Merge pull request #1427 from softsr/kroozx_port

Initial KroozX port

docs/Board - KroozX.md

@@ -0,0 +1,23 @@
+# Board -  KroozX
+
+![KroozX](https://farm4.staticflickr.com/3844/33558972311_507c7d6e36_h.jpg)
+
+## Features
+
+* MCU: STM32F4RGT6
+* IMU: MPU6000 (SPI bus), ICM20608 (I2C bus)
+* BARO: MS5611
+* VCP: Yes
+* Hardware UARTS: 5 (RX6/RX1/TX1 with onboard inverters)
+* PWM outputs: 10
+* OSD: MAX7456 with a switch for 2 video channel
+* Blackbox: MicroSD card slot (SD/SDHC, upto 64GB)
+* PPM/SBUS: RX6 with onboard inverter
+* Wireless: HC-12 onboard transceiver
+* Battery Voltage Sensor: Yes, up to 6S input
+* Current Sensor: Yes
+* Integrated Voltage Regulator: 5V 2000mA, 10V 2000mA with LC filter
+* Buttons: No (powering the board with plugged USB starts STM DFU bootloader)
+* Buzzer driver: Yes
+* RSSI Analog/PWM port: Yes
+* SWD port: Yes (SWIO, SWCLK, RST pins)

src/main/target/KROOZX/hardware_setup.c

@@ -0,0 +1,37 @@
+/*
+ * 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/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "platform.h"
+
+#include "drivers/io_impl.h"
+
+#ifdef USE_HARDWARE_PREBOOT_SETUP
+void initialisePreBootHardware(void)
+{
+    // Pulling down OSD switch pin
+    IOInit(DEFIO_IO(OSD_CH_SWITCH), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(OSD_CH_SWITCH), IOCFG_OUT_PP);
+    IOLo(DEFIO_IO(OSD_CH_SWITCH));
+    
+    // Inverting the UART1 port by default
+    IOInit(DEFIO_IO(PB13), OWNER_SYSTEM, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(DEFIO_IO(PB13), IOCFG_OUT_PP);
+    IOHi(DEFIO_IO(PB13));
+}
+#endif

src/main/target/KROOZX/target.c

@@ -0,0 +1,97 @@
+/*
+ * 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/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    {TIM8,  IO_TAG(PC7),  TIM_Channel_2,  TIM8_CC_IRQn,         0, IOCFG_AF_PP_PD,  GPIO_AF_TIM8 }, // PPM IN
+    {TIM5,  IO_TAG(PA1),  TIM_Channel_2,  TIM5_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM5 }, // PWM4
+    {TIM5,  IO_TAG(PA3),  TIM_Channel_4,  TIM5_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM5 }, // PWM2
+    {TIM5,  IO_TAG(PA0),  TIM_Channel_1,  TIM5_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM5 }, // PWM3
+    {TIM5,  IO_TAG(PA2),  TIM_Channel_3,  TIM5_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM5 }, // PWM1
+    {TIM3,  IO_TAG(PB1),  TIM_Channel_4,  TIM3_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM3 }, // PWM5
+    {TIM3,  IO_TAG(PB0),  TIM_Channel_3,  TIM3_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM3 }, // PWM6
+    {TIM4,  IO_TAG(PB8),  TIM_Channel_3,  TIM4_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM4 }, // PWM7
+    {TIM4,  IO_TAG(PB9),  TIM_Channel_4,  TIM4_IRQn,            1, IOCFG_AF_PP_PD,  GPIO_AF_TIM4 }, // PWM8
+    {TIM12, IO_TAG(PB14), TIM_Channel_1,  TIM8_BRK_TIM12_IRQn,  1, IOCFG_AF_PP_PD,  GPIO_AF_TIM12}, // PWM9
+    {TIM12, IO_TAG(PB15), TIM_Channel_2,  TIM8_BRK_TIM12_IRQn,  1, IOCFG_AF_PP_PD,  GPIO_AF_TIM12}, // PWM10
+};

src/main/target/KROOZX/target.h

@@ -0,0 +1,165 @@
+/*
+ * 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 "KROOZX"
+#define USBD_PRODUCT_STRING     "KroozX"
+
+#define USE_HARDWARE_PREBOOT_SETUP
+
+#define LED0                    PA14 // Red LED
+#define LED1                    PA13 // Green LED
+
+#define BEEPER                  PC1
+#define BEEPER_INVERTED
+
+#define INVERTER                PB12
+#define INVERTER_USART          USART6
+
+#define INVERTER_PIN_UART1      PB13
+#define INVERTER_PIN_UART6      PB12
+
+#define MPU6000_CS_PIN          PB2
+#define MPU6000_SPI_INSTANCE    SPI1
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI            PA4
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW90_DEG_FLIP
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW90_DEG_FLIP
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
+#define MAG_I2C_INSTANCE        I2CDEV_1
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define USE_SDCARD
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN                   PC13
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PA15
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+#define OSD
+#ifdef USE_MSP_DISPLAYPORT
+#undef USE_MSP_DISPLAYPORT
+#endif
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI1
+#define MAX7456_SPI_CS_PIN      PC4
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD*2)
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+
+#define OSD_CH_SWITCH           PC5
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN   PC2
+#define RSSI_ADC_PIN            PC0
+
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PC11
+#define UART4_TX_PIN            PC10
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       6
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_3)
+#define I2C_DEVICE_EXT          (I2CDEV_1)
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7
+#define I2C3_SCL                PA8
+#define I2C3_SDA                PC9
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PC4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define RX_CHANNELS_TAER
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD)
+
+#define LED_STRIP
+#define WS2811_GPIO_AF                  GPIO_AF_TIM3
+#define WS2811_PIN                      PC6
+#define WS2811_TIMER                    TIM3
+#define WS2811_TIMER_CHANNEL            TIM_Channel_1
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST4_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream4
+#define WS2811_DMA_CHANNEL              DMA_Channel_5
+#define WS2811_DMA_IRQ                  DMA1_Stream4_IRQn
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF4
+#define WS2811_DMA_IT                   DMA_IT_TCIF4
+
+#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         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS    10
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             (TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12))

src/main/target/KROOZX/target.mk

@@ -0,0 +1,11 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP SDCARD
+HSE_VALUE       = 16000000
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms56xx.c \
+            drivers/compass_hmc5883l.c \
+            drivers/max7456.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c

src/main/target/system_stm32f4xx.c

@@ -371,7 +371,7 @@ uint32_t hse_value = HSE_VALUE;
 /************************* PLL Parameters *************************************/
 #if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
  /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
-#if defined(COLIBRI)
+#if defined(COLIBRI) || defined(KROOZX)
  #define PLL_M      16
 #elif defined(PIXRACER)
  #define PLL_M      24