Merge pull request #764 from iNavFlight/master

Merge back from master to development

docs/Board - YuPiF4.md

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+# YuPiF4 by RcNet
+
+An high quality flight controller for the most demanding pilotes.
+
+## Description
+
+The YuPiF4 is a 36x36mm (30.5x30.5 mounting holes) board with an F4 microcontroller.
+
+## MCU, Sensors and Features
+### Hardware  
+- MCU: STM32F405RTG6  
+- IMU: not yet defined  
+- IMU Interrupt: Yes  
+- BARO: No  
+- VCP: Yes  
+- Hardware UARTS: 3 with an inverter for SBus and a Smart-Port Pad to solder directly your SPort wire  
+- Blackbox: SD card slot  
+- PPM : A specific pad is available for PPM input  
+- Battery Voltage Sensor: Yes, directly connected, no wiring necessary  
+- Integrated Voltage Regulator: the board can be powered by your lipo (2S to 6S)  
+- Brushed Motor Mosfets: No  
+- Motor outputs : can drive up to 6 motors  
+- Buttons: Boot0 to enter in DFU mode### Features  
+- Current Sensor: Not implemented  
+- BlHeli passthrough: Yes   
+- WS2811 Led Strip: Yes (on motor output Pin 5)  
+- Transponder: No
+
+### Extension Board
+- An extension board with a GPS and a Baro will be available
+
+## Designers and Maintainers
+
+[RcNet](https://github.com/ted-rcnet) and [FaduF](https://github.com/Faduf)
+
+## Manufacturers and Distributors
+
+This board is currently in the prototype phase. Only small batches were manufactured for testing.Website : http://www.yupif4.com/

src/main/target/YUPIF4/README.md

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+# YuPiF4 by RcNet
+
+An high quality flight controller for the most demanding pilotes.
+
+## Description
+
+The YuPiF4 is a 36x36mm (30.5x30.5 mounting holes) board with an F4 microcontroller.
+
+## MCU, Sensors and Features
+### Hardware  
+- MCU: STM32F405RTG6  
+- IMU: not yet defined  
+- IMU Interrupt: Yes  
+- BARO: No  
+- VCP: Yes  
+- Hardware UARTS: 3 with an inverter for SBus and a Smart-Port Pad to solder directly your SPort wire  
+- Blackbox: SD card slot  
+- PPM : A specific pad is available for PPM input  
+- Battery Voltage Sensor: Yes, directly connected, no wiring necessary  
+- Integrated Voltage Regulator: the board can be powered by your lipo (2S to 6S)  
+- Brushed Motor Mosfets: No  
+- Motor outputs : can drive up to 6 motors  
+- Buttons: Boot0 to enter in DFU mode### Features  
+- Current Sensor: Not implemented  
+- BlHeli passthrough: Yes   
+- WS2811 Led Strip: Yes (on motor output Pin 5)  
+- Transponder: No
+
+### Extension Board
+- An extension board with GPS and Baro will be available
+
+## Designers and Maintainers
+
+[RcNet](https://github.com/ted-rcnet) and [FaduF](https://github.com/Faduf)
+
+## Manufacturers and Distributors
+
+This board is currently in the prototype phase. Only small batches were manufactured for testing.Website : http://www.yupif4.com/
+
+![YuPiF4 - Logo](http://www.yupif4.com/imgs/YuPiF4.jpg)

src/main/target/YUPIF4/target.c

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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/>.
+ */
+
+#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),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    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),
+    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_SERVO_OUTPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    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),
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2 },
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2 },
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2 },
+    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2 },
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM3 },
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM3 },
+};
+

src/main/target/YUPIF4/target.h

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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/>.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "YPF4"
+#define TARGET_CONFIG
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING     "YupiF4"
+
+#define LED0                    PB6
+#define LED1                    PB4
+#define LED2                    PB5
+
+#define BEEPER                  PC9
+//#define BEEPER_INVERTED
+
+#define INVERTER                PB15
+#define INVERTER_USART          USART6
+
+
+// MPU6500 interrupt
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI            PC4
+// MPU6500
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW90_DEG
+
+#define GYRO
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW90_DEG
+
+
+// Serial Ports
+#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_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       4 // VCP, UART1, UART3, UART6
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0
+
+
+// SD Card
+#define USE_SDCARD
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PA15
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#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
+
+
+// SPI ports definition
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1 // Gyro
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_3 // SD Card
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+// I2C port definition
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_PULLUP
+
+// ADC inputs
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define VBAT_ADC_PIN            PC1
+#define RSSI_ADC_GPIO_PIN       PC0
+
+// LED Strip can run off Pin 5 (PB1) of the motor outputs
+#define LED_STRIP
+#define WS2811_PIN                      PB1
+#define WS2811_TIMER                    TIM3
+#define WS2811_TIMER_CHANNEL            TIM_Channel_4
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF2
+#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_CHANNEL              DMA_Channel_5
+#define WS2811_DMA_IRQ                  DMA1_Stream2_IRQn
+
+// Features
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// Number of available PWM outputs
+#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(2) | TIM_N(3) | TIM_N(8))
+

src/main/target/YUPIF4/target.mk

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+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+