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Merge branch 'serial1wire-blheli-multiesc' of https://github.com/nathantsoi/cleanflight into nathantsoi-serial1wire-blheli-multiesc

Browse source 
Conflicts:
	src/main/target/CC3D/target.h
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Dominic Clifton 2015-10-30 00:44:23 +00:00
commit c4a670b56a
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1
Makefile
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@ -239,6 +239,7 @@ COMMON_SRC = build_config.c \
io/rc_controls.c \
io/rc_curves.c \
io/serial.c \
io/serial_1wire.c \
io/serial_cli.c \
io/serial_msp.c \
io/statusindicator.c \

92
docs/1wire.md Normal file
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@ -0,0 +1,92 @@
# 1-wire passthrough esc programming
### ESCs must have the BlHeli Bootloader.
If your ESCs didn't come with BlHeli Bootloader, you'll need to flash them with an ArduinoISP programmer first. [Here's a guide](http://bit.ly/blheli-f20).
This is the option you need to select for the bootloader:
![Flashing BlHeli Bootloader](assets/images/blheli-bootloader.png)
Currently supported on the SPRACINGF3, STM32F3DISCOVERY, NAZE32 (including clones such as the FLIP32) and CC3D.
## Wiring
- For the NAZE, no external wiring is necessary. Simply plug in the board via USB cable.
- For the CC3D, connect [a USB to UART adapter](http://bit.ly/cf-cp2102) to the flex port.
- Ensure MSP is enabled on the flex port. Unfortunatly the main port cannot be used in the current configuration due to the inverter on this port.
- You'll only need this connection to the CC3D, do not plug in the normal USB connection.
- If you need one, I prefer the [CP2102](http://bit.ly/cf-cp2102) as it is cheap and [the driver](https://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx) is readily available.
- In the case that your board does not power on fully without a battery attached, it is OK to attach the battery before following the steps below. However, it may not be necessary in all cases.
## Usage
- Plug in the USB cable and connect to your board with the CleanFlight configurator.
- For boards without a built in USB/UART adapter, you'll need to plug an external one in. Here is how you wire up the CC3D. Plug your USB/UART adapter into the Flexi port:
![Flashing BlHeli Bootloader](assets/images/serial1wire-cc3d-wiring.jpg)
- Open the BlHeli Suite.
- Ensure you have selected the correct Atmel or SILABS "Cleanflight" option under the "Select ATMEL / SILABS Interface" menu option.
- Ensure you have port for your external USB/UART adapter selected, if you're using one, otherwise pick the same COM port that you normally use for Cleanflight.
- Click "Connect" and wait for the connection to complete. If you get a COM error, hit connect again. It will probably work.
- Use the boxes at the bottom to select the ESCs you have connected. Note that the boxes correspond directly to the ports on your flight controller. For example if you have motors on ports 1-4, pick boxes 1-4 or in the case of a tri-copter that uses motors on ports 3, 4 and 5, select those ports in BlHeli.
- Click "Read Setup"
- Use BlHeli suite as normal.
- When you're finished with one ESC, click "Disconnect"
## Implementing and Configuring targets
The following parameters can be used to enable and configure this in the related target.h file:
USE_SERIAL_1WIRE Enables the 1wire code, defined in target.h
- For new targets
- in `target.h`
```
// Turn on serial 1wire passthrough
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
// STM32F3DISCOVERY TX - PC3 connects to UART RX
#define S1W_TX_GPIO GPIOC
#define S1W_TX_PIN GPIO_Pin_3
// STM32F3DISCOVERY RX - PC1 connects to UART TX
#define S1W_RX_GPIO GPIOC
#define S1W_RX_PIN GPIO_Pin_1
```
- in `serial_1wire.c`
```
// Define your esc hardware
#if defined(STM32F3DISCOVERY) && !(defined(CHEBUZZF3))
const escHardware_t escHardware[ESC_COUNT] = {
{ GPIOD, 12 },
{ GPIOD, 13 },
{ GPIOD, 14 },
{ GPIOD, 15 },
{ GPIOA, 1 },
{ GPIOA, 2 }
};
```
## Development Notes
On the STM32F3DISCOVERY, an external pullup on the ESC line may be necessary. I needed a 3v, 4.7k pullup.

13
docs/API/MSP_extensions.md
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@ -110,6 +110,19 @@ sending this message for all adjustment range slots.
| adjustmentFunction | uint8 | See below |
| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
### MSP\_SET\_1WIRE
The MSP\_SET\_1WIRE is used to enable serial1wire passthrough
note: it would be ideal to disable this when armed
| Command | Msg Id | Direction |
|---------|--------|-----------|
| MSP\_SET\_1WIRE | 243 | to FC |
| Data | Type | Notes |
|------|------|-------|
| esc id | uint8 | A monotonically increasing ID, from 0 to the number of escs -1 |
#### AdjustmentIndex
The FC maintains internal state for each adjustmentStateIndex, currently 4 simultaneous adjustment states are maintained. Multiple adjustment ranges

1
docs/Cli.md
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@ -73,6 +73,7 @@ Re-apply any new defaults as desired.
| `Command` | Description |
|------------------|------------------------------------------------|
| `1wire <esc>` | passthrough 1wire to the specified esc |
| `adjrange` | show/set adjustment ranges settings |
| `aux` | show/set aux settings |
| `mmix` | design custom motor mixer |

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src/main/io/serial_1wire.c Normal file
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@ -0,0 +1,260 @@
/*
* 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/>.
*
* Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
* by Nathan Tsoi <nathan@vertile.com>
*/
#include <stdbool.h>
#include "platform.h"
#ifdef USE_SERIAL_1WIRE
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "io/serial_1wire.h"
const escHardware_t escHardware[ESC_COUNT] = {
// Figure out esc clocks and pins, extrapolated from timer.c
// Periphs could be pulled progmatically... but I'll leave that for another exercise
#if defined(STM32F3DISCOVERY) && !(defined(CHEBUZZF3))
{ GPIOD, 12 },
{ GPIOD, 13 },
{ GPIOD, 14 },
{ GPIOD, 15 },
{ GPIOA, 1 },
{ GPIOA, 2 }
#elif defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R)
{ GPIOA, 8 },
{ GPIOA, 11 },
{ GPIOB, 6 },
{ GPIOB, 7 },
{ GPIOB, 8 },
{ GPIOB, 9 }
#elif CC3D
{ GPIOB, 9 },
{ GPIOB, 8 },
{ GPIOB, 7 },
{ GPIOA, 8 },
{ GPIOB, 4 },
{ GPIOA, 2 }
#elif SPRACINGF3
{ GPIOA, 6 },
{ GPIOA, 7 },
{ GPIOA, 11 },
{ GPIOA, 12 },
{ GPIOB, 8 },
{ GPIOB, 9 },
{ GPIOA, 2 },
{ GPIOA, 3 }
#elif MOTOLAB
{ GPIOA, 4 },
{ GPIOA, 6 },
{ GPIOB, 0 },
{ GPIOB, 1 },
{ GPIOA, 1 },
{ GPIOA, 2 },
{ GPIOA, 3 },
{ GPIOA, 8 }
#endif
};
static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) {
gpio_config_t cfg;
cfg.pin = pin;
cfg.mode = mode;
cfg.speed = Speed_10MHz;
gpioInit(gpio, &cfg);
}
void usb1WireInitialize()
{
for (volatile uint8_t i = 0; i < ESC_COUNT; i++) {
gpio_set_mode(escHardware[i].gpio, (1U << escHardware[i].pinpos), Mode_IPU); //GPIO_Mode_IPU
}
#ifdef BEEPER
// fix for buzzer often starts beeping continuously when the ESCs are read
// switch beeper off until reboot
gpio_set_mode(BEEP_GPIO, BEEP_PIN, Mode_IN_FLOATING); //GPIO_Mode_IPU
#endif
}
#ifdef STM32F10X
static volatile uint32_t in_cr_mask, out_cr_mask;
static __IO uint32_t *cr;
static void gpio_prep_vars(uint32_t escIndex)
{
GPIO_TypeDef *gpio = escHardware[escIndex].gpio;
uint32_t pinpos = escHardware[escIndex].pinpos;
// mask out extra bits from pinmode, leaving just CNF+MODE
uint32_t inmode = Mode_IPU & 0x0F;
uint32_t outmode = (Mode_Out_PP & 0x0F) | Speed_10MHz;
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15
cr = &gpio->CRL + (pinpos / 8);
// offset to CNF and MODE portions of CRx register
uint32_t shift = (pinpos % 8) * 4;
// Read out current CRx value
in_cr_mask = out_cr_mask = *cr;
// Mask out 4 bits
in_cr_mask &= ~(0xF << shift);
out_cr_mask &= ~(0xF << shift);
// save current pinmode
in_cr_mask |= inmode << shift;
out_cr_mask |= outmode << shift;
}
static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15
if (mode == Mode_IPU) {
*cr = in_cr_mask;
escHardware[escIndex].gpio->ODR |= (1U << escHardware[escIndex].pinpos);
}
else {
*cr = out_cr_mask;
}
}
#endif
#define disable_hardware_uart __disable_irq()
#define enable_hardware_uart __enable_irq()
#define ESC_HI(escIndex) ((escHardware[escIndex].gpio->IDR & (1U << escHardware[escIndex].pinpos)) != (uint32_t)Bit_RESET)
#define RX_HI ((S1W_RX_GPIO->IDR & S1W_RX_PIN) != (uint32_t)Bit_RESET)
#define ESC_SET_HI(escIndex) escHardware[escIndex].gpio->BSRR = (1U << escHardware[escIndex].pinpos)
#define ESC_SET_LO(escIndex) escHardware[escIndex].gpio->BRR = (1U << escHardware[escIndex].pinpos)
#define TX_SET_HIGH S1W_TX_GPIO->BSRR = S1W_TX_PIN
#define TX_SET_LO S1W_TX_GPIO->BRR = S1W_TX_PIN
#ifdef STM32F303xC
#define ESC_INPUT(escIndex) escHardware[escIndex].gpio->MODER &= ~(GPIO_MODER_MODER0 << (escHardware[escIndex].pinpos * 2))
#define ESC_OUTPUT(escIndex) escHardware[escIndex].gpio->MODER |= GPIO_Mode_OUT << (escHardware[escIndex].pinpos * 2)
#endif
#ifdef STM32F10X
#define ESC_INPUT(escIndex) gpioSetOne(escIndex, Mode_IPU)
#define ESC_OUTPUT(escIndex) gpioSetOne(escIndex, Mode_Out_PP)
#endif
#if defined(STM32F3DISCOVERY)
#define LED_PRGMR_RX GPIO_Pin_8
#define LED_PRGMR_TX GPIO_Pin_10
// Top Left LD4, PE8 (blue)-- from programmer (RX)
#define RX_LED_OFF GPIOE->BRR = LED_PRGMR_RX
#define RX_LED_ON GPIOE->BSRR = LED_PRGMR_RX
// Top Right LD5, PE10 (orange) -- to programmer (TX)
#define TX_LED_OFF GPIOE->BRR = LED_PRGMR_TX
#define TX_LED_ON GPIOE->BSRR = LED_PRGMR_TX
static void ledInitDebug(void)
{
uint32_t pinmask = LED_PRGMR_RX|LED_PRGMR_TX;
GPIO_DeInit(GPIOE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
gpio_set_mode(GPIOE, pinmask, Mode_Out_PP);
GPIOE->BRR = pinmask;
}
#else
#define RX_LED_OFF LED0_OFF
#define RX_LED_ON LED0_ON
#define TX_LED_OFF LED1_OFF
#define TX_LED_ON LED1_ON
#endif
// This method translates 2 wires (a tx and rx line) to 1 wire, by letting the
// RX line control when data should be read or written from the single line
void usb1WirePassthrough(uint8_t escIndex)
{
#ifdef STM32F3DISCOVERY
ledInitDebug();
#endif
//Disable all interrupts
disable_hardware_uart;
// reset all the pins
GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN);
GPIO_ResetBits(S1W_TX_GPIO, S1W_TX_PIN);
// configure gpio
gpio_set_mode(S1W_RX_GPIO, S1W_RX_PIN, Mode_IPU);
gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_Out_PP);
// hey user, turn on your ESC now
#ifdef STM32F10X
// reset our gpio register pointers and bitmask values
gpio_prep_vars(escIndex);
#endif
ESC_OUTPUT(escIndex);
ESC_SET_HI(escIndex);
TX_SET_HIGH;
// Wait for programmer to go from 1 -> 0 indicating incoming data
while(RX_HI);
while(1) {
// A new iteration on this loop starts when we have data from the programmer (read_programmer goes low)
// Setup escIndex pin to send data, pullup is the default
ESC_OUTPUT(escIndex);
// Write the first bit
ESC_SET_LO(escIndex);
// Echo on the programmer tx line
TX_SET_LO;
//set LEDs
RX_LED_OFF;
TX_LED_ON;
// Wait for programmer to go 0 -> 1
uint32_t ct=3333;
while(!RX_HI) {
if (ct > 0) ct--; //count down until 0;
// check for low time ->ct=3333 ~600uS //byte LO time for 0 @ 19200 baud -> 9*52 uS => 468.75uS
// App must send a 0 at 9600 baud (or lower) which has a LO time of at 104uS (or more) > 0 = 937.5uS LO
// BLHeliSuite will use 4800 baud
}
// Programmer is high, end of bit
// At first Echo to the esc, which helps to charge input capacities at ESC
ESC_SET_HI(escIndex);
// Listen to the escIndex, input mode, pullup resistor is on
gpio_set_mode(escHardware[escIndex].gpio, (1U << escHardware[escIndex].pinpos), Mode_IPU);
TX_LED_OFF;
if (ct==0) break; //we reached zero
// Listen to the escIndex while there is no data from the programmer
while (RX_HI) {
if (ESC_HI(escIndex)) {
TX_SET_HIGH;
RX_LED_OFF;
}
else {
TX_SET_LO;
RX_LED_ON;
}
}
}
// we get here in case ct reached zero
TX_SET_HIGH;
RX_LED_OFF;
// Programmer TX
gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_AF_PP);
// Enable Hardware UART
enable_hardware_uart;
// Wait a bit more to let App read the 0 byte and switch baudrate
// 2ms will most likely do the job, but give some grace time
delay(10);
return;
}
#endif

32
src/main/io/serial_1wire.h Normal file
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@ -0,0 +1,32 @@
/*
* 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/>.
*
* Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
* by Nathan Tsoi <nathan@vertile.com>
*/
#pragma once
#ifdef USE_SERIAL_1WIRE
typedef struct {
GPIO_TypeDef* gpio;
uint32_t pinpos;
} escHardware_t;
void usb1WireInitialize();
void usb1WirePassthrough(uint8_t escIndex);
#endif

30
src/main/io/serial_cli.c
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@ -51,6 +51,7 @@
#include "io/gimbal.h"
#include "io/rc_controls.h"
#include "io/serial.h"
#include "io/serial_1wire.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "io/beeper.h"
@ -148,6 +149,10 @@ static void cliFlashRead(char *cmdline);
#endif
#endif
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline);
#endif
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
@ -224,6 +229,9 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
#ifdef USE_SERIAL_1WIRE
CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
#endif
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef LED_STRIP
@ -2137,6 +2145,28 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i <= ESC_COUNT) {
printf("Switching to BlHeli mode on motor port %d\r\n", i);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
}
}
// motor 1 => index 0
usb1WirePassthrough(i-1);
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);

43
src/main/io/serial_msp.c
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@ -85,6 +85,9 @@
#include "serial_msp.h"
#ifdef USE_SERIAL_1WIRE
#include "io/serial_1wire.h"
#endif
static serialPort_t *mspSerialPort;
extern uint16_t cycleTime; // FIXME dependency on mw.c
@ -308,6 +311,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#define MSP_SET_1WIRE 243 //in message Sets 1Wire paththrough
#define INBUF_SIZE 64
@ -1731,6 +1735,45 @@ static bool processInCommand(void)
isRebootScheduled = true;
break;
#ifdef USE_SERIAL_1WIRE
case MSP_SET_1WIRE:
// get channel number
i = read8();
// we do not give any data back, assume channel number is transmitted OK
if (i == 0xFF) {
// 0xFF -> preinitialize the Passthrough
// switch all motor lines HI
usb1WireInitialize();
// and come back right afterwards
// rem: App: Wait at least appx. 500 ms for BLHeli to jump into
// bootloader mode before try to connect any ESC
}
else {
// Check for channel number 0..ESC_COUNT-1
if (i < ESC_COUNT) {
// because we do not come back after calling usb1WirePassthrough
// proceed with a success reply first
headSerialReply(0);
tailSerialReply();
// wait for all data to send
while (!isSerialTransmitBufferEmpty(mspSerialPort)) {
delay(50);
}
// Start to activate here
// motor 1 => index 0
usb1WirePassthrough(i);
// MPS uart is active again
} else {
// ESC channel higher than max. allowed
// rem: BLHeliSuite will not support more than 8
headSerialError(0);
}
// proceed as usual with MSP commands
// and wait to switch to next channel
// rem: App needs to call MSP_BOOT to deinitialize Passthrough
}
break;
#endif
default:
// we do not know how to handle the (valid) message, indicate error MSP $M!
return false;

13
src/main/target/CC3D/target.h
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@ -118,6 +118,19 @@
#define USE_SERVOS
#define USE_CLI
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
// FlexPort (pin 21/22, TX/RX respectively):
// Note, FlexPort has 10k pullups on both TX and RX
// JST Pin3 TX - connect to external UART/USB RX
#define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_10
// JST Pin4 RX - connect to external UART/USB TX
#define S1W_RX_GPIO GPIOB
#define S1W_RX_PIN GPIO_Pin_11
#define SPEKTRUM_BIND
// USART3, PB11 (Flexport)
#define BIND_PORT GPIOB

185
src/main/target/MOTOLAB/target.h Normal file
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@ -0,0 +1,185 @@
/*
* 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 "MOTO" // MotoLab
#define USE_CLI
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_5 // Blue LEDs - PB5
#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOB
#define LED1_GPIO GPIOB
#define LED1_PIN Pin_9 // Green LEDs - PB9
#define LED1_PERIPHERAL RCC_AHBPeriph_GPIOB
#define BEEP_GPIO GPIOA
#define BEEP_PIN Pin_0
#define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOA
#define BEEPER_INVERTED
#define BEEPER
#define USABLE_TIMER_CHANNEL_COUNT 9
// MPU6050 interrupts
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
#define USE_MPU_DATA_READY_SIGNAL
//#define ENSURE_MPU_DATA_READY_IS_LOW
#define GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW180_DEG
#define ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW180_DEG
//#define BARO
//#define USE_BARO_MS5611
//#define MAG
//#define USE_MAG_HMC5883
#define LED0
#define USE_VCP
#define USE_USART1
#define USE_USART2
#define USE_USART3
#define SERIAL_PORT_COUNT 4
#define UART1_TX_PIN GPIO_Pin_6 // PB6
#define UART1_RX_PIN GPIO_Pin_7 // PB7
#define UART1_GPIO GPIOB
#define UART1_GPIO_AF GPIO_AF_7
#define UART1_TX_PINSOURCE GPIO_PinSource6
#define UART1_RX_PINSOURCE GPIO_PinSource7
#define UART2_TX_PIN GPIO_Pin_3 // PB3
#define UART2_RX_PIN GPIO_Pin_4 // PB4
#define UART2_GPIO GPIOB
#define UART2_GPIO_AF GPIO_AF_7
#define UART2_TX_PINSOURCE GPIO_PinSource3
#define UART2_RX_PINSOURCE GPIO_PinSource4
#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
#define UART3_GPIO_AF GPIO_AF_7
#define UART3_GPIO GPIOB
#define UART3_TX_PINSOURCE GPIO_PinSource10
#define UART3_RX_PINSOURCE GPIO_PinSource11
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
#define I2C2_SCL_GPIO GPIOA
#define I2C2_SCL_GPIO_AF GPIO_AF_4
#define I2C2_SCL_PIN GPIO_Pin_9
#define I2C2_SCL_PIN_SOURCE GPIO_PinSource9
#define I2C2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define I2C2_SDA_GPIO GPIOA
#define I2C2_SDA_GPIO_AF GPIO_AF_4
#define I2C2_SDA_PIN GPIO_Pin_10
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define USE_SPI
#define USE_SPI_DEVICE_2
#define M25P16_CS_GPIO GPIOB
#define M25P16_CS_PIN GPIO_Pin_12
#define M25P16_SPI_INSTANCE SPI2
//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
#define SENSORS_SET (SENSOR_ACC)
#define TELEMETRY
#define BLACKBOX
#define SERIAL_RX
//#define GPS
#define DISPLAY
#define USE_SERVOS
#define USE_FLASHFS
#define USE_FLASH_M25P16
#define USE_ADC
#define BOARD_HAS_VOLTAGE_DIVIDER
#define ADC_INSTANCE ADC2
#define ADC_DMA_CHANNEL DMA2_Channel1
#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA2
#define VBAT_ADC_GPIO GPIOA
#define VBAT_ADC_GPIO_PIN GPIO_Pin_5
#define VBAT_ADC_CHANNEL ADC_Channel_2
//#define CURRENT_METER_ADC_GPIO GPIOA
//#define CURRENT_METER_ADC_GPIO_PIN GPIO_Pin_5
//#define CURRENT_METER_ADC_CHANNEL ADC_Channel_2
#define RSSI_ADC_GPIO GPIOB
#define RSSI_ADC_GPIO_PIN GPIO_Pin_2
#define RSSI_ADC_CHANNEL ADC_Channel_12
#define LED_STRIP
#if 1
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#endif
#if 0
// Alternate LED strip pin
// FIXME DMA IRQ Transfer Complete is never called because the TIM17_DMA_RMP needs to be set in SYSCFG_CFGR1
#define LED_STRIP_TIMER TIM17
#define USE_LED_STRIP_ON_DMA1_CHANNEL7
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_7 // TIM17_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource7
#define WS2811_TIMER TIM17
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM17
#define WS2811_DMA_CHANNEL DMA1_Channel7
#define WS2811_IRQ DMA1_Channel7_IRQn
#endif
//#define SPEKTRUM_BIND
// USART2, PB4
#define BIND_PORT GPIOB
#define BIND_PIN Pin_4
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6
#define S1W_RX_GPIO GPIOB
#define S1W_RX_PIN GPIO_Pin_7

10
src/main/target/NAZE/target.h
View file

@ -185,6 +185,16 @@
#define BIND_PORT GPIOA
#define BIND_PIN Pin_3
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
// STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9
// STM32F103CBT6-LQFP48 Pin31 (PA10) RX - PC1 to onboard CP2102 TX
#define S1W_RX_GPIO GPIOA
#define S1W_RX_PIN GPIO_Pin_10
// alternative defaults for AlienWii32 F1 target
#ifdef ALIENWII32
#undef TARGET_BOARD_IDENTIFIER

7
src/main/target/SPRACINGF3/target.h
View file

@ -169,3 +169,10 @@
// USART3,
#define BIND_PORT GPIOB
#define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9
#define S1W_RX_GPIO GPIOA
#define S1W_RX_PIN GPIO_Pin_10

10
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -98,3 +98,13 @@
#define SERIAL_RX
#define USE_SERVOS
#define USE_CLI
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
// STM32F3DISCOVERY TX - PC3 connects to UART RX
#define S1W_TX_GPIO GPIOC
#define S1W_TX_PIN GPIO_Pin_3
// STM32F3DISCOVERY RX - PC1 connects to UART TX
#define S1W_RX_GPIO GPIOC
#define S1W_RX_PIN GPIO_Pin_1