From 918e4e8f276f7314659b41d7d0d1a8ebe04a54c4 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Mon, 1 Aug 2016 10:45:13 +0100 Subject: [PATCH 1/3] Added Micro SciSky target --- src/main/target/MICROSCISKY/target.c | 106 ++++++++++++++++++++++++++ src/main/target/MICROSCISKY/target.h | 100 ++++++++++++++++++++++++ src/main/target/MICROSCISKY/target.mk | 12 +++ 3 files changed, 218 insertions(+) create mode 100644 src/main/target/MICROSCISKY/target.c create mode 100644 src/main/target/MICROSCISKY/target.h create mode 100644 src/main/target/MICROSCISKY/target.mk diff --git a/src/main/target/MICROSCISKY/target.c b/src/main/target/MICROSCISKY/target.c new file mode 100644 index 000000000..7116b5355 --- /dev/null +++ b/src/main/target/MICROSCISKY/target.c @@ -0,0 +1,106 @@ +/* + * 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 . + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + PWM3 | (MAP_TO_PWM_INPUT << 8), + PWM4 | (MAP_TO_PWM_INPUT << 8), + PWM5 | (MAP_TO_PWM_INPUT << 8), + PWM6 | (MAP_TO_PWM_INPUT << 8), + PWM7 | (MAP_TO_PWM_INPUT << 8), + PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8 + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), + PWM13 | (MAP_TO_SERVO_OUTPUT << 8), + PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5 + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + PWM7 | (MAP_TO_SERVO_OUTPUT << 8), + PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8 + 0xFFFF +}; + +const uint16_t airPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + PWM3 | (MAP_TO_PWM_INPUT << 8), + PWM4 | (MAP_TO_PWM_INPUT << 8), + PWM5 | (MAP_TO_PWM_INPUT << 8), + PWM6 | (MAP_TO_PWM_INPUT << 8), + PWM7 | (MAP_TO_PWM_INPUT << 8), + PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8 + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), + PWM13 | (MAP_TO_SERVO_OUTPUT << 8), + PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + 0xFFFF +}; + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_IPD }, // PWM1 - RC1 + { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_IPD }, // PWM2 - RC2 + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_IPD }, // PWM3 - RC3 + { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD }, // PWM4 - RC4 + { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_IPD }, // PWM5 - RC5 + { TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_IPD }, // PWM6 - RC6 + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_IPD }, // PWM7 - RC7 + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_IPD }, // PWM8 - RC8 + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM9 - OUT1 + { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM10 - OUT2 + { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 0, IOCFG_IPD }, // PWM11 - OUT3 + { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 0, IOCFG_IPD }, // PWM12 - OUT4 + { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 0, IOCFG_IPD }, // PWM13 - OUT5 + { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 0, IOCFG_IPD } // PWM14 - OUT6 +}; + diff --git a/src/main/target/MICROSCISKY/target.h b/src/main/target/MICROSCISKY/target.h new file mode 100644 index 000000000..80d4f0485 --- /dev/null +++ b/src/main/target/MICROSCISKY/target.h @@ -0,0 +1,100 @@ +/* + * 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 . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "MSKY" // Micro sciSKY + +#define LED0 PB3 +#define LED1 PB4 + +#define BARO_XCLR_PIN PC13 +#define BARO_EOC_PIN PC14 + +#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO +#define INVERTER_USART USART2 + +#define USE_EXTI +#define MAG_INT_EXTI PC14 +#define EXTI_CALLBACK_HANDLER_COUNT 3 // MPU data ready, MAG data ready, BMP085 EOC +//#define DEBUG_MPU_DATA_READY_INTERRUPT +#define USE_MPU_DATA_READY_SIGNAL +//#define DEBUG_MAG_DATA_READY_INTERRUPT +#define USE_MAG_DATA_READY_SIGNAL + +// SPI2 +// PB15 28 SPI2_MOSI +// PB14 27 SPI2_MISO +// PB13 26 SPI2_SCK +// PB12 25 SPI2_NSS + +#define USE_SPI +#define USE_SPI_DEVICE_2 + +#define GYRO +#define USE_GYRO_MPU6050 +#define GYRO_MPU6050_ALIGN CW0_DEG + +#define ACC +#define USE_ACC_MPU6050 +#define ACC_MPU6050_ALIGN CW0_DEG + +#define BARO +#define USE_BARO_MS5611 +#define USE_BARO_BMP085 +#define USE_BARO_BMP280 + +#define MAG +#define USE_MAG_HMC5883 +#define MAG_HMC5883_ALIGN CW180_DEG + +#define USE_UART1 +#define USE_UART2 +#define SERIAL_PORT_COUNT 2 + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_2) + +#define LED_STRIP +#define WS2811_TIMER TIM3 +#define WS2811_PIN PA6 +#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER + +#define SPEKTRUM_BIND +// USART2, PA3 +#define BIND_PIN PA3 + +#define BRUSHED_MOTORS +#define DEFAULT_FEATURES FEATURE_MOTOR_STOP +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM1024 +#define SERIALRX_UART SERIAL_PORT_USART2 +#define RX_CHANNELS_TAER + +#undef GPS +#undef USE_SERVOS +#define USE_QUAD_MIXER_ONLY +#define DISPLAY + + +// IO - assuming all IOs on 48pin package +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) ) + +#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) ) diff --git a/src/main/target/MICROSCISKY/target.mk b/src/main/target/MICROSCISKY/target.mk new file mode 100644 index 000000000..02299eedd --- /dev/null +++ b/src/main/target/MICROSCISKY/target.mk @@ -0,0 +1,12 @@ +F1_TARGETS += $(TARGET) +FEATURES = HIGHEND + +TARGET_SRC = \ + drivers/accgyro_mpu.c \ + drivers/accgyro_mpu6050.c \ + drivers/barometer_bmp085.c \ + drivers/barometer_bmp280.c \ + drivers/barometer_ms5611.c \ + drivers/compass_hmc5883l.c \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f10x.c From 2a645f1058864a1a18677e8c63f3b329d6b89187 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Tue, 2 Aug 2016 16:23:55 +0100 Subject: [PATCH 2/3] Added RX_CHANNELS_TAER build flag --- src/main/config/config.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/config/config.c b/src/main/config/config.c index 4e16b8c75..20792f624 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -591,7 +591,11 @@ static void resetConf(void) #endif // Radio +#ifdef RX_CHANNELS_TAER + parseRcChannels("TAER1234", &masterConfig.rxConfig); +#else parseRcChannels("AETR1234", &masterConfig.rxConfig); +#endif resetRcControlsConfig(&masterConfig.rcControlsConfig); From fee5aa7e7cc6bd3508ff917e4e579416cdb3a47a Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Tue, 2 Aug 2016 17:58:33 +0100 Subject: [PATCH 3/3] Fixed ALIENFLIGHT targets to use RX_CHANNELS_TAER build flag --- src/main/target/ALIENFLIGHTF1/config.c | 1 - src/main/target/ALIENFLIGHTF1/target.h | 1 + src/main/target/ALIENFLIGHTF3/config.c | 1 - src/main/target/ALIENFLIGHTF3/target.h | 1 + src/main/target/ALIENFLIGHTF4/config.c | 1 - src/main/target/ALIENFLIGHTF4/target.h | 1 + 6 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c index 083affa5b..7dd16e808 100644 --- a/src/main/target/ALIENFLIGHTF1/config.c +++ b/src/main/target/ALIENFLIGHTF1/config.c @@ -78,7 +78,6 @@ void targetConfiguration(void) masterConfig.motor_pwm_rate = 32000; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; - parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/ALIENFLIGHTF1/target.h b/src/main/target/ALIENFLIGHTF1/target.h index 77750ca13..6d945008f 100644 --- a/src/main/target/ALIENFLIGHTF1/target.h +++ b/src/main/target/ALIENFLIGHTF1/target.h @@ -78,6 +78,7 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048 #define SERIALRX_UART SERIAL_PORT_USART2 +#define RX_CHANNELS_TAER #define HARDWARE_BIND_PLUG // Hardware bind plug at PB5 (Pin 41) diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c index 271c9292c..be0a9bfea 100644 --- a/src/main/target/ALIENFLIGHTF3/config.c +++ b/src/main/target/ALIENFLIGHTF3/config.c @@ -92,7 +92,6 @@ void targetConfiguration(void) { currentProfile->pidProfile.P8[PITCH] = 90; currentProfile->pidProfile.I8[PITCH] = 44; currentProfile->pidProfile.D8[PITCH] = 60; - parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h index ce9704fdf..144cc3074 100644 --- a/src/main/target/ALIENFLIGHTF3/target.h +++ b/src/main/target/ALIENFLIGHTF3/target.h @@ -120,6 +120,7 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048 #define SERIALRX_UART SERIAL_PORT_USART3 +#define RX_CHANNELS_TAER #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c index 56086358c..ecce870a4 100644 --- a/src/main/target/ALIENFLIGHTF4/config.c +++ b/src/main/target/ALIENFLIGHTF4/config.c @@ -92,7 +92,6 @@ void targetConfiguration(void) { currentProfile->pidProfile.P8[PITCH] = 90; currentProfile->pidProfile.I8[PITCH] = 44; currentProfile->pidProfile.D8[PITCH] = 60; - parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h index 3469c0c11..a6fc694e6 100644 --- a/src/main/target/ALIENFLIGHTF4/target.h +++ b/src/main/target/ALIENFLIGHTF4/target.h @@ -165,6 +165,7 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048 #define SERIALRX_UART SERIAL_PORT_USART3 +#define RX_CHANNELS_TAER #define USE_SERIAL_4WAY_BLHELI_INTERFACE