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Add KAKUTEF7 target

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This commit is contained in:
Michel Pastor 2018-09-16 22:52:20 +02:00
parent 855bce4a22
commit 49a4d514be
13 changed files with 441 additions and 4 deletions
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149
src/main/drivers/accgyro/accgyro_icm20689.c Normal file
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@ -0,0 +1,149 @@
/*
* This file is part of iNavFlight.
*
* Cleanflight and Betaflight are 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/io.h"
#include "drivers/exti.h"
#include "drivers/bus.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_icm20689.h"
#if (defined(USE_GYRO_ICM20689) || defined(USE_ACC_ICM20689))
static uint8_t icm20689DeviceDetect(const busDevice_t *busDev)
{
busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
uint8_t attemptsRemaining = 20;
uint8_t in;
do {
delay(150);
busRead(busDev, MPU_RA_WHO_AM_I, &in);
switch (in) {
case ICM20601_WHO_AM_I_CONST:
case ICM20602_WHO_AM_I_CONST:
case ICM20608G_WHO_AM_I_CONST:
case ICM20689_WHO_AM_I_CONST:
return true;
}
} while (attemptsRemaining--);
return false;
}
static void icm20689AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}
bool icm20689AccDetect(accDev_t *acc)
{
acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_ICM20689, acc->imuSensorToUse);
if (acc->busDev == NULL) {
return false;
}
mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
if (ctx->chipMagicNumber != 0x50D1) {
return false;
}
acc->initFn = icm20689AccInit;
acc->readFn = mpuAccReadScratchpad;
return true;
}
static void icm20689AccAndGyroInit(gyroDev_t *gyro)
{
busDevice_t * busDev = gyro->busDev;
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
gyroIntExtiInit(gyro);
busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
delay(100);
busWrite(busDev, MPU_RA_SIGNAL_PATH_RESET, 0x03);
delay(100);
busWrite(busDev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
busWrite(busDev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); // XXX
delay(15);
busWrite(busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
busWrite(busDev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
delay(15);
busWrite(busDev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
busWrite(busDev, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
busWrite(busDev, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif
}
bool icm20689GyroDetect(gyroDev_t *gyro)
{
gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM20689, gyro->imuSensorToUse, OWNER_MPU);
if (gyro->busDev == NULL) {
return false;
}
if (!icm20689DeviceDetect(gyro->busDev)) {
busDeviceDeInit(gyro->busDev);
return false;
}
// Magic number for ACC detection to indicate that we have detected MPU6000 gyro
mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
ctx->chipMagicNumber = 0x50D1;
gyro->initFn = icm20689AccAndGyroInit;
gyro->readFn = mpuGyroReadScratchpad;
gyro->intStatusFn = gyroCheckDataReady;
gyro->temperatureFn = mpuTemperatureReadScratchpad;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor
return true;
}
#endif

32
src/main/drivers/accgyro/accgyro_icm20689.h Normal file
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@ -0,0 +1,32 @@
/*
* This file is part of iNavFlight.
*
* Cleanflight and Betaflight are 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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
#include "drivers/bus.h"
#define ICM20689_BIT_RESET (0x80)
#if (defined(USE_GYRO_ICM20689) || defined(USE_ACC_ICM20689))
bool icm20689AccDetect(accDev_t *acc);
bool icm20689GyroDetect(gyroDev_t *gyro);
#endif

1
src/main/drivers/bus.h
View file

@ -83,6 +83,7 @@ typedef enum {
DEVHW_MPU6050,
DEVHW_MPU6500,
DEVHW_BMI160,
DEVHW_ICM20689,
/* Combined ACC/GYRO/MAG chips */
DEVHW_MPU9250,

2
src/main/drivers/serial_uart.c
View file

@ -36,7 +36,7 @@
#include "serial_uart_impl.h"
static void usartConfigurePinInversion(uartPort_t *uartPort) {
#if !defined(USE_UART_INVERTER) && !defined(STM32F303xC)
#if !defined(USE_UART_INVERTER) && !defined(STM32F303xC) && !defined(STM32F7)
UNUSED(uartPort);
#else
bool inverted = uartPort->port.options & SERIAL_INVERTED;

2
src/main/fc/cli.c
View file

@ -149,7 +149,7 @@ static const char * const featureNames[] = {
/* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
// sync with gyroSensor_e
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "FAKE"};
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"};
// sync this with sensors_e
static const char * const sensorTypeNames[] = {

2
src/main/fc/settings.yaml
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@ -4,7 +4,7 @@ tables:
- name: gyro_lpf
values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
- name: acc_hardware
values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "FAKE"]
values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"]
enum: accelerationSensor_e
- name: rangefinder_hardware
values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UIB"]

18
src/main/sensors/acceleration.c
View file

@ -47,6 +47,7 @@
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_bmi160.h"
#include "drivers/accgyro/accgyro_icm20689.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/logging.h"
#include "drivers/sensor.h"
@ -266,6 +267,23 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
FALLTHROUGH;
#endif
#ifdef USE_ACC_ICM20689
case ACC_ICM20689:
if (icm20689AccDetect(dev)) {
#ifdef ACC_ICM20689_ALIGN
dev->accAlign = ACC_ICM20689_ALIGN;
#endif
accHardware = ACC_ICM20689;
break;
}
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_ACC
case ACC_FAKE:
if (fakeAccDetect(dev)) {

3
src/main/sensors/acceleration.h
View file

@ -44,7 +44,8 @@ typedef enum {
ACC_MPU6500 = 8,
ACC_MPU9250 = 9,
ACC_BMI160 = 10,
ACC_FAKE = 11,
ACC_ICM20689 = 11,
ACC_FAKE = 12,
ACC_MAX = ACC_FAKE
} accelerationSensor_e;

13
src/main/sensors/gyro.c
View file

@ -48,6 +48,7 @@
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_bmi160.h"
#include "drivers/accgyro/accgyro_icm20689.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/io.h"
#include "drivers/logging.h"
@ -221,6 +222,18 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
FALLTHROUGH;
#endif
#ifdef USE_GYRO_ICM20689
case GYRO_ICM20689:
if (icm20689GyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {

1
src/main/sensors/gyro.h
View file

@ -35,6 +35,7 @@ typedef enum {
GYRO_MPU6500,
GYRO_MPU9250,
GYRO_BMI160,
GYRO_ICM20689,
GYRO_FAKE
} gyroSensor_e;

46
src/main/target/KAKUTEF7/target.c Executable file
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@ -0,0 +1,46 @@
/*
* This file is part of INAV.
*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
#include "drivers/timer.h"
#include "drivers/bus.h"
BUSDEV_REGISTER_SPI_TAG(busdev_icm20689, DEVHW_ICM20689, ICM20689_SPI_BUS, ICM20689_CS_PIN, ICM20689_EXTI_PIN, 0, DEVFLAGS_NONE);
const timerHardware_t timerHardware[] = {
{ TIM1, IO_TAG(PE13), TIM_CHANNEL_3, 0, IOCFG_AF_PP_PD, GPIO_AF1_TIM1, TIM_USE_PPM }, // PPM
{ TIM3, IO_TAG(PB0), TIM_CHANNEL_3, 1, IOCFG_AF_PP_PD, GPIO_AF2_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_1
{ TIM3, IO_TAG(PB1), TIM_CHANNEL_4, 1, IOCFG_AF_PP_PD, GPIO_AF2_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_2
{ TIM1, IO_TAG(PE9), TIM_CHANNEL_1, 1, IOCFG_AF_PP_PD, GPIO_AF1_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // MOTOR_3
{ TIM1, IO_TAG(PE11), TIM_CHANNEL_2, 1, IOCFG_AF_PP_PD, GPIO_AF1_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // MOTOR_4
{ TIM8, IO_TAG(PC9), TIM_CHANNEL_4, 1, IOCFG_AF_PP_PD, GPIO_AF3_TIM8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // MOTOR_5
{ TIM5, IO_TAG(PA3), TIM_CHANNEL_4, 1, IOCFG_AF_PP_PD, GPIO_AF2_TIM5, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // MOTOR_6
{ TIM4, IO_TAG(PD12), TIM_CHANNEL_1, 1, IOCFG_AF_PP_PD, GPIO_AF2_TIM4, TIM_USE_LED }
};
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

160
src/main/target/KAKUTEF7/target.h Normal file
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@ -0,0 +1,160 @@
/*
* This file is part of INAV.
*
* Cleanflight and Betaflight are 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 USE_TARGET_CONFIG
#define TARGET_BOARD_IDENTIFIER "KTF7"
#define USBD_PRODUCT_STRING "KakuteF7"
#define LED0 PA2
#define BEEPER PD15
#define BEEPER_INVERTED
#define USE_ACC
#define USE_GYRO
#define USE_MPU_DATA_READY_SIGNAL
#define USE_EXTI
// ICM-20689
#define USE_ACC_ICM20689
#define USE_GYRO_ICM20689
#define GYRO_ICM20689_ALIGN CW270_DEG
#define ACC_ICM20689_ALIGN CW270_DEG
#define ICM20689_EXTI_PIN PE1
#define ICM20689_CS_PIN SPI4_NSS_PIN
#define ICM20689_SPI_BUS BUS_SPI4
#define USB_IO
#define USE_VCP
#define VBUS_SENSING_ENABLED
#define VBUS_SENSING_PIN PA8
#define USE_UART1
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define USE_UART2
#define UART2_TX_PIN PD5
#define UART2_RX_PIN PD6
#define USE_UART3
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11
#define USE_UART4
#define UART4_TX_PIN PA0
#define UART4_RX_PIN PA1
#define USE_UART6
#define UART6_TX_PIN PC6
#define UART6_RX_PIN PC7
#define USE_UART7
#define UART7_TX_PIN NONE
#define UART7_RX_PIN PE7
#define SERIAL_PORT_COUNT 7 //VCP,UART1,UART2,UART3,UART4,UART6,UART7
#define USE_SPI
#define USE_SPI_DEVICE_1 //SD Card
#define USE_SPI_DEVICE_2 //OSD
#define USE_SPI_DEVICE_4 //ICM20689
#define SPI1_NSS_PIN PA4
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define SPI2_NSS_PIN PB12
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define SPI4_NSS_PIN PE4
#define SPI4_SCK_PIN PE2
#define SPI4_MISO_PIN PE5
#define SPI4_MOSI_PIN PE6
#define USE_OSD
#define USE_MAX7456
#define MAX7456_SPI_BUS BUS_SPI2
#define MAX7456_CS_PIN SPI2_NSS_PIN
#define USE_SDCARD
#define SDCARD_DETECT_INVERTED
#define SDCARD_DETECT_PIN PD8
#define SDCARD_SPI_INSTANCE SPI1
#define SDCARD_SPI_CS_PIN SPI1_NSS_PIN
#define SDCARD_DMA_CHANNEL_TX DMA2_Stream5
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF1_5 // XXX not sure if that's good
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA2
#define SDCARD_DMA_CHANNEL DMA_CHANNEL_3
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C1_SCL PB6
#define I2C1_SDA PB7
#define USE_BARO
#define USE_BARO_BMP280
#define BARO_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883
#define MAG_HMC5883_ALIGN CW180_DEG
#define USE_MAG_QMC5883
#define USE_MAG_MAG3110
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_LIS3MDL
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC2
#define ADC_CHANNEL_2_PIN PC3
#define ADC_CHANNEL_3_PIN PC5
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
#define VBAT_ADC_CHANNEL ADC_CHN_2
#define RSSI_ADC_CHANNEL ADC_CHN_3
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART6
#define SERIALRX_PROVIDER SERIALRX_SBUS
#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 MAX_PWM_OUTPUT_PORTS 6

16
src/main/target/KAKUTEF7/target.mk Executable file
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@ -0,0 +1,16 @@
F7X5XG_TARGETS += $(TARGET)
FEATURES += SDCARD VCP
TARGET_SRC = \
drivers/accgyro/accgyro_icm20689.c \
drivers/barometer/barometer_bmp280.c \
drivers/compass/compass_ak8963.c \
drivers/compass/compass_hmc5883l.c \
drivers/compass/compass_qmc5883l.c \
drivers/compass/compass_mag3110.c \
drivers/compass/compass_ist8310.c \
drivers/compass/compass_ist8308.c \
drivers/compass/compass_lis3mdl.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stdperiph.c \
drivers/max7456.c