From 08b401737b17c6b43b37f6213bb4cb59f6a92cba Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Sat, 3 Jun 2017 19:22:49 +0100 Subject: [PATCH] Merge pull request #2835 from cleanflight/spracingf4neo SPRACINGF4NEO - Initial target support. --- Makefile | 1 + src/main/io/serial.c | 14 ++ src/main/rx/rx.c | 7 +- src/main/target/SPRACINGF3NEO/config.c | 5 - src/main/target/SPRACINGF3NEO/target.h | 25 ++- src/main/target/SPRACINGF4NEO/target.c | 55 ++++++ src/main/target/SPRACINGF4NEO/target.h | 234 ++++++++++++++++++++++++ src/main/target/SPRACINGF4NEO/target.mk | 17 ++ src/main/telemetry/telemetry.c | 6 +- 9 files changed, 347 insertions(+), 17 deletions(-) create mode 100644 src/main/target/SPRACINGF4NEO/target.c create mode 100644 src/main/target/SPRACINGF4NEO/target.h create mode 100644 src/main/target/SPRACINGF4NEO/target.mk diff --git a/Makefile b/Makefile index f7bf4b89b..8d243b8e9 100644 --- a/Makefile +++ b/Makefile @@ -177,6 +177,7 @@ GROUP_4_TARGETS := \ SPRACINGF3NEO \ SPRACINGF3OSD \ SPRACINGF4EVO \ + SPRACINGF4NEO \ STM32F3DISCOVERY \ TINYBEEF3 \ diff --git a/src/main/io/serial.c b/src/main/io/serial.c index 3754c3ac3..38d4c44ce 100644 --- a/src/main/io/serial.c +++ b/src/main/io/serial.c @@ -142,6 +142,20 @@ void pgResetFn_serialConfig(serialConfig_t *serialConfig) } #endif +#if defined(TELEMETRY_UART) && defined(TELEMETRY_PROVIDER_DEFAULT) + serialPortConfig_t *serialTelemetryConfig = serialFindPortConfiguration(TELEMETRY_UART); + if (serialTelemetryConfig) { + serialTelemetryConfig->functionMask = TELEMETRY_PROVIDER_DEFAULT; + } +#endif + +#if defined(GPS_UART) + serialPortConfig_t *serialGPSConfig = serialFindPortConfiguration(GPS_UART); + if (serialGPSConfig) { + serialGPSConfig->functionMask = FUNCTION_GPS; + } +#endif + serialConfig->reboot_character = 'R'; serialConfig->serial_update_rate_hz = 100; } diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index c8deb8010..8ca1f7d9e 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -99,6 +99,11 @@ static uint8_t rcSampleIndex = 0; #ifndef RX_SPI_DEFAULT_PROTOCOL #define RX_SPI_DEFAULT_PROTOCOL 0 #endif + +#ifndef SBUS_INVERSION_DEFAULT +#define SBUS_INVERSION_DEFAULT 1 +#endif + #ifndef SERIALRX_PROVIDER #define SERIALRX_PROVIDER 0 #endif @@ -114,7 +119,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig) .halfDuplex = 0, .serialrx_provider = SERIALRX_PROVIDER, .rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL, - .sbus_inversion = 1, + .sbus_inversion = SBUS_INVERSION_DEFAULT, .spektrum_sat_bind = 0, .spektrum_sat_bind_autoreset = 1, .midrc = RX_MID_USEC, diff --git a/src/main/target/SPRACINGF3NEO/config.c b/src/main/target/SPRACINGF3NEO/config.c index 5f1dd29e9..0cee9c97f 100644 --- a/src/main/target/SPRACINGF3NEO/config.c +++ b/src/main/target/SPRACINGF3NEO/config.c @@ -51,11 +51,6 @@ void targetConfiguration(void) { barometerConfigMutable()->baro_hardware = BARO_DEFAULT; compassConfigMutable()->mag_hardware = MAG_DEFAULT; - 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 diff --git a/src/main/target/SPRACINGF3NEO/target.h b/src/main/target/SPRACINGF3NEO/target.h index 773c39ab3..a9a6cc327 100755 --- a/src/main/target/SPRACINGF3NEO/target.h +++ b/src/main/target/SPRACINGF3NEO/target.h @@ -169,19 +169,24 @@ #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_UART5 -#define SERIALRX_PROVIDER SERIALRX_SBUS +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP) -#define BUTTONS -#define BUTTON_A_PIN PD2 +#define GPS_UART SERIAL_PORT_USART3 -#define SPEKTRUM_BIND_PIN UART2_RX_PIN +#define SERIALRX_UART SERIAL_PORT_USART2 +#define SERIALRX_PROVIDER SERIALRX_SBUS -#define BINDPLUG_PIN PD2 +#define TELEMETRY_UART SERIAL_PORT_UART5 +#define TELEMETRY_PROVIDER_DEFAULT FUNCTION_TELEMETRY_SMARTPORT + +#define BUTTONS // Physically located on the optional OSD/VTX board. +#define BUTTON_A_PIN PD2 + +#define SPEKTRUM_BIND_PIN UART2_RX_PIN + +// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected. +//#define BINDPLUG_PIN BUTTON_A_PIN #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPRACINGF4NEO/target.c b/src/main/target/SPRACINGF4NEO/target.c new file mode 100644 index 000000000..ce083476f --- /dev/null +++ b/src/main/target/SPRACINGF4NEO/target.c @@ -0,0 +1,55 @@ +/* + * 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/timer.h" +#include "drivers/timer_def.h" +#include "drivers/dma.h" + + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM_USE_PPM | TIM_USE_PWM, 0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM1 / UART2 RX + { TIM9, IO_TAG(PA2), TIM_Channel_1, TIM_USE_PWM, 0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM2 / UART2 TX + + { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream4, DMA_Channel_7, DMA2_ST4_HANDLER }, // ESC 1 + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream3, DMA_Channel_7, DMA2_ST3_HANDLER }, // ESC 2 + { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream7, DMA_Channel_7, DMA2_ST7_HANDLER }, // ESC 3 + { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream2, DMA_Channel_7, DMA2_ST2_HANDLER }, // ESC 4 + +#if (SPRACINGF4NEO_REV >= 3) + { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, DMA1_Stream0, DMA_Channel_2, DMA1_ST0_HANDLER }, // ESC 5 / Conflicts with USART5_RX / SPI3_RX - SPI3_RX can be mapped to DMA1_ST3_CH0 + { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, DMA1_Stream3, DMA_Channel_2, DMA1_ST3_HANDLER }, // ESC 6 / Conflicts with USART3_RX +#else + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // ESC 5 + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // ESC 6 +#endif + { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM_USE_LED, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // LED Strip + // Additional 2 PWM channels available on UART3 RX/TX pins + // However, when using led strip the timer cannot be used, but no code appears to prevent that right now + { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // ESC 7 / Shared with UART3 TX PIN and SPI3 TX (OSD) + { TIM2, IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // ESC 8 / Shared with UART3 RX PIN + + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_TRANSPONDER, 1, GPIO_AF_TIM1, DMA2_Stream6, DMA_Channel_0, DMA2_ST6_HANDLER }, // Transponder + // Additional 2 PWM channels available on UART1 RX/TX pins + // However, when using transponder the timer cannot be used, but no code appears to prevent that right now + { TIM1, IO_TAG(PA9), TIM_Channel_2, TIM_USE_SERVO | TIM_USE_PWM, 1, GPIO_AF_TIM1, NULL, 0, 0 }, // PWM 3 + { TIM1, IO_TAG(PA10), TIM_Channel_3, TIM_USE_SERVO | TIM_USE_PWM, 1, GPIO_AF_TIM1, NULL, 0, 0 }, // PWM 4 +}; diff --git a/src/main/target/SPRACINGF4NEO/target.h b/src/main/target/SPRACINGF4NEO/target.h new file mode 100644 index 000000000..8377d59ae --- /dev/null +++ b/src/main/target/SPRACINGF4NEO/target.h @@ -0,0 +1,234 @@ +/* + * 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 "SP4N" + +#ifndef SPRACINGF4NEO_REV + #define SPRACINGF4NEO_REV 3 +#endif + +#define USBD_PRODUCT_STRING "SP Racing F4 NEO" + +#if (SPRACINGF4NEO_REV >= 3) + #define LED0 PA0 + #define LED1 PB1 +#endif +#if (SPRACINGF4NEO_REV == 2) + #define LED0 PB9 + #define LED1 PB2 +#endif +#if (SPRACINGF4NEO_REV == 1) + #define LED0 PB9 + #define LED1 PB2 +#endif + +#define BEEPER PC15 +#define BEEPER_INVERTED + +#if (SPRACINGF4NEO_REV >= 2) + #define INVERTER_PIN_UART2 PB2 +#else + #define INVERTER_PIN_UART2 PA0 +#endif + +#define USE_EXTI +#define MPU_INT_EXTI PC13 + +#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 USB_IO + +#define USE_VCP +#define USE_UART1 +#define USE_UART2 +#define USE_UART3 +#define USE_UART4 +#define USE_UART5 +#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 UART4_TX_PIN PC10 +#define UART4_RX_PIN PC11 + +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_ESCSERIAL +#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1 + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA + +#if (SPRACINGF4NEO_REV >= 3) + #define I2C1_SCL PB8 + #define I2C1_SDA PB9 +#else + #define I2C1_SCL PB6 + #define I2C1_SDA PB7 +#endif + +#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 + +// Bus Switched Device, Device B. +#define VTX_RTC6705 +#define VTX_RTC6705_OPTIONAL // VTX/OSD board is OPTIONAL + +#define RTC6705_CS_PIN PC4 +#define RTC6705_SPI_INSTANCE SPI3 +#define RTC6705_POWER_PIN PC3 + +#define USE_RTC6705_CLK_HACK +#define RTC6705_CLK_PIN SPI3_SCK_PIN + +#define OSD + +// Bus Switched Device, Device A. +#define USE_MAX7456 +#define MAX7456_SPI_INSTANCE SPI3 +#define MAX7456_SPI_CS_PIN PA15 + +//#define MAX7456_DMA_CHANNEL_TX DMA1_Stream5 +//#define MAX7456_DMA_CHANNEL_RX DMA1_Stream0 +//#define MAX7456_DMA_IRQ_HANDLER_ID DMA1_ST0_HANDLER + +#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 + +// SPI3 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_Stream4 +#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4 +#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1 +#define SDCARD_DMA_CHANNEL DMA_Channel_0 + +#define MPU6500_CS_PIN SPI1_NSS_PIN +#define MPU6500_SPI_INSTANCE SPI1 + +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 + +#define VBAT_ADC_PIN PC1 +#define CURRENT_METER_ADC_PIN PC2 +#define RSSI_ADC_PIN PC0 + +#define CURRENT_METER_SCALE_DEFAULT 300 + +#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC +#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC + +#define LED_STRIP +#define TRANSPONDER + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_LED_STRIP) + +#define GPS_UART SERIAL_PORT_USART3 + +#define SERIALRX_UART SERIAL_PORT_USART2 +#define SERIALRX_PROVIDER SERIALRX_SBUS + +#define TELEMETRY_UART SERIAL_PORT_UART5 +#define TELEMETRY_DEFAULT_HALFDUPLEX 0 // Both pins of UART5 are used for a telemetry circuit +#define TELEMETRY_PROVIDER_DEFAULT FUNCTION_TELEMETRY_SMARTPORT + +#define BUTTONS // Physically located on the optional OSD/VTX board. +#if (SPRACINGF4NEO_REV >= 3) + #define BUTTON_A_PIN PB0 +#else + #define BUTTON_A_PIN PB8 +#endif + +#define SPEKTRUM_BIND_PIN UART2_RX_PIN + +// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected. +//#define BINDPLUG_PIN BUTTON_A_PIN + +// Temporarily disable SMARTAUDIO and TRAMP VTX support due to flash size issues. +#undef VTX_SMARTAUDIO +#undef VTX_TRAMP + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#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 14 // 4xPWM, 6xESC, 2xESC via UART3 RX/TX, 1xLED Strip, 1xIR. +#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9)) + diff --git a/src/main/target/SPRACINGF4NEO/target.mk b/src/main/target/SPRACINGF4NEO/target.mk new file mode 100644 index 000000000..9fc84c665 --- /dev/null +++ b/src/main/target/SPRACINGF4NEO/target.mk @@ -0,0 +1,17 @@ +F405_TARGETS += $(TARGET) +FEATURES = VCP SDCARD + +TARGET_SRC = \ + drivers/accgyro/accgyro_mpu6500.c \ + drivers/accgyro/accgyro_spi_mpu6500.c \ + drivers/barometer/barometer_bmp280.c \ + drivers/barometer/barometer_ms5611.c \ + drivers/compass/compass_ak8975.c \ + drivers/compass/compass_hmc5883l.c \ + drivers/max7456.c \ + drivers/transponder_ir.c \ + drivers/vtx_rtc6705.c \ + io/osd.c \ + io/transponder_ir.c \ + + diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c index e7c0b6c55..1e2e39588 100644 --- a/src/main/telemetry/telemetry.c +++ b/src/main/telemetry/telemetry.c @@ -58,9 +58,13 @@ PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY #define TELEMETRY_DEFAULT_INVERSION 1 +#ifndef TELEMETRY_DEFAULT_HALFDUPLEX +#define TELEMETRY_DEFAULT_HALFDUPLEX 1 +#endif + PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, .telemetry_inversion = TELEMETRY_DEFAULT_INVERSION, - .halfDuplex = 1, + .halfDuplex = TELEMETRY_DEFAULT_HALFDUPLEX, .telemetry_switch = 0, .gpsNoFixLatitude = 0, .gpsNoFixLongitude = 0,