mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 01:05:21 +03:00
Merge branch 'inav_spracingf3neo' of https://github.com/martinbudden/cleanflight into martinbudden-inav_spracingf3neo
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity)
commit
a33f637030
12 changed files with 855 additions and 2 deletions
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|
@ -68,7 +68,7 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
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|||
"FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
|
||||
"RANGEFINDER", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
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||||
"BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER",
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||||
"SOFTSPI", "NRF24"
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||||
"SOFTSPI", "NRF24", "VTX"
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};
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||||
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||||
const char * const resourceNames[RESOURCE_TOTAL_COUNT] = {
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|
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|||
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@ -32,6 +32,7 @@ typedef enum {
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OWNER_TX,
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OWNER_SOFTSPI,
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OWNER_RX_SPI,
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OWNER_VTX,
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OWNER_TOTAL_COUNT
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} resourceOwner_t;
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||||
|
||||
|
|
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|||
265
src/main/drivers/vtx_rtc6705.c
Normal file
265
src/main/drivers/vtx_rtc6705.c
Normal file
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@ -0,0 +1,265 @@
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|||
/*
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||||
* 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/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Author: Giles Burgess (giles@multiflite.co.uk)
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||||
*
|
||||
* This source code is provided as is and can be used/modified so long
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||||
* as this header is maintained with the file at all times.
|
||||
*/
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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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#if defined(VTX_RTC6705) && !defined(VTX_RTC6705SOFTSPI)
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#include "common/maths.h"
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#include "drivers/bus_spi.h"
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#include "drivers/io.h"
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#include "drivers/system.h"
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||||
#include "drivers/time.h"
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||||
#include "drivers/vtx_rtc6705.h"
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||||
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||||
#define RTC6705_SET_HEAD 0x3210 //fosc=8mhz r=400
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#define RTC6705_SET_A1 0x8F3031 //5865
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#define RTC6705_SET_A2 0x8EB1B1 //5845
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#define RTC6705_SET_A3 0x8E3331 //5825
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#define RTC6705_SET_A4 0x8DB4B1 //5805
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#define RTC6705_SET_A5 0x8D3631 //5785
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#define RTC6705_SET_A6 0x8CB7B1 //5765
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#define RTC6705_SET_A7 0x8C4131 //5745
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#define RTC6705_SET_A8 0x8BC2B1 //5725
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#define RTC6705_SET_B1 0x8BF3B1 //5733
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#define RTC6705_SET_B2 0x8C6711 //5752
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#define RTC6705_SET_B3 0x8CE271 //5771
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#define RTC6705_SET_B4 0x8D55D1 //5790
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#define RTC6705_SET_B5 0x8DD131 //5809
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#define RTC6705_SET_B6 0x8E4491 //5828
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#define RTC6705_SET_B7 0x8EB7F1 //5847
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#define RTC6705_SET_B8 0x8F3351 //5866
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#define RTC6705_SET_E1 0x8B4431 //5705
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#define RTC6705_SET_E2 0x8AC5B1 //5685
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#define RTC6705_SET_E3 0x8A4731 //5665
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#define RTC6705_SET_E4 0x89D0B1 //5645
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#define RTC6705_SET_E5 0x8FA6B1 //5885
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#define RTC6705_SET_E6 0x902531 //5905
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#define RTC6705_SET_E7 0x90A3B1 //5925
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#define RTC6705_SET_E8 0x912231 //5945
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#define RTC6705_SET_F1 0x8C2191 //5740
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#define RTC6705_SET_F2 0x8CA011 //5760
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#define RTC6705_SET_F3 0x8D1691 //5780
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#define RTC6705_SET_F4 0x8D9511 //5800
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#define RTC6705_SET_F5 0x8E1391 //5820
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#define RTC6705_SET_F6 0x8E9211 //5840
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#define RTC6705_SET_F7 0x8F1091 //5860
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#define RTC6705_SET_F8 0x8F8711 //5880
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#define RTC6705_SET_R1 0x8A2151 //5658
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#define RTC6705_SET_R2 0x8B04F1 //5695
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#define RTC6705_SET_R3 0x8BF091 //5732
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#define RTC6705_SET_R4 0x8CD431 //5769
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#define RTC6705_SET_R5 0x8DB7D1 //5806
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#define RTC6705_SET_R6 0x8EA371 //5843
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#define RTC6705_SET_R7 0x8F8711 //5880
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||||
#define RTC6705_SET_R8 0x9072B1 //5917
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#define RTC6705_SET_R 400 //Reference clock
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||||
#define RTC6705_SET_FDIV 1024 //128*(fosc/1000000)
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||||
#define RTC6705_SET_NDIV 16 //Remainder divider to get 'A' part of equation
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#define RTC6705_SET_WRITE 0x11 //10001b to write to register
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||||
#define RTC6705_SET_DIVMULT 1000000 //Division value (to fit into a uint32_t) (Hz to MHz)
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||||
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#ifdef RTC6705_POWER_PIN
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static IO_t vtxPowerPin = IO_NONE;
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#endif
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static IO_t vtxCSPin = IO_NONE;
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||||
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#define DISABLE_RTC6705() IOHi(vtxCSPin)
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#ifdef USE_RTC6705_CLK_HACK
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static IO_t vtxCLKPin = IO_NONE;
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// HACK for missing pull up on CLK line - drive the CLK high *before* enabling the CS pin.
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#define ENABLE_RTC6705() {IOHi(vtxCLKPin); delayMicroseconds(5); IOLo(vtxCSPin); }
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#else
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||||
#define ENABLE_RTC6705() IOLo(vtxCSPin)
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#endif
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||||
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||||
#define DP_5G_MASK 0x7000 // b111000000000000
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#define PA5G_BS_MASK 0x0E00 // b000111000000000
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#define PA5G_PW_MASK 0x0180 // b000000110000000
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||||
#define PD_Q5G_MASK 0x0040 // b000000001000000
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#define QI_5G_MASK 0x0038 // b000000000111000
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#define PA_BS_MASK 0x0007 // b000000000000111
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||||
#define PA_CONTROL_DEFAULT 0x4FBD
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||||
#define RTC6705_RW_CONTROL_BIT (1 << 4)
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#define RTC6705_ADDRESS (0x07)
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||||
#define ENABLE_VTX_POWER() IOLo(vtxPowerPin)
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||||
#define DISABLE_VTX_POWER() IOHi(vtxPowerPin)
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||||
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||||
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||||
// Define variables
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static const uint32_t channelArray[RTC6705_BAND_COUNT][RTC6705_CHANNEL_COUNT] = {
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{ RTC6705_SET_A1, RTC6705_SET_A2, RTC6705_SET_A3, RTC6705_SET_A4, RTC6705_SET_A5, RTC6705_SET_A6, RTC6705_SET_A7, RTC6705_SET_A8 },
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||||
{ RTC6705_SET_B1, RTC6705_SET_B2, RTC6705_SET_B3, RTC6705_SET_B4, RTC6705_SET_B5, RTC6705_SET_B6, RTC6705_SET_B7, RTC6705_SET_B8 },
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||||
{ RTC6705_SET_E1, RTC6705_SET_E2, RTC6705_SET_E3, RTC6705_SET_E4, RTC6705_SET_E5, RTC6705_SET_E6, RTC6705_SET_E7, RTC6705_SET_E8 },
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||||
{ RTC6705_SET_F1, RTC6705_SET_F2, RTC6705_SET_F3, RTC6705_SET_F4, RTC6705_SET_F5, RTC6705_SET_F6, RTC6705_SET_F7, RTC6705_SET_F8 },
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||||
{ RTC6705_SET_R1, RTC6705_SET_R2, RTC6705_SET_R3, RTC6705_SET_R4, RTC6705_SET_R5, RTC6705_SET_R6, RTC6705_SET_R7, RTC6705_SET_R8 },
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||||
};
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||||
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||||
/**
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||||
* Reverse a uint32_t (LSB to MSB)
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||||
* This is easier for when generating the frequency to then
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* reverse the bits afterwards
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||||
*/
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static uint32_t reverse32(uint32_t in)
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{
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||||
uint32_t out = 0;
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||||
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for (uint8_t i = 0 ; i < 32 ; i++)
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{
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out |= ((in>>i) & 1)<<(31-i);
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||||
}
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||||
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return out;
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}
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||||
/**
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* Start chip if available
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||||
*/
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||||
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||||
void rtc6705IOInit(void)
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{
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||||
#ifdef RTC6705_POWER_PIN
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||||
vtxPowerPin = IOGetByTag(IO_TAG(RTC6705_POWER_PIN));
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IOInit(vtxPowerPin, OWNER_VTX, RESOURCE_OUTPUT, 0);
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||||
DISABLE_VTX_POWER();
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IOConfigGPIO(vtxPowerPin, IOCFG_OUT_PP);
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#endif
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#ifdef USE_RTC6705_CLK_HACK
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vtxCLKPin = IOGetByTag(IO_TAG(RTC6705_CLK_PIN));
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// we assume the CLK pin will have been initialised by the SPI code.
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#endif
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vtxCSPin = IOGetByTag(IO_TAG(RTC6705_CS_PIN));
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IOInit(vtxCSPin, OWNER_VTX, RESOURCE_OUTPUT, 0);
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DISABLE_RTC6705();
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// GPIO bit is enabled so here so the output is not pulled low when the GPIO is set in output mode.
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// Note: It's critical to ensure that incorrect signals are not sent to the VTX.
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IOConfigGPIO(vtxCSPin, IOCFG_OUT_PP);
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}
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/**
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* Transfer a 25bit packet to RTC6705
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* This will just send it as a 32bit packet LSB meaning
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* extra 0's get truncated on RTC6705 end
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*/
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static void rtc6705Transfer(uint32_t command)
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{
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command = reverse32(command);
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ENABLE_RTC6705();
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spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 24) & 0xFF);
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spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 16) & 0xFF);
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spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 8) & 0xFF);
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spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 0) & 0xFF);
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delayMicroseconds(2);
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DISABLE_RTC6705();
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delayMicroseconds(2);
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}
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/**
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* Set a band and channel
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*/
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void rtc6705SetBandAndChannel(uint8_t band, uint8_t channel)
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{
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band = constrain(band, 0, RTC6705_BAND_COUNT - 1);
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channel = constrain(channel, 0, RTC6705_CHANNEL_COUNT - 1);
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spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
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rtc6705Transfer(RTC6705_SET_HEAD);
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rtc6705Transfer(channelArray[band][channel]);
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}
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/**
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||||
* Set a freq in mhz
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||||
* Formula derived from datasheet
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||||
*/
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||||
void rtc6705SetFreq(uint16_t frequency)
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{
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||||
frequency = constrain(frequency, RTC6705_FREQ_MIN, RTC6705_FREQ_MAX);
|
||||
|
||||
uint32_t val_hex = 0;
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||||
|
||||
uint32_t val_a = ((((uint64_t)frequency*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
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uint32_t val_n = (((uint64_t)frequency*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
|
||||
|
||||
val_hex |= RTC6705_SET_WRITE;
|
||||
val_hex |= (val_a << 5);
|
||||
val_hex |= (val_n << 12);
|
||||
|
||||
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
|
||||
|
||||
rtc6705Transfer(RTC6705_SET_HEAD);
|
||||
delayMicroseconds(10);
|
||||
rtc6705Transfer(val_hex);
|
||||
}
|
||||
|
||||
void rtc6705SetRFPower(uint8_t rf_power)
|
||||
{
|
||||
rf_power = constrain(rf_power, 0, RTC6705_RF_POWER_COUNT - 1);
|
||||
|
||||
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
|
||||
|
||||
uint32_t val_hex = RTC6705_RW_CONTROL_BIT; // write
|
||||
val_hex |= RTC6705_ADDRESS; // address
|
||||
uint32_t data = rf_power == 0 ? (PA_CONTROL_DEFAULT | PD_Q5G_MASK) & (~(PA5G_PW_MASK | PA5G_BS_MASK)) : PA_CONTROL_DEFAULT;
|
||||
val_hex |= data << 5; // 4 address bits and 1 rw bit.
|
||||
|
||||
rtc6705Transfer(val_hex);
|
||||
}
|
||||
|
||||
void rtc6705Disable(void)
|
||||
{
|
||||
#ifdef RTC6705_POWER_PIN
|
||||
DISABLE_VTX_POWER();
|
||||
#endif
|
||||
}
|
||||
|
||||
void rtc6705Enable(void)
|
||||
{
|
||||
#ifdef RTC6705_POWER_PIN
|
||||
ENABLE_VTX_POWER();
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
43
src/main/drivers/vtx_rtc6705.h
Normal file
43
src/main/drivers/vtx_rtc6705.h
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
/*
|
||||
* 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/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Author: Giles Burgess (giles@multiflite.co.uk)
|
||||
*
|
||||
* This source code is provided as is and can be used/modified so long
|
||||
* as this header is maintained with the file at all times.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#define RTC6705_BAND_COUNT 5
|
||||
#define RTC6705_CHANNEL_COUNT 8
|
||||
#define RTC6705_RF_POWER_COUNT 2
|
||||
|
||||
#define RTC6705_FREQ_MIN 5600
|
||||
#define RTC6705_FREQ_MAX 5950
|
||||
|
||||
#define RTC6705_BOOT_DELAY 350 // milliseconds
|
||||
|
||||
void rtc6705IOInit(void);
|
||||
void rtc6705SetBandAndChannel(const uint8_t band, const uint8_t channel);
|
||||
void rtc6705SetFreq(const uint16_t freq);
|
||||
void rtc6705SetRFPower(const uint8_t rf_power);
|
||||
void rtc6705Disable(void);
|
||||
void rtc6705Enable(void);
|
||||
156
src/main/drivers/vtx_rtc6705_soft_spi.c
Normal file
156
src/main/drivers/vtx_rtc6705_soft_spi.c
Normal file
|
|
@ -0,0 +1,156 @@
|
|||
/*
|
||||
* 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"
|
||||
|
||||
#if defined(VTX_RTC6705) && defined(VTX_RTC6705SOFTSPI)
|
||||
|
||||
#include "drivers/bus_spi.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/system.h"
|
||||
#include "light_led.h"
|
||||
|
||||
#include "vtx_rtc6705.h"
|
||||
|
||||
#define DP_5G_MASK 0x7000
|
||||
#define PA5G_BS_MASK 0x0E00
|
||||
#define PA5G_PW_MASK 0x0180
|
||||
#define PD_Q5G_MASK 0x0040
|
||||
#define QI_5G_MASK 0x0038
|
||||
#define PA_BS_MASK 0x0007
|
||||
|
||||
#define PA_CONTROL_DEFAULT 0x4FBD
|
||||
|
||||
#define RTC6705_SPICLK_ON IOHi(rtc6705ClkPin)
|
||||
#define RTC6705_SPICLK_OFF IOLo(rtc6705ClkPin)
|
||||
|
||||
#define RTC6705_SPIDATA_ON IOHi(rtc6705DataPin)
|
||||
#define RTC6705_SPIDATA_OFF IOLo(rtc6705DataPin)
|
||||
|
||||
#define RTC6705_SPILE_ON IOHi(rtc6705LePin)
|
||||
#define RTC6705_SPILE_OFF IOLo(rtc6705LePin)
|
||||
|
||||
const uint16_t vtx_freq[] =
|
||||
{
|
||||
5865, 5845, 5825, 5805, 5785, 5765, 5745, 5725, // Boacam A
|
||||
5733, 5752, 5771, 5790, 5809, 5828, 5847, 5866, // Boscam B
|
||||
5705, 5685, 5665, 5645, 5885, 5905, 5925, 5945, // Boscam E
|
||||
5740, 5760, 5780, 5800, 5820, 5840, 5860, 5880, // FatShark
|
||||
5658, 5695, 5732, 5769, 5806, 5843, 5880, 5917, // RaceBand
|
||||
};
|
||||
|
||||
static IO_t rtc6705DataPin = IO_NONE;
|
||||
static IO_t rtc6705LePin = IO_NONE;
|
||||
static IO_t rtc6705ClkPin = IO_NONE;
|
||||
|
||||
void rtc6705IOInit(void)
|
||||
{
|
||||
rtc6705DataPin = IOGetByTag(IO_TAG(RTC6705_SPIDATA_PIN));
|
||||
rtc6705LePin = IOGetByTag(IO_TAG(RTC6705_SPILE_PIN));
|
||||
rtc6705ClkPin = IOGetByTag(IO_TAG(RTC6705_SPICLK_PIN));
|
||||
|
||||
IOInit(rtc6705DataPin, OWNER_SPI_MOSI, RESOURCE_SOFT_OFFSET);
|
||||
IOConfigGPIO(rtc6705DataPin, IOCFG_OUT_PP);
|
||||
|
||||
IOInit(rtc6705LePin, OWNER_SPI_CS, RESOURCE_SOFT_OFFSET);
|
||||
IOConfigGPIO(rtc6705LePin, IOCFG_OUT_PP);
|
||||
|
||||
IOInit(rtc6705ClkPin, OWNER_SPI_SCK, RESOURCE_SOFT_OFFSET);
|
||||
IOConfigGPIO(rtc6705ClkPin, IOCFG_OUT_PP);
|
||||
}
|
||||
|
||||
static void rtc6705_write_register(uint8_t addr, uint32_t data)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
RTC6705_SPILE_OFF;
|
||||
delay(1);
|
||||
// send address
|
||||
for (i=0; i<4; i++) {
|
||||
if ((addr >> i) & 1)
|
||||
RTC6705_SPIDATA_ON;
|
||||
else
|
||||
RTC6705_SPIDATA_OFF;
|
||||
|
||||
RTC6705_SPICLK_ON;
|
||||
delay(1);
|
||||
RTC6705_SPICLK_OFF;
|
||||
delay(1);
|
||||
}
|
||||
// Write bit
|
||||
|
||||
RTC6705_SPIDATA_ON;
|
||||
RTC6705_SPICLK_ON;
|
||||
delay(1);
|
||||
RTC6705_SPICLK_OFF;
|
||||
delay(1);
|
||||
for (i=0; i<20; i++) {
|
||||
if ((data >> i) & 1)
|
||||
RTC6705_SPIDATA_ON;
|
||||
else
|
||||
RTC6705_SPIDATA_OFF;
|
||||
RTC6705_SPICLK_ON;
|
||||
delay(1);
|
||||
RTC6705_SPICLK_OFF;
|
||||
delay(1);
|
||||
}
|
||||
RTC6705_SPILE_ON;
|
||||
}
|
||||
|
||||
void rtc6705SetFreq(uint16_t channel_freq)
|
||||
{
|
||||
uint32_t freq = (uint32_t)channel_freq * 1000;
|
||||
uint32_t N, A;
|
||||
|
||||
freq /= 40;
|
||||
N = freq / 64;
|
||||
A = freq % 64;
|
||||
rtc6705_write_register(0, 400);
|
||||
rtc6705_write_register(1, (N << 7) | A);
|
||||
}
|
||||
|
||||
void rtc6705SetBandAndChannel(const uint8_t band, const uint8_t channel)
|
||||
{
|
||||
// band and channel are 1-based, not 0-based
|
||||
|
||||
// example for raceband/ch8:
|
||||
// (5 - 1) * 8 + (8 - 1)
|
||||
// 4 * 8 + 7
|
||||
// 32 + 7 = 39
|
||||
uint8_t freqIndex = ((band - 1) * RTC6705_BAND_COUNT) + (channel - 1);
|
||||
|
||||
uint16_t freq = vtx_freq[freqIndex];
|
||||
rtc6705SetFreq(freq);
|
||||
}
|
||||
|
||||
void rtc6705SetRFPower(const uint8_t rf_power)
|
||||
{
|
||||
rtc6705_write_register(7, (rf_power ? PA_CONTROL_DEFAULT : (PA_CONTROL_DEFAULT | PD_Q5G_MASK) & (~(PA5G_PW_MASK | PA5G_BS_MASK))));
|
||||
}
|
||||
|
||||
void rtc6705Disable(void)
|
||||
{
|
||||
}
|
||||
|
||||
void rtc6705Enable(void)
|
||||
{
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -155,6 +155,16 @@ baudRate_e lookupBaudRateIndex(uint32_t baudRate)
|
|||
return BAUD_AUTO;
|
||||
}
|
||||
|
||||
int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier)
|
||||
{
|
||||
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
|
||||
if (serialPortIdentifiers[index] == identifier) {
|
||||
return index;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier)
|
||||
{
|
||||
uint8_t index;
|
||||
|
|
|
|||
|
|
@ -134,7 +134,7 @@ portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialP
|
|||
bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
|
||||
|
||||
serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
|
||||
|
||||
int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier);
|
||||
//
|
||||
// runtime
|
||||
//
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/time.h"
|
||||
|
||||
#include "config/parameter_group.h"
|
||||
|
|
@ -25,6 +26,7 @@
|
|||
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
|
||||
// Type of magnetometer used/detected
|
||||
typedef enum {
|
||||
MAG_NONE = 0,
|
||||
|
|
|
|||
46
src/main/target/SPRACINGF3NEO/config.c
Normal file
46
src/main/target/SPRACINGF3NEO/config.c
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
/*
|
||||
* 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"
|
||||
|
||||
#ifdef TARGET_CONFIG
|
||||
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/compass.h"
|
||||
#include "sensors/barometer.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
barometerConfigMutable()->baro_hardware = BARO_AUTODETECT;
|
||||
compassConfigMutable()->mag_hardware = MAG_AUTODETECT;
|
||||
rxConfigMutable()->sbus_inversion = 1;
|
||||
serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // So Bluetooth users don't have to change anything.
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(GPS_UART)].functionMask = FUNCTION_GPS;
|
||||
//telemetryConfigMutable()->telemetry_inversion = 1;
|
||||
//telemetryConfigMutable()->halfDuplex = 1;
|
||||
}
|
||||
#endif
|
||||
119
src/main/target/SPRACINGF3NEO/target.c
Executable file
119
src/main/target/SPRACINGF3NEO/target.c
Executable file
|
|
@ -0,0 +1,119 @@
|
|||
/*
|
||||
* 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[] = {
|
||||
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), // motor #1
|
||||
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const uint16_t airPWM[] = {
|
||||
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
{ TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM1 / PPM / UART2 RX
|
||||
{ TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM2
|
||||
|
||||
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC1
|
||||
|
||||
#ifdef USE_DSHOT
|
||||
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC2
|
||||
#else
|
||||
{ TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC2
|
||||
#endif
|
||||
|
||||
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC3
|
||||
|
||||
#ifdef USE_DSHOT
|
||||
{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC4
|
||||
#else
|
||||
{ TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC4
|
||||
#endif
|
||||
|
||||
#ifndef USE_DSHOT
|
||||
// with DSHOT TIM8 is used for DSHOT and cannot be used for PWM
|
||||
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC5
|
||||
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // ESC6
|
||||
#endif
|
||||
|
||||
{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM3 - PB10 - *TIM2_CH3, UART3_TX (AF7)
|
||||
{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM4 - PB11 - *TIM2_CH4, UART3_RX (AF7)
|
||||
|
||||
// with DSHOT DMA1-CH3 conflicts with TIM3_CH4 / ESC1.
|
||||
{ TIM16, IO_TAG(PB8), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },
|
||||
|
||||
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }
|
||||
};
|
||||
|
||||
198
src/main/target/SPRACINGF3NEO/target.h
Executable file
198
src/main/target/SPRACINGF3NEO/target.h
Executable file
|
|
@ -0,0 +1,198 @@
|
|||
/*
|
||||
* 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 "SP3N"
|
||||
#define TARGET_CONFIG
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
#define LED0 PB9
|
||||
#define LED1 PB2
|
||||
|
||||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PC13
|
||||
#define EXTI15_10_CALLBACK_HANDLER_COUNT 4 // MPU_INT, SDCardDetect, OSD
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
#define ENSURE_MAG_DATA_READY_IS_HIGH
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_MPU6500_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW0_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_MS5611
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_AK8975
|
||||
#define USE_MAG_HMC5883
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define USE_UART4
|
||||
#define USE_UART5
|
||||
//#define USE_SOFTSERIAL1
|
||||
//#define USE_SOFTSERIAL2
|
||||
//#define SERIAL_PORT_COUNT 8
|
||||
#define SERIAL_PORT_COUNT 6
|
||||
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define UART2_TX_PIN PA2
|
||||
#define UART2_RX_PIN PA3
|
||||
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C_DEVICE (I2CDEV_1)
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1 // MPU
|
||||
#define USE_SPI_DEVICE_2 // SDCard
|
||||
#define USE_SPI_DEVICE_3 // External (MAX7456 & RTC6705)
|
||||
|
||||
#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 SPI3_NSS_PIN PA15
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
#define VTX_RTC6705
|
||||
#define VTX_RTC6705_OPTIONAL // VTX/OSD board is OPTIONAL
|
||||
|
||||
#undef VTX_SMARTAUDIO // Disabled due to flash size
|
||||
#undef VTX_TRAMP // Disabled due to flash size
|
||||
|
||||
#define RTC6705_CS_PIN PF4
|
||||
#define RTC6705_SPI_INSTANCE SPI3
|
||||
#define RTC6705_POWER_PIN PC3
|
||||
|
||||
#define USE_RTC6705_CLK_HACK
|
||||
#define RTC6705_CLK_PIN SPI3_SCK_PIN
|
||||
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_INSTANCE SPI3
|
||||
#define MAX7456_SPI_CS_PIN PA15
|
||||
|
||||
#define MAX7456_DMA_CHANNEL_TX DMA2_Channel2
|
||||
#define MAX7456_DMA_CHANNEL_RX DMA2_Channel1
|
||||
#define MAX7456_DMA_IRQ_HANDLER_ID DMA2_CH1_HANDLER
|
||||
|
||||
#define SPI_SHARED_MAX7456_AND_RTC6705
|
||||
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI2
|
||||
|
||||
#define SDCARD_DETECT_INVERTED
|
||||
|
||||
#define SDCARD_DETECT_PIN PC14
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
|
||||
|
||||
// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
|
||||
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
|
||||
// Divide to under 25MHz for normal operation:
|
||||
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2
|
||||
|
||||
// Note, this is the same DMA channel as UART1_RX. Luckily we don't use DMA for USART Rx.
|
||||
#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
|
||||
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
|
||||
|
||||
#define MPU6500_CS_PIN SPI1_NSS_PIN
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define ADC_CHANNEL_1_PIN PC1
|
||||
#define ADC_CHANNEL_2_PIN PC2
|
||||
#define ADC_CHANNEL_3_PIN PC0
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
|
||||
|
||||
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
|
||||
#define WS2811_PIN PA8
|
||||
#define WS2811_TIMER TIM1
|
||||
#define WS2811_DMA_CHANNEL DMA1_Channel2
|
||||
#define WS2811_IRQ DMA1_Channel2_IRQn
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
|
||||
#define WS2811_TIMER_GPIO_AF GPIO_AF_6
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
#define OSD
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
|
||||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define GPS_UART SERIAL_PORT_USART3
|
||||
#define TELEMETRY_UART SERIAL_PORT_USART5
|
||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||
|
||||
#define BUTTONS
|
||||
#define BUTTON_A_PIN PD2
|
||||
|
||||
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
|
||||
|
||||
#define BINDPLUG_PIN PD2
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// Number of available PWM outputs
|
||||
#define MAX_PWM_OUTPUT_PORTS 10
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 12 // 2xPPM, 6xPWM, UART3 RX/TX, LED Strip, IR.
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15) | TIM_N(16))
|
||||
13
src/main/target/SPRACINGF3NEO/target.mk
Executable file
13
src/main/target/SPRACINGF3NEO/target.mk
Executable file
|
|
@ -0,0 +1,13 @@
|
|||
F3_TARGETS += $(TARGET)
|
||||
FEATURES = VCP SDCARD
|
||||
|
||||
TARGET_SRC = \
|
||||
drivers/accgyro/accgyro_mpu.c \
|
||||
drivers/accgyro/accgyro_mpu6500.c \
|
||||
drivers/accgyro/accgyro_spi_mpu6500.c \
|
||||
drivers/barometer/barometer_bmp280.c \
|
||||
drivers/barometer/barometer_ms56xx.c \
|
||||
drivers/compass/compass_ak8975.c \
|
||||
drivers/compass/compass_hmc5883l.c \
|
||||
drivers/max7456.c \
|
||||
drivers/vtx_rtc6705.c
|
||||
Loading…
Add table
Add a link
Reference in a new issue