Merge pull request #3534 from Faduf/master

Add specific configuration depending on hardware revisions of the YupiF4

src/main/drivers/pwm_output.c

@@ -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 = IOGetByTag(tag);
-        beeperPwm.io = io;
         const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
         if (beeperPwm.io && timer) {
             IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));

src/main/drivers/pwm_output.h

@@ -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);

src/main/drivers/sound_beeper.c

@@ -69,8 +69,8 @@ void beeperInit(const beeperDevConfig_t *config)
         }
         systemBeep(false);
     } else {
-        beeperIO = IOGetByTag(config->ioTag);
+        const ioTag_t beeperTag = config->ioTag;
-        beeperPwmInit(beeperIO, beeperFrequency);
+        beeperPwmInit(beeperTag, beeperFrequency);
     }
 #else
     UNUSED(config);

src/main/target/YUPIF4/config.c

@@ -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_ROLL].D = 20;
-    pidProfilesMutable(0)->pid[PID_PITCH].P = 40;
+    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_PITCH].D = 20;
-    pidProfilesMutable(0)->pid[PID_YAW].P = 50;
+    pidProfilesMutable(0)->pid[PID_YAW].P = 40;
     pidProfilesMutable(0)->pid[PID_YAW].I = 50;
 }
 #endif

src/main/target/YUPIF4/hardware_revision.c

@@ -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) {
+}

src/main/target/YUPIF4/hardware_revision.h

@@ -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);

src/main/target/YUPIF4/target.c

@@ -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(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, 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(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, 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(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(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(TIM4, CH2, PB7,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST3
-    DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER,              TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
+    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
 };
 

src/main/target/YUPIF4/target.h

@@ -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_CS_PIN         PA4
-#define ICM20689_SPI_INSTANCE    SPI1
+#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 USABLE_TIMER_CHANNEL_COUNT 10
-#define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
+#define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12))