mirror of
https://github.com/iNavFlight/inav.git
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Initial cut on BrainFPV RADIX
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity)
parent
2aac86663d
commit
a2ba4c1d91
9 changed files with 530 additions and 1 deletions
277
src/main/drivers/accgyro/accgyro_bmi160.c
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277
src/main/drivers/accgyro/accgyro_bmi160.c
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@ -0,0 +1,277 @@
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/*
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* This file is part of INAV.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this file,
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* You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* Alternatively, the contents of this file may be used under the terms
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* of the GNU General Public License Version 3, as described below:
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*
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* This file is free software: you may copy, redistribute and/or modify
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* it under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://www.gnu.org/licenses/.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/utils.h"
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#include "drivers/system.h"
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#include "drivers/time.h"
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#include "drivers/io.h"
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#include "drivers/exti.h"
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#include "drivers/bus.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_bmi160.h"
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#if defined(USE_GYRO_BMI160) || defined(USE_ACC_BMI160)
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/* BMI160 Registers */
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#define BMI160_REG_CHIPID 0x00
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#define BMI160_REG_PMU_STAT 0x03
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#define BMI160_REG_GYR_DATA_X_LSB 0x0C
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#define BMI160_REG_ACC_DATA_X_LSB 0x12
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#define BMI160_REG_STATUS 0x1B
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#define BMI160_REG_TEMPERATURE_0 0x20
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#define BMI160_REG_ACC_CONF 0x40
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#define BMI160_REG_ACC_RANGE 0x41
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#define BMI160_REG_GYR_CONF 0x42
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#define BMI160_REG_GYR_RANGE 0x43
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#define BMI160_REG_INT_EN1 0x51
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#define BMI160_REG_INT_OUT_CTRL 0x53
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#define BMI160_REG_INT_MAP1 0x56
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#define BMI160_REG_FOC_CONF 0x69
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#define BMI160_REG_CONF 0x6A
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#define BMI160_REG_OFFSET_0 0x77
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#define BMI160_REG_CMD 0x7E
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/* Register values */
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#define BMI160_PMU_CMD_PMU_ACC_NORMAL 0x11
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#define BMI160_PMU_CMD_PMU_GYR_NORMAL 0x15
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#define BMI160_INT_EN1_DRDY 0x10
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#define BMI160_INT_OUT_CTRL_INT1_CONFIG 0x0A
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#define BMI160_REG_INT_MAP1_INT1_DRDY 0x80
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#define BMI160_CMD_START_FOC 0x03
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#define BMI160_CMD_PROG_NVM 0xA0
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#define BMI160_REG_STATUS_NVM_RDY 0x10
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#define BMI160_REG_STATUS_FOC_RDY 0x08
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#define BMI160_REG_CONF_NVM_PROG_EN 0x02
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#define BMI160_BWP_NORMAL 0x20
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#define BMI160_BWP_OSR2 0x10
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#define BMI160_BWP_OSR4 0x00
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#define BMI160_ODR_400_Hz 0x0A
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#define BMI160_ODR_800_Hz 0x0B
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#define BMI160_ODR_1600_Hz 0x0C
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#define BMI160_ODR_3200_Hz 0x0D
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#define BMI160_RANGE_2G 0x03
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#define BMI160_RANGE_4G 0x05
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#define BMI160_RANGE_8G 0x08
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#define BMI160_RANGE_16G 0x0C
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#define BMI160_RANGE_125DPS 0x04
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#define BMI160_RANGE_250DPS 0x03
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#define BMI160_RANGE_500DPS 0x02
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#define BMI160_RANGE_1000DPS 0x01
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#define BMI160_RANGE_2000DPS 0x00
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typedef struct __attribute__ ((__packed__)) bmi160ContextData_s {
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uint16_t chipMagicNumber;
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uint8_t lastReadStatus;
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uint8_t __padding;
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uint8_t gyroRaw[6];
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uint8_t accRaw[6];
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} bmi160ContextData_t;
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STATIC_ASSERT(sizeof(bmi160ContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
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static const gyroFilterAndRateConfig_t gyroConfigs[] = {
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{ GYRO_LPF_256HZ, 3200, { BMI160_BWP_NORMAL | BMI160_ODR_3200_Hz} },
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{ GYRO_LPF_256HZ, 1600, { BMI160_BWP_NORMAL | BMI160_ODR_1600_Hz} },
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{ GYRO_LPF_256HZ, 800, { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } },
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{ GYRO_LPF_188HZ, 800, { BMI160_BWP_OSR2 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 128 Hz
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{ GYRO_LPF_188HZ, 400, { BMI160_BWP_NORMAL | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 137 Hz
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{ GYRO_LPF_98HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
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{ GYRO_LPF_98HZ, 400, { BMI160_BWP_OSR2 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 68 Hz
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{ GYRO_LPF_42HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
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{ GYRO_LPF_42HZ, 400, { BMI160_BWP_OSR4 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 34 Hz
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};
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static void bmi160AccAndGyroInit(gyroDev_t *gyro)
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{
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uint8_t value;
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gyroIntExtiInit(gyro);
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busSetSpeed(gyro->busDev, BUS_SPEED_INITIALIZATION);
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// Normal power mode, can take up to 80+3.8ms
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busWrite(gyro->busDev, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_GYR_NORMAL);
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delay(100);
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busWrite(gyro->busDev, BMI160_REG_CMD, BMI160_PMU_CMD_PMU_ACC_NORMAL);
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delay(5);
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// Verify that normal power mode was entered
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busRead(gyro->busDev, BMI160_REG_PMU_STAT, &value);
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if ((value & 0x3C) != 0x14) {
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failureMode(FAILURE_GYRO_INIT_FAILED);
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}
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// Set ranges and ODR
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busWrite(gyro->busDev, BMI160_REG_ACC_CONF, BMI160_BWP_OSR4 | BMI160_ODR_1600_Hz);
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delay(1);
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// Figure out suitable filter configuration
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const gyroFilterAndRateConfig_t * config = chooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs, &gyroConfigs[0], ARRAYLEN(gyroConfigs));
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gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
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busWrite(gyro->busDev, BMI160_REG_GYR_CONF, config->gyroConfigValues[0]);
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delay(1);
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busWrite(gyro->busDev, BMI160_REG_ACC_RANGE, BMI160_RANGE_8G);
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delay(1);
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busWrite(gyro->busDev, BMI160_REG_GYR_RANGE, BMI160_RANGE_2000DPS);
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delay(1);
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// Enable offset compensation
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// uint8_t val = spiBusReadRegister(bus, BMI160_REG_OFFSET_0);
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// busWrite(gyro->busDev, BMI160_REG_OFFSET_0, val | 0xC0);
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// Enable data ready interrupt
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busWrite(gyro->busDev, BMI160_REG_INT_EN1, BMI160_INT_EN1_DRDY);
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delay(1);
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// Enable INT1 pin
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busWrite(gyro->busDev, BMI160_REG_INT_OUT_CTRL, BMI160_INT_OUT_CTRL_INT1_CONFIG);
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delay(1);
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// Map data ready interrupt to INT1 pin
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busWrite(gyro->busDev, BMI160_REG_INT_MAP1, BMI160_REG_INT_MAP1_INT1_DRDY);
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delay(1);
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busSetSpeed(gyro->busDev, BUS_SPEED_FAST);
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}
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bool bmi160GyroReadScratchpad(gyroDev_t *gyro)
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{
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bmi160ContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
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ctx->lastReadStatus = busReadBuf(gyro->busDev, BMI160_REG_GYR_DATA_X_LSB, ctx->gyroRaw, 6 + 6);
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if (ctx->lastReadStatus) {
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gyro->gyroADCRaw[X] = (int16_t)((ctx->gyroRaw[1] << 8) | ctx->gyroRaw[0]);
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gyro->gyroADCRaw[Y] = (int16_t)((ctx->gyroRaw[3] << 8) | ctx->gyroRaw[2]);
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gyro->gyroADCRaw[Z] = (int16_t)((ctx->gyroRaw[5] << 8) | ctx->gyroRaw[4]);
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return true;
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}
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return false;
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}
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bool bmi160AccReadScratchpad(accDev_t *acc)
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{
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bmi160ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
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if (ctx->lastReadStatus) {
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acc->ADCRaw[X] = (int16_t)((ctx->accRaw[1] << 8) | ctx->accRaw[0]);
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acc->ADCRaw[Y] = (int16_t)((ctx->accRaw[3] << 8) | ctx->accRaw[2]);
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acc->ADCRaw[Z] = (int16_t)((ctx->accRaw[5] << 8) | ctx->accRaw[4]);
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return true;
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}
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return false;
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}
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static void bmi160AccInit(accDev_t *acc)
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{
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acc->acc_1G = 4096;
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}
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bool bmi160AccDetect(accDev_t *acc)
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{
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acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_BMI160, acc->imuSensorToUse);
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if (acc->busDev == NULL) {
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return false;
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}
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bmi160ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
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if (ctx->chipMagicNumber != 0xB160) {
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return false;
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}
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acc->initFn = bmi160AccInit;
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acc->readFn = bmi160AccReadScratchpad;
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return true;
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}
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static bool deviceDetect(busDevice_t * busDev)
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{
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uint8_t attempts;
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busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
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for (attempts = 0; attempts < 5; attempts++) {
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uint8_t chipId;
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delay(100);
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busRead(busDev, BMI160_REG_CHIPID, &chipId);
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if (chipId == 0xD1) {
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return true;
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}
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}
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return false;
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}
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bool bmi160GyroDetect(gyroDev_t *gyro)
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{
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gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_BMI160, gyro->imuSensorToUse, OWNER_MPU);
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if (gyro->busDev == NULL) {
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return false;
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}
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if (!deviceDetect(gyro->busDev)) {
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busDeviceDeInit(gyro->busDev);
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return false;
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}
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// Magic number for ACC detection to indicate that we have detected BMI160 gyro
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bmi160ContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
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ctx->chipMagicNumber = 0xB160;
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gyro->initFn = bmi160AccAndGyroInit;
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gyro->readFn = bmi160GyroReadScratchpad;
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gyro->intStatusFn = gyroCheckDataReady;
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gyro->temperatureFn = NULL;
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gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor
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return true;
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}
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#endif
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30
src/main/drivers/accgyro/accgyro_bmi160.h
Normal file
30
src/main/drivers/accgyro/accgyro_bmi160.h
Normal file
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@ -0,0 +1,30 @@
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/*
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* This file is part of INAV.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
|
||||||
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* 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/.
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*
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||||||
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* Alternatively, the contents of this file may be used under the terms
|
||||||
|
* of the GNU General Public License Version 3, as described below:
|
||||||
|
*
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||||||
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* 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.
|
||||||
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*
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||||||
|
* This file is distributed in the hope that it will be useful, but
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|
* 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.
|
||||||
|
*
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||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
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* along with this program. If not, see http://www.gnu.org/licenses/.
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*/
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#pragma once
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#include "drivers/sensor.h"
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bool bmi160AccDetect(accDev_t *acc);
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bool bmi160GyroDetect(gyroDev_t *gyro);
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@ -46,6 +46,7 @@
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#include "drivers/accgyro/accgyro_adxl345.h"
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#include "drivers/accgyro/accgyro_adxl345.h"
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#include "drivers/accgyro/accgyro_mma845x.h"
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#include "drivers/accgyro/accgyro_mma845x.h"
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#include "drivers/accgyro/accgyro_bma280.h"
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#include "drivers/accgyro/accgyro_bma280.h"
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#include "drivers/accgyro/accgyro_bmi160.h"
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#include "drivers/accgyro/accgyro_fake.h"
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#include "drivers/accgyro/accgyro_fake.h"
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#include "drivers/logging.h"
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#include "drivers/logging.h"
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#include "drivers/sensor.h"
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#include "drivers/sensor.h"
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@ -246,6 +247,22 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
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FALLTHROUGH;
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FALLTHROUGH;
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#endif
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#endif
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#if defined(USE_ACC_BMI160)
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case ACC_BMI160:
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if (bmi160AccDetect(dev)) {
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#ifdef ACC_BMI160_ALIGN
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dev->accAlign = ACC_BMI160_ALIGN;
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#endif
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accHardware = ACC_BMI160;
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break;
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}
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/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
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||||||
|
if (accHardwareToUse != ACC_AUTODETECT) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
FALLTHROUGH;
|
||||||
|
#endif
|
||||||
|
|
||||||
#ifdef USE_FAKE_ACC
|
#ifdef USE_FAKE_ACC
|
||||||
case ACC_FAKE:
|
case ACC_FAKE:
|
||||||
if (fakeAccDetect(dev)) {
|
if (fakeAccDetect(dev)) {
|
||||||
|
|
|
||||||
|
|
@ -39,7 +39,8 @@ typedef enum {
|
||||||
ACC_MPU6000 = 7,
|
ACC_MPU6000 = 7,
|
||||||
ACC_MPU6500 = 8,
|
ACC_MPU6500 = 8,
|
||||||
ACC_MPU9250 = 9,
|
ACC_MPU9250 = 9,
|
||||||
ACC_FAKE = 10,
|
ACC_BMI160 = 10,
|
||||||
|
ACC_FAKE = 11,
|
||||||
ACC_MAX = ACC_FAKE
|
ACC_MAX = ACC_FAKE
|
||||||
} accelerationSensor_e;
|
} accelerationSensor_e;
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -47,6 +47,7 @@
|
||||||
#include "drivers/accgyro/accgyro_adxl345.h"
|
#include "drivers/accgyro/accgyro_adxl345.h"
|
||||||
#include "drivers/accgyro/accgyro_mma845x.h"
|
#include "drivers/accgyro/accgyro_mma845x.h"
|
||||||
#include "drivers/accgyro/accgyro_bma280.h"
|
#include "drivers/accgyro/accgyro_bma280.h"
|
||||||
|
#include "drivers/accgyro/accgyro_bmi160.h"
|
||||||
#include "drivers/accgyro/accgyro_fake.h"
|
#include "drivers/accgyro/accgyro_fake.h"
|
||||||
#include "drivers/io.h"
|
#include "drivers/io.h"
|
||||||
#include "drivers/logging.h"
|
#include "drivers/logging.h"
|
||||||
|
|
@ -201,6 +202,18 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
|
||||||
FALLTHROUGH;
|
FALLTHROUGH;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#ifdef USE_GYRO_BMI160
|
||||||
|
case GYRO_BMI160:
|
||||||
|
if (bmi160GyroDetect(dev)) {
|
||||||
|
gyroHardware = GYRO_BMI160;
|
||||||
|
#ifdef GYRO_BMI160_ALIGN
|
||||||
|
dev->gyroAlign = GYRO_BMI160_ALIGN;
|
||||||
|
#endif
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
FALLTHROUGH;
|
||||||
|
#endif
|
||||||
|
|
||||||
#ifdef USE_FAKE_GYRO
|
#ifdef USE_FAKE_GYRO
|
||||||
case GYRO_FAKE:
|
case GYRO_FAKE:
|
||||||
if (fakeGyroDetect(dev)) {
|
if (fakeGyroDetect(dev)) {
|
||||||
|
|
|
||||||
|
|
@ -34,6 +34,7 @@ typedef enum {
|
||||||
GYRO_MPU6000,
|
GYRO_MPU6000,
|
||||||
GYRO_MPU6500,
|
GYRO_MPU6500,
|
||||||
GYRO_MPU9250,
|
GYRO_MPU9250,
|
||||||
|
GYRO_BMI160,
|
||||||
GYRO_FAKE
|
GYRO_FAKE
|
||||||
} gyroSensor_e;
|
} gyroSensor_e;
|
||||||
|
|
||||||
|
|
|
||||||
35
src/main/target/RADIX/target.c
Normal file
35
src/main/target/RADIX/target.c
Normal file
|
|
@ -0,0 +1,35 @@
|
||||||
|
/*
|
||||||
|
* 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/bus.h"
|
||||||
|
#include "drivers/pwm_mapping.h"
|
||||||
|
#include "drivers/timer.h"
|
||||||
|
|
||||||
|
/* TIMERS */
|
||||||
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
|
{ TIM12, IO_TAG(PB14), TIM_Channel_1, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12, TIM_USE_PPM },
|
||||||
|
{ TIM5, IO_TAG(PA2), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5, TIM_USE_MC_MOTOR }, // S3_OUT
|
||||||
|
{ TIM5, IO_TAG(PA3), TIM_Channel_4, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5, TIM_USE_MC_MOTOR }, // S4_OUT
|
||||||
|
{ TIM1, IO_TAG(PA10), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1, TIM_USE_MC_MOTOR }, // S5_OUT
|
||||||
|
{ TIM2, IO_TAG(PA15), TIM_Channel_1, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2, TIM_USE_MC_MOTOR }, // S6_OUT
|
||||||
|
{ TIM8, IO_TAG(PC8), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM8, TIM_USE_MC_MOTOR }, // S5_OUT
|
||||||
|
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3, TIM_USE_MC_MOTOR }, // S6_OUT
|
||||||
|
};
|
||||||
144
src/main/target/RADIX/target.h
Normal file
144
src/main/target/RADIX/target.h
Normal file
|
|
@ -0,0 +1,144 @@
|
||||||
|
/*
|
||||||
|
* 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 "RADIX"
|
||||||
|
|
||||||
|
#define USBD_PRODUCT_STRING "BrainFPV RADIX"
|
||||||
|
|
||||||
|
#define LED0 PA4
|
||||||
|
#define LED0_INVERTED
|
||||||
|
|
||||||
|
#define BEEPER NONE
|
||||||
|
|
||||||
|
#define USE_EXTI
|
||||||
|
#define BMI160_SPI_BUS BUS_SPI3
|
||||||
|
#define BMI160_CS_PIN PB4
|
||||||
|
#define GYRO_EXTI_PIN PC13
|
||||||
|
|
||||||
|
#define USE_GYRO
|
||||||
|
#define USE_GYRO_BMI160
|
||||||
|
#define GYRO_BMI160_ALIGN CW0_DEG
|
||||||
|
|
||||||
|
#define USE_ACC
|
||||||
|
#define USE_ACC_BMI160
|
||||||
|
#define ACC_BMI160_ALIGN CW0_DEG
|
||||||
|
|
||||||
|
// #define USE_MAG
|
||||||
|
// #define MAG_I2C_BUS BUS_I2C1
|
||||||
|
// #define MAG_HMC5883_ALIGN CW90_DEG
|
||||||
|
// #define USE_MAG_HMC5883
|
||||||
|
// #define USE_MAG_QMC5883
|
||||||
|
// #define USE_MAG_IST8310
|
||||||
|
// #define USE_MAG_MAG3110
|
||||||
|
|
||||||
|
#define USE_BARO
|
||||||
|
#define USE_BARO_BMP280
|
||||||
|
#define BMP280_SPI_BUS BUS_SPI3
|
||||||
|
#define BMP280_CS_PIN PB8
|
||||||
|
|
||||||
|
//#define USE_PITOT_MS4525
|
||||||
|
//#define PITOT_I2C_BUS BUS_I2C2
|
||||||
|
|
||||||
|
// #define USE_OPTICAL_FLOW
|
||||||
|
// #define USE_OPFLOW_CXOF
|
||||||
|
|
||||||
|
// #define USE_RANGEFINDER
|
||||||
|
// #define USE_RANGEFINDER_UIB
|
||||||
|
// #define USE_RANGEFINDER_VL53L0X
|
||||||
|
// #define VL53L0X_I2C_BUS BUS_I2C2
|
||||||
|
|
||||||
|
#define USE_VCP
|
||||||
|
#define VBUS_SENSING_PIN PA9
|
||||||
|
#define VBUS_SENSING_ENABLED
|
||||||
|
|
||||||
|
#define USE_UART1
|
||||||
|
#define UART1_RX_PIN PB7
|
||||||
|
#define UART1_TX_PIN PB6
|
||||||
|
|
||||||
|
#define USE_UART3
|
||||||
|
#define UART3_RX_PIN PC5
|
||||||
|
#define UART3_TX_PIN PB10
|
||||||
|
|
||||||
|
#define USE_UART4
|
||||||
|
#define UART4_RX_PIN PA1
|
||||||
|
#define UART4_TX_PIN PA0
|
||||||
|
|
||||||
|
#define USE_UART6
|
||||||
|
#define UART6_RX_PIN PC7
|
||||||
|
#define UART6_TX_PIN PC6
|
||||||
|
|
||||||
|
#define SERIAL_PORT_COUNT 5 //VCP, USART1, USART3, USART4, USART6
|
||||||
|
|
||||||
|
#define USE_SPI
|
||||||
|
|
||||||
|
#define USE_SPI_DEVICE_1
|
||||||
|
#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 PC11
|
||||||
|
#define SPI3_MOSI_PIN PC12
|
||||||
|
|
||||||
|
// #define USE_I2C
|
||||||
|
// #define USE_I2C_DEVICE_1
|
||||||
|
// #define I2C1_SCL PB8
|
||||||
|
// #define I2C1_SDA PB9
|
||||||
|
|
||||||
|
#define USE_ADC
|
||||||
|
#define ADC_CHANNEL_1_PIN PC0
|
||||||
|
#define ADC_CHANNEL_2_PIN PC1
|
||||||
|
#define ADC_CHANNEL_3_PIN PC3
|
||||||
|
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||||
|
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||||
|
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||||
|
|
||||||
|
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||||
|
#define USE_SDCARD
|
||||||
|
|
||||||
|
#define SDCARD_DETECT_INVERTED
|
||||||
|
#define SDCARD_SPI_INSTANCE SPI2
|
||||||
|
#define SDCARD_DETECT_PIN PB13
|
||||||
|
#define SDCARD_SPI_CS_PIN PB15
|
||||||
|
|
||||||
|
#define SDCARD_DMA_CHANNEL_TX DMA2_Stream3
|
||||||
|
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF3
|
||||||
|
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA2
|
||||||
|
#define SDCARD_DMA_CHANNEL DMA_Channel_3
|
||||||
|
|
||||||
|
#define SENSORS_SET (SENSOR_ACC|SENSOR_BARO)
|
||||||
|
|
||||||
|
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
|
||||||
|
|
||||||
|
#define USE_SPEKTRUM_BIND
|
||||||
|
#define BIND_PIN PB14
|
||||||
|
|
||||||
|
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||||
|
|
||||||
|
#define MAX_PWM_OUTPUT_PORTS 6
|
||||||
|
|
||||||
|
#define TARGET_IO_PORTA 0xffff
|
||||||
|
#define TARGET_IO_PORTB 0xffff
|
||||||
|
#define TARGET_IO_PORTC 0xffff
|
||||||
|
#define TARGET_IO_PORTD (BIT(2))
|
||||||
|
|
||||||
|
#define USABLE_TIMER_CHANNEL_COUNT 7
|
||||||
|
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(5) | TIM_N(12) )
|
||||||
11
src/main/target/RADIX/target.mk
Normal file
11
src/main/target/RADIX/target.mk
Normal file
|
|
@ -0,0 +1,11 @@
|
||||||
|
F446_TARGETS += $(TARGET)
|
||||||
|
FEATURES += VCP SDCARD
|
||||||
|
HSE_VALUE = 16000000
|
||||||
|
|
||||||
|
TARGET_SRC = \
|
||||||
|
drivers/accgyro/accgyro_bmi160.c \
|
||||||
|
drivers/barometer/barometer_bmp280.c \
|
||||||
|
drivers/compass/compass_hmc5883l.c \
|
||||||
|
drivers/compass/compass_qmc5883l.c \
|
||||||
|
drivers/compass/compass_ist8310.c \
|
||||||
|
drivers/compass/compass_mag3110.c
|
||||||
Loading…
Add table
Add a link
Reference in a new issue