP_TOGGLE digitalToggle(BEEP_GPIO, BEEP_PIN);
|
|
#define BEEP_OFF systemBeep(false);
|
|
#define BEEP_ON systemBeep(true);
|
|
#else
|
|
#define BEEP_TOGGLE ;
|
|
#define BEEP_OFF ;
|
|
#define BEEP_ON ;
|
|
#endif
|
|
|
|
#undef SOFT_I2C // enable to test software i2c
|
|
|
|
#include "boardalignment.h"
|
|
#include "battery.h"
|
|
#include "math.h"
|
|
|
|
#ifdef FY90Q
|
|
// FY90Q
|
|
#include "drivers/adc/drv_adc.h"
|
|
#include "drv_i2c.h"
|
|
#include "drv_pwm.h"
|
|
#include "drivers/serial/drv_uart.h"
|
|
#else
|
|
|
|
#ifdef OLIMEXINO
|
|
// OLIMEXINO
|
|
#include "drivers/adc_common.h"
|
|
#include "drivers/bus_i2c.h"
|
|
#include "drivers/bus_spi.h"
|
|
#include "drivers/accgyro_adxl345.h"
|
|
#include "drivers/accgyro_mpu3050.h"
|
|
#include "drivers/accgyro_mpu6050.h"
|
|
#include "drivers/accgyro_l3g4200d.h"
|
|
#include "drivers/pwm_common.h"
|
|
#include "drivers/timer_common.h"
|
|
#include "drivers/serial_common.h"
|
|
#include "drivers/serial_uart.h"
|
|
#include "drivers/serial_softserial.h"
|
|
#else
|
|
|
|
// AfroFlight32
|
|
#include "drivers/adc_common.h"
|
|
#include "drivers/accgyro_adxl345.h"
|
|
#include "drivers/accgyro_bma280.h"
|
|
#include "drivers/altimeter_bmp085.h"
|
|
#include "drivers/altimeter_ms5611.h"
|
|
#include "drivers/compass_hmc5883l.h"
|
|
#include "drivers/bus_i2c.h"
|
|
#include "drivers/bus_spi.h"
|
|
#include "drivers/light_ledring.h"
|
|
#include "drivers/accgyro_mma845x.h"
|
|
#include "drivers/accgyro_mpu3050.h"
|
|
#include "drivers/accgyro_mpu6050.h"
|
|
#include "drivers/accgyro_l3g4200d.h"
|
|
#include "drivers/pwm_common.h"
|
|
#include "drivers/timer_common.h"
|
|
#include "drivers/serial_common.h"
|
|
#include "drivers/serial_uart.h"
|
|
#include "drivers/serial_softserial.h"
|
|
#include "drivers/sonar_hcsr04.h"
|
|
|
|
#endif
|
|
#endif
|