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Initial OpenPilot CC3D commit.

This commit is contained in:
Dominic Clifton 2014-07-16 01:06:09 +01:00
parent ae0f842266
commit 1fb75890d5
6 changed files with 169 additions and 4 deletions
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23
Makefile
View File

@ -32,7 +32,7 @@ SERIAL_DEVICE ?= /dev/ttyUSB0
FORKNAME = cleanflight
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D
# Working directories
ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
@ -222,6 +222,27 @@ OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
drivers/timer.c \
$(COMMON_SRC)
CC3D_SRC = startup_stm32f10x_md_gcc.S \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rssi.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
$(COMMON_SRC)
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S \
drivers/adc.c \
drivers/adc_stm32f30x.c \

68
src/main/drivers/pwm_mapping.c
View File

@ -70,6 +70,7 @@ enum {
TYPE_S,
};
#if USABLE_TIMER_CHANNEL_COUNT >= 14
static const uint16_t multiPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input
PWM9 | (TYPE_M << 8), // Swap to servo if needed
@ -135,6 +136,73 @@ static const uint16_t airPWM[] = {
PWM14 | (TYPE_S << 8), // servo #4
0xFFFF
};
#endif
#if USABLE_TIMER_CHANNEL_COUNT == 12
static const uint16_t multiPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input
PWM7 | (TYPE_M << 8), // Swap to servo if needed
PWM8 | (TYPE_M << 8), // Swap to servo if needed
PWM9 | (TYPE_M << 8),
PWM10 | (TYPE_M << 8),
PWM11 | (TYPE_M << 8),
PWM12 | (TYPE_M << 8),
PWM2 | (TYPE_M << 8), // Swap to servo if needed
PWM3 | (TYPE_M << 8), // Swap to servo if needed
PWM4 | (TYPE_M << 8), // Swap to servo if needed
PWM5 | (TYPE_M << 8), // Swap to servo if needed
PWM6 | (TYPE_M << 8), // Swap to servo if needed
0xFFFF
};
static const uint16_t multiPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1
PWM2 | (TYPE_IW << 8),
PWM3 | (TYPE_IW << 8),
PWM4 | (TYPE_IW << 8),
PWM5 | (TYPE_IW << 8),
PWM6 | (TYPE_IW << 8), // input #6
PWM7 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM8 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM9 | (TYPE_M << 8), // motor #1 or #3
PWM10 | (TYPE_M << 8),
PWM11 | (TYPE_M << 8),
PWM12 | (TYPE_M << 8), // motor #4 or #6
0xFFFF
};
static const uint16_t airPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input
PWM7 | (TYPE_M << 8),
PWM8 | (TYPE_M << 8),
PWM9 | (TYPE_S << 8),
PWM10 | (TYPE_S << 8),
PWM11 | (TYPE_S << 8),
PWM12 | (TYPE_S << 8),
PWM2 | (TYPE_S << 8),
PWM3 | (TYPE_S << 8),
PWM4 | (TYPE_S << 8),
PWM5 | (TYPE_S << 8),
PWM6 | (TYPE_S << 8),
0xFFFF
};
static const uint16_t airPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1
PWM2 | (TYPE_IW << 8),
PWM3 | (TYPE_IW << 8),
PWM4 | (TYPE_IW << 8),
PWM5 | (TYPE_IW << 8),
PWM6 | (TYPE_IW << 8), // input #6
PWM7 | (TYPE_M << 8), // motor #1
PWM8 | (TYPE_M << 8), // motor #2
PWM9 | (TYPE_S << 8), // servo #1
PWM10 | (TYPE_S << 8), // servo #2
PWM11 | (TYPE_S << 8), // servo #3
PWM12 | (TYPE_S << 8), // servo #4
0xFFFF
};
#endif
static const uint16_t * const hardwareMaps[] = {
multiPWM,

34
src/main/drivers/timer.c
View File

@ -67,7 +67,7 @@
TIM4 4 channels
*/
#if defined(STM32F10X_MD) || defined(NAZE)
#if (defined(STM32F10X_MD) || defined(NAZE)) && !defined(CC3D)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // PWM1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // PWM2
@ -95,6 +95,33 @@ static const TIM_TypeDef *timers[MAX_TIMERS] = {
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB)
#endif
#if defined(CC3D)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD}, // S1_IN
{ TIM3, GPIOB, Pin_5, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD}, // S2_IN - GPIO_PartialRemap_TIM3
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD}, // S3_IN
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD}, // S4_IN
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // S5_IN
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // S6_IN
{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, GPIO_Mode_AF_PP}, // S1_OUT
{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, GPIO_Mode_AF_PP}, // S2_OUT
{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, GPIO_Mode_AF_PP}, // S3_OUT
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, GPIO_Mode_AF_PP}, // S4_OUT
{ TIM3, GPIOB, Pin_4, TIM_Channel_1, TIM3_IRQn, 0, GPIO_Mode_AF_PP}, // S5_OUT - GPIO_PartialRemap_TIM3
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, GPIO_Mode_AF_PP}, // S6_OUT
};
#define MAX_TIMERS 4 // TIM1..TIM4
static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4
};
#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB)
#endif
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM1 - PA8
@ -397,6 +424,10 @@ void timerInit(void)
{
memset(timerConfig, 0, sizeof (timerConfig));
#ifdef CC3D
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
#endif
#ifdef TIMER_APB1_PERIPHERALS
RCC_APB1PeriphClockCmd(TIMER_APB1_PERIPHERALS, ENABLE);
#endif
@ -442,5 +473,4 @@ void timerInit(void)
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_2);
#endif
}

8
src/main/drivers/timer.h
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@ -19,7 +19,13 @@
#ifdef CHEBUZZF3
#define USABLE_TIMER_CHANNEL_COUNT 18
#else
#endif
#ifdef CC3D
#define USABLE_TIMER_CHANNEL_COUNT 12
#endif
#if !defined(USABLE_TIMER_CHANNEL_COUNT)
#define USABLE_TIMER_CHANNEL_COUNT 14
#endif

14
src/main/sensors/initialisation.c
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@ -107,6 +107,20 @@
#undef USE_ACC_MMA8452
#endif
#ifdef CC3D
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452
#endif
extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
extern float magneticDeclination;

26
src/main/target/CC3D/target.h Normal file
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@ -0,0 +1,26 @@
/*
* 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/>.
*/
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_3 // PB3 (LED)
#define LED0_PERIPHERAL RCC_APB2Periph_GPIOB
#define LED0
#define ACC
#define GYRO
#define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)