diff --git a/src/main/target/AIRBOTF7/target.c b/src/main/target/AIRBOTF7/target.c new file mode 100644 index 0000000000..aad08be85e --- /dev/null +++ b/src/main/target/AIRBOTF7/target.c @@ -0,0 +1,50 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute 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. + * + * This file 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 program. If not, see http://www.gnu.org/licenses/. + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/bus.h" + +// Board hardware definitions +BUSDEV_REGISTER_SPI_TAG(busdev_imu0_mpu6000, DEVHW_MPU6000, GYRO_0_SPI_BUS, GYRO_0_CS_PIN, GYRO_0_EXTI_PIN, 0, DEVFLAGS_NONE); +BUSDEV_REGISTER_SPI_TAG(busdev_imu0_mpu6500, DEVHW_MPU6500, GYRO_0_SPI_BUS, GYRO_0_CS_PIN, GYRO_0_EXTI_PIN, 0, DEVFLAGS_NONE); + +BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6000, DEVHW_MPU6000, GYRO_1_SPI_BUS, GYRO_1_CS_PIN, GYRO_1_EXTI_PIN, 1, DEVFLAGS_NONE); +BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6500, DEVHW_MPU6500, GYRO_1_SPI_BUS, GYRO_1_CS_PIN, GYRO_1_EXTI_PIN, 1, DEVFLAGS_NONE); + +const timerHardware_t timerHardware[] = { + DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // LED + DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // Cam control, SS, UNUSED + + DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR, 0, 0), //S1 + DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR, 0, 0), //S2 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR, 0, 0), //S3 + DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR, 0, 0), //S4 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/AIRBOTF7/target.h b/src/main/target/AIRBOTF7/target.h new file mode 100644 index 0000000000..ed7275dcc4 --- /dev/null +++ b/src/main/target/AIRBOTF7/target.h @@ -0,0 +1,183 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute 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. + * + * This file 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 program. If not, see http://www.gnu.org/licenses/. + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "ABF7" +#define USBD_PRODUCT_STRING "Airbot F7" + +// ************** Beeper and LED ****************** +#define LED0 PB12 +#define BEEPER PB0 +#define BEEPER_INVERTED + +// *************** SPI & I2C ********************** +#define USE_SPI +#define USE_I2C + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +// *************** Gyro & ACC ********************** +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS +#define USE_DUAL_GYRO + +#define USE_ACC +#define USE_GYRO + +#define USE_ACC_MPU6000 +#define USE_ACC_MPU6500 +#define USE_GYRO_MPU6000 +#define USE_GYRO_MPU6500 + +#define GYRO_0_CS_PIN PD2 +#define GYRO_0_SPI_BUS BUS_SPI3 +#define GYRO_0_EXTI_PIN NONE +#define GYRO_0_ALIGN CW90_DEG // This doesn't work yet, requires BUS refactoring + +#define GYRO_1_CS_PIN PC4 +#define GYRO_1_SPI_BUS BUS_SPI1 +#define GYRO_1_EXTI_PIN NONE +#define GYRO_1_ALIGN CW0_DEG // This doesn't work yet, requires BUS refactoring + +// TODO: Remove this once per-gyro alignment is supported correctly +#define GYRO_MPU6500_ALIGN CW90_DEG +#define ACC_MPU6500_ALIGN CW90_DEG + +// *************** OSD ***************************** +#define USE_OSD +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PC15 + +// *************** FLASH ************************** +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN PA3 +#define M25P16_SPI_BUS BUS_SPI1 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** I2C defvices ********************** +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 + +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN NONE + +#define USE_UART3 +#define UART3_RX_PIN PC11 +#define UART3_TX_PIN PC10 + +#define USE_UART4 +#define UART4_RX_PIN PA1 +#define UART4_TX_PIN PA0 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN NONE + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define USE_SOFTSERIAL1 +#define SOFTSERIAL_1_TX_PIN PA5 +#define SOFTSERIAL_1_RX_PIN PA5 + +#define SERIAL_PORT_COUNT 8 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC2 +#define ADC_CHANNEL_3_PIN PC1 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 + +// ************** Other features ******************* +#define USE_LED_STRIP +#define WS2811_PIN PA15 + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX) + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART1 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define MAX_PWM_OUTPUT_PORTS 4 +#define TARGET_MOTOR_COUNT 4 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define USE_DSHOT +#define USE_ESC_SENSOR diff --git a/src/main/target/AIRBOTF7/target.mk b/src/main/target/AIRBOTF7/target.mk new file mode 100644 index 0000000000..24cc94224d --- /dev/null +++ b/src/main/target/AIRBOTF7/target.mk @@ -0,0 +1,16 @@ +F7X2RE_TARGETS += $(TARGET) +FEATURES += VCP ONBOARDFLASH MSC + +TARGET_SRC = \ + drivers/accgyro/accgyro_mpu6500.c \ + drivers/accgyro/accgyro_mpu6000.c \ + drivers/barometer/barometer_bmp280.c \ + drivers/barometer/barometer_ms56xx.c \ + drivers/compass/compass_hmc5883l.c \ + drivers/compass/compass_mag3110.c \ + drivers/compass/compass_qmc5883l.c \ + drivers/compass/compass_ist8310.c \ + drivers/compass/compass_ist8308.c \ + drivers/compass/compass_lis3mdl.c \ + drivers/light_ws2811strip.c \ + drivers/max7456.c