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Merge pull request #3534 from Faduf/master 

Add specific configuration depending on hardware revisions of the YupiF4
This commit is contained in:
Martin Budden 2017-07-16 09:29:46 +01:00 committed by GitHub
parent 19b1a0d123 1f809048df
commit 312978ee54
8 changed files with 156 additions and 30 deletions
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5
src/main/drivers/pwm_output.c
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@ -480,10 +480,9 @@ void pwmToggleBeeper(void)
pwmWriteBeeper(!beeperPwm.enabled);
}
void beeperPwmInit(IO_t io, uint16_t frequency)
void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
{
const ioTag_t tag=IO_TAG(BEEPER);
beeperPwm.io = io;
beeperPwm.io = IOGetByTag(tag);
const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
if (beeperPwm.io && timer) {
IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));

2
src/main/drivers/pwm_output.h
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@ -179,7 +179,7 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
#ifdef BEEPER
void pwmWriteBeeper(bool onoffBeep);
void pwmToggleBeeper(void);
void beeperPwmInit(IO_t io, uint16_t frequency);
void beeperPwmInit(const ioTag_t tag, uint16_t frequency);
#endif
void pwmWriteMotor(uint8_t index, float value);

4
src/main/drivers/sound_beeper.c
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@ -69,8 +69,8 @@ void beeperInit(const beeperDevConfig_t *config)
}
systemBeep(false);
} else {
beeperIO = IOGetByTag(config->ioTag);
beeperPwmInit(beeperIO, beeperFrequency);
const ioTag_t beeperTag = config->ioTag;
beeperPwmInit(beeperTag, beeperFrequency);
}
#else
UNUSED(config);

30
src/main/target/YUPIF4/config.c
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@ -21,19 +21,39 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "blackbox/blackbox.h"
#include "fc/config.h"
#include "flight/pid.h"
#include "hardware_revision.h"
// alternative defaults settings for YuPiF4 targets
void targetConfiguration(void)
{
pidProfilesMutable(0)->pid[PID_ROLL].P = 35;
/* Changes depending on versions */
if (hardwareRevision == YUPIF4_RACE2) {
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
} else if (hardwareRevision == YUPIF4_MINI) {
beeperDevConfigMutable()->frequency = 0;
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
adcConfigMutable()->current.enabled = 0;
} else if (hardwareRevision == YUPIF4_NAV) {
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
} else {
adcConfigMutable()->current.enabled = 0;
}
/* Specific PID values for YupiF4 */
pidProfilesMutable(0)->pid[PID_ROLL].P = 30;
pidProfilesMutable(0)->pid[PID_ROLL].I = 45;
pidProfilesMutable(0)->pid[PID_ROLL].D = 30;
pidProfilesMutable(0)->pid[PID_PITCH].P = 40;
pidProfilesMutable(0)->pid[PID_ROLL].D = 20;
pidProfilesMutable(0)->pid[PID_PITCH].P = 30;
pidProfilesMutable(0)->pid[PID_PITCH].I = 50;
pidProfilesMutable(0)->pid[PID_PITCH].D = 30;
pidProfilesMutable(0)->pid[PID_YAW].P = 50;
pidProfilesMutable(0)->pid[PID_PITCH].D = 20;
pidProfilesMutable(0)->pid[PID_YAW].P = 40;
pidProfilesMutable(0)->pid[PID_YAW].I = 50;
}
#endif

70
src/main/target/YUPIF4/hardware_revision.c Normal file
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@ -0,0 +1,70 @@
/*
* 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/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "build/build_config.h"
#include "drivers/io.h"
#include "drivers/time.h"
#include "hardware_revision.h"
uint8_t hardwareRevision = UNKNOWN;
void detectHardwareRevision(void)
{
IO_t pin1 = IOGetByTag(IO_TAG(PC13));
IOInit(pin1, OWNER_SYSTEM, 1);
IOConfigGPIO(pin1, IOCFG_IPU);
IO_t pin2 = IOGetByTag(IO_TAG(PC14));
IOInit(pin2, OWNER_SYSTEM, 1);
IOConfigGPIO(pin2, IOCFG_IPU);
IO_t pin3 = IOGetByTag(IO_TAG(PC15));
IOInit(pin3, OWNER_SYSTEM, 1);
IOConfigGPIO(pin3, IOCFG_IPU);
// Check hardware revision
delayMicroseconds(10); // allow configuration to settle
/*
Hardware pins : Pin1 = PC13 / Pin2 = PC14 / Pin3 = PC15
no Hardware pins tied to ground => Race V1
if Pin 1 is the only one tied to ground => Mini
if Pin 2 is the only one tied to ground => Race V2
if Pin 3 is the only one tied to ground => Navigation
Other combinations available for potential evolutions
*/
if (!IORead(pin1)) {
hardwareRevision = YUPIF4_MINI;
} else if (!IORead(pin2)) {
hardwareRevision = YUPIF4_RACE2;
} else if (!IORead(pin3)) {
hardwareRevision = YUPIF4_NAV;
} else {
hardwareRevision = YUPIF4_RACE1;
}
}
void updateHardwareRevision(void) {
}

30
src/main/target/YUPIF4/hardware_revision.h Normal file
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@ -0,0 +1,30 @@
/*
* 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
typedef enum yupif4HardwareRevision_t {
UNKNOWN = 0,
YUPIF4_RACE1, // Race V1
YUPIF4_RACE2, // Race V2
YUPIF4_MINI, // Mini
YUPIF4_NAV, // Navigation
} yupif4HardwareRevision_e;
extern uint8_t hardwareRevision;
void detectHardwareRevision(void);
void updateHardwareRevision(void);

18
src/main/target/YUPIF4/target.c
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@ -25,13 +25,15 @@
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH3, PC8, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN
DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST2
DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
DEF_TIM(TIM8, CH3, PC8, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN
DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST3
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S7_OUT
DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
DEF_TIM(TIM12, CH1, PB14, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM OPT
};

27
src/main/target/YUPIF4/target.h
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@ -21,12 +21,15 @@
#define USBD_PRODUCT_STRING "YupiF4"
#define USE_HARDWARE_REVISION_DETECTION
#define LED0_PIN PB6
#define LED1_PIN PB4
#define LED2_PIN PB5
#define BEEPER PC9
#define BEEPER_PWM_HZ 2200 // Beeper PWM frequency in Hz
#define BEEPER_OPT PB14
#define BEEPER_PWM_HZ 3150 // Beeper PWM frequency in Hz
#define INVERTER_PIN_UART6 PB15
@ -36,16 +39,16 @@
#define MPU_INT_EXTI PC4
//ICM 20689
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
#define ACC_ICM20689_ALIGN CW90_DEG
#define GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW90_DEG
#define GYRO_ICM20689_ALIGN CW90_DEG
// MPU 6500
#define MPU6500_CS_PIN PA4
@ -78,6 +81,9 @@
#define UART6_TX_PIN PC6
#define USE_SOFTSERIAL1
#define SOFTSERIAL1_RX_PIN PB0 // PWM5
#define SOFTSERIAL1_TX_PIN PB1 // PWM7
#define USE_SOFTSERIAL2
#define SERIAL_PORT_COUNT 6 // VCP, UART1, UART3, UART6, SOFTSERIAL x 2
@ -103,7 +109,6 @@
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
#define SDCARD_DMA_CHANNEL DMA_Channel_0
// SPI Ports
#define USE_SPI
@ -127,18 +132,18 @@
#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2)
#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
// ADC inputs
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define USE_ADC
#define VBAT_ADC_PIN PC1
#define RSSI_ADC_GPIO_PIN PC0
#define VBAT_ADC_PIN PC1
#define CURRENT_METER_ADC_PIN PC2
// Default configuration
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART6
#define DEFAULT_FEATURES (FEATURE_OSD)
// Target IO and timers
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
@ -148,5 +153,5 @@
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD (BIT(2))
#define USABLE_TIMER_CHANNEL_COUNT 8
#define USED_TIMERS (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
#define USABLE_TIMER_CHANNEL_COUNT 10
#define USED_TIMERS (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12))