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Merge pull request #764 from iNavFlight/master
Merge back from master to development
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Konstantin Sharlaimov
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38
docs/Board - YuPiF4.md
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38
docs/Board - YuPiF4.md
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# YuPiF4 by RcNet
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An high quality flight controller for the most demanding pilotes.
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## Description
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The YuPiF4 is a 36x36mm (30.5x30.5 mounting holes) board with an F4 microcontroller.
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## MCU, Sensors and Features
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### Hardware
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- MCU: STM32F405RTG6
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- IMU: not yet defined
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- IMU Interrupt: Yes
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- BARO: No
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- VCP: Yes
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- Hardware UARTS: 3 with an inverter for SBus and a Smart-Port Pad to solder directly your SPort wire
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- Blackbox: SD card slot
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- PPM : A specific pad is available for PPM input
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- Battery Voltage Sensor: Yes, directly connected, no wiring necessary
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- Integrated Voltage Regulator: the board can be powered by your lipo (2S to 6S)
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- Brushed Motor Mosfets: No
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- Motor outputs : can drive up to 6 motors
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- Buttons: Boot0 to enter in DFU mode### Features
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- Current Sensor: Not implemented
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- BlHeli passthrough: Yes
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- WS2811 Led Strip: Yes (on motor output Pin 5)
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- Transponder: No
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### Extension Board
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- An extension board with a GPS and a Baro will be available
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## Designers and Maintainers
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[RcNet](https://github.com/ted-rcnet) and [FaduF](https://github.com/Faduf)
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## Manufacturers and Distributors
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This board is currently in the prototype phase. Only small batches were manufactured for testing.Website : http://www.yupif4.com/
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40
src/main/target/YUPIF4/README.md
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40
src/main/target/YUPIF4/README.md
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# YuPiF4 by RcNet
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An high quality flight controller for the most demanding pilotes.
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## Description
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The YuPiF4 is a 36x36mm (30.5x30.5 mounting holes) board with an F4 microcontroller.
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## MCU, Sensors and Features
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### Hardware
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- MCU: STM32F405RTG6
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- IMU: not yet defined
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- IMU Interrupt: Yes
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- BARO: No
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- VCP: Yes
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- Hardware UARTS: 3 with an inverter for SBus and a Smart-Port Pad to solder directly your SPort wire
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- Blackbox: SD card slot
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- PPM : A specific pad is available for PPM input
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- Battery Voltage Sensor: Yes, directly connected, no wiring necessary
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- Integrated Voltage Regulator: the board can be powered by your lipo (2S to 6S)
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- Brushed Motor Mosfets: No
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- Motor outputs : can drive up to 6 motors
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- Buttons: Boot0 to enter in DFU mode### Features
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- Current Sensor: Not implemented
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- BlHeli passthrough: Yes
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- WS2811 Led Strip: Yes (on motor output Pin 5)
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- Transponder: No
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### Extension Board
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- An extension board with GPS and Baro will be available
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## Designers and Maintainers
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[RcNet](https://github.com/ted-rcnet) and [FaduF](https://github.com/Faduf)
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## Manufacturers and Distributors
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This board is currently in the prototype phase. Only small batches were manufactured for testing.Website : http://www.yupif4.com/
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78
src/main/target/YUPIF4/target.c
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78
src/main/target/YUPIF4/target.c
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <platform.h>
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#include "drivers/io.h"
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#include "drivers/pwm_mapping.h"
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#include "drivers/timer.h"
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const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFFFF
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};
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const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFFFF
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};
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const uint16_t airPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
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0xFFFF
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};
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const uint16_t airPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFFFF
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};
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },
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{ TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 },
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{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 },
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{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 },
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{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 },
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },
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};
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152
src/main/target/YUPIF4/target.h
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152
src/main/target/YUPIF4/target.h
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define TARGET_BOARD_IDENTIFIER "YPF4"
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#define TARGET_CONFIG
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#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
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#define USBD_PRODUCT_STRING "YupiF4"
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#define LED0 PB6
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#define LED1 PB4
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#define LED2 PB5
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#define BEEPER PC9
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//#define BEEPER_INVERTED
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#define INVERTER PB15
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#define INVERTER_USART USART6
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// MPU6500 interrupt
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#define USE_EXTI
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#define USE_MPU_DATA_READY_SIGNAL
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#define MPU_INT_EXTI PC4
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// MPU6500
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#define MPU6500_CS_PIN PA4
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#define MPU6500_SPI_INSTANCE SPI1
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#define ACC
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#define USE_ACC_MPU6500
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#define USE_ACC_SPI_MPU6500
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#define ACC_MPU6500_ALIGN CW90_DEG
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#define GYRO
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#define USE_GYRO_MPU6500
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#define USE_GYRO_SPI_MPU6500
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#define GYRO_MPU6500_ALIGN CW90_DEG
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// Serial Ports
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#define USE_VCP
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#define USE_UART1
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#define UART1_RX_PIN PA10
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#define UART1_TX_PIN PA9
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#define USE_UART3
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#define UART3_RX_PIN PB11
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#define UART3_TX_PIN PB10
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#define USE_UART6
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#define UART6_RX_PIN PC7
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#define UART6_TX_PIN PC6
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#define SERIAL_PORT_COUNT 4 // VCP, UART1, UART3, UART6
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#define USE_ESCSERIAL
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#define ESCSERIAL_TIMER_TX_HARDWARE 0
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// SD Card
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#define USE_SDCARD
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#define SDCARD_DETECT_INVERTED
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#define SDCARD_DETECT_PIN PD2
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#define SDCARD_SPI_INSTANCE SPI3
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#define SDCARD_SPI_CS_PIN PA15
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// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
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#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
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// Divide to under 25MHz for normal operation:
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#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
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#define SDCARD_DMA_CHANNEL_TX DMA1_Stream5
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#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
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#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
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#define SDCARD_DMA_CHANNEL DMA_Channel_0
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// SPI ports definition
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#define USE_SPI
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#define USE_SPI_DEVICE_1 // Gyro
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#define SPI1_NSS_PIN PA4
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#define SPI1_SCK_PIN PA5
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#define SPI1_MISO_PIN PA6
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#define SPI1_MOSI_PIN PA7
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#define USE_SPI_DEVICE_3 // SD Card
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#define SPI3_NSS_PIN PB3
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#define SPI3_SCK_PIN PC10
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#define SPI3_MISO_PIN PC11
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#define SPI3_MOSI_PIN PC12
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// I2C port definition
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_1)
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#define USE_I2C_PULLUP
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// ADC inputs
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#define BOARD_HAS_VOLTAGE_DIVIDER
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#define USE_ADC
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#define VBAT_ADC_PIN PC1
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#define RSSI_ADC_GPIO_PIN PC0
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// LED Strip can run off Pin 5 (PB1) of the motor outputs
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#define LED_STRIP
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#define WS2811_PIN PB1
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#define WS2811_TIMER TIM3
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#define WS2811_TIMER_CHANNEL TIM_Channel_4
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#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER
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#define WS2811_DMA_STREAM DMA1_Stream2
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#define WS2811_DMA_FLAG DMA_FLAG_TCIF2
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#define WS2811_DMA_IT DMA_IT_TCIF2
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#define WS2811_DMA_CHANNEL DMA_Channel_5
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#define WS2811_DMA_IRQ DMA1_Stream2_IRQn
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// Features
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#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
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#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
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#define DEFAULT_FEATURES FEATURE_BLACKBOX
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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// Number of available PWM outputs
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#define MAX_PWM_OUTPUT_PORTS 6
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define TARGET_IO_PORTD (BIT(2))
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#define USABLE_TIMER_CHANNEL_COUNT 7
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#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(8))
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9
src/main/target/YUPIF4/target.mk
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9
src/main/target/YUPIF4/target.mk
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F405_TARGETS += $(TARGET)
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FEATURES += SDCARD VCP
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TARGET_SRC = \
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drivers/accgyro_spi_mpu6500.c \
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drivers/accgyro_mpu6500.c \
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_stm32f4xx.c
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