From 3a0045dfb9fff5dc1e3395772a4854ff6bf83f21 Mon Sep 17 00:00:00 2001 From: czchc Date: Thu, 3 Aug 2017 17:12:43 +0800 Subject: [PATCH] Add new target BeeBrain_V2 --- src/main/target/BEEBRAIN_V2/config.c | 86 ++++++++++++++++++ src/main/target/BEEBRAIN_V2/target.c | 33 +++++++ src/main/target/BEEBRAIN_V2/target.h | 120 ++++++++++++++++++++++++++ src/main/target/BEEBRAIN_V2/target.mk | 10 +++ 4 files changed, 249 insertions(+) create mode 100755 src/main/target/BEEBRAIN_V2/config.c create mode 100755 src/main/target/BEEBRAIN_V2/target.c create mode 100755 src/main/target/BEEBRAIN_V2/target.h create mode 100755 src/main/target/BEEBRAIN_V2/target.mk diff --git a/src/main/target/BEEBRAIN_V2/config.c b/src/main/target/BEEBRAIN_V2/config.c new file mode 100755 index 000000000..e55767641 --- /dev/null +++ b/src/main/target/BEEBRAIN_V2/config.c @@ -0,0 +1,86 @@ +/* + * 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 + +#include + +#ifdef TARGET_CONFIG + +#include "common/axis.h" + +#include "config/feature.h" + +#include "drivers/light_led.h" +#include "drivers/pwm_esc_detect.h" + +#include "fc/config.h" + +#include "flight/mixer.h" +#include "flight/pid.h" + +#include "rx/rx.h" + +#include "io/serial.h" +#include "io/osd.h" + +#include "sensors/battery.h" +#include "sensors/gyro.h" + +#include "telemetry/telemetry.h" + +#ifdef BRUSHED_MOTORS_PWM_RATE +#undef BRUSHED_MOTORS_PWM_RATE +#endif + +#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz + +void targetConfiguration(void) +{ + if (hardwareMotorType == MOTOR_BRUSHED) { + motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; + pidConfigMutable()->pid_process_denom = 1; + } + +#ifndef BEEBRAIN_V2_DSM + // Frsky version + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL; +#endif + + pidProfilesMutable(0)->pid[PID_ROLL].P = 90; + pidProfilesMutable(0)->pid[PID_ROLL].I = 44; + pidProfilesMutable(0)->pid[PID_ROLL].D = 60; + pidProfilesMutable(0)->pid[PID_PITCH].P = 90; + pidProfilesMutable(0)->pid[PID_PITCH].I = 44; + pidProfilesMutable(0)->pid[PID_PITCH].D = 60; + + *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R + *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R + *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L + *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L + *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R + *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L + *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R + *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L + + strcpy(pilotConfigMutable()->name, "BeeBrain V2"); + osdConfigMutable()->item_pos[OSD_CRAFT_NAME] = OSD_POS(9, 11) | VISIBLE_FLAG; + osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | VISIBLE_FLAG; +} +#endif diff --git a/src/main/target/BEEBRAIN_V2/target.c b/src/main/target/BEEBRAIN_V2/target.c new file mode 100755 index 000000000..e66320510 --- /dev/null +++ b/src/main/target/BEEBRAIN_V2/target.c @@ -0,0 +1,33 @@ +/* + * 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/dma.h" +#include "drivers/timer.h" +#include "drivers/timer_def.h" + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + DEF_TIM(TIM1, CH3N, PB15, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED ), // PWM1 - PB15 - DMA1_CH6 - *TIM1_CH3N, TIM15_CH1N, TIM15_CH2 + DEF_TIM(TIM15, CH1, PB14, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM2 - PB14 - DMA1_CH5 - TIM1_CH2N, *TIM15_CH1 + DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED ), // PWM3 - PA8 - DMA1_CH2 - *TIM1_CH1, TIM4_ETR + DEF_TIM(TIM8, CH2N, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED ), // PWM4 - PB0 - DMA2_CH5 - TIM3_CH3, TIM1_CH2N, *TIM8_CH2N +}; + diff --git a/src/main/target/BEEBRAIN_V2/target.h b/src/main/target/BEEBRAIN_V2/target.h new file mode 100755 index 000000000..dda08be83 --- /dev/null +++ b/src/main/target/BEEBRAIN_V2/target.h @@ -0,0 +1,120 @@ +/* + * 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 "BBV2" // BeeBrain V2. +#define TARGET_CONFIG + +#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT + +#define BRUSHED_ESC_AUTODETECT + +#define LED0_PIN PB1 +#define LED1_PIN PB2 + +#define USE_EXTI +// #define DEBUG_MPU_DATA_READY_INTERRUPT +#define MPU_INT_EXTI PB6 +#define USE_MPU_DATA_READY_SIGNAL + +#define GYRO +#define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW270_DEG + +#define ACC +#define USE_ACC_SPI_MPU6500 +#define ACC_MPU6500_ALIGN CW270_DEG + +#define SERIAL_PORT_COUNT 4 + +#define USE_VCP +#define USE_UART1 +#define USE_UART2 +#define USE_UART3 + +#define USE_MSP_UART + +#define AVOID_UART2_FOR_PWM_PPM + +#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 USE_SPI +#define USE_SPI_DEVICE_1 +#define USE_SPI_DEVICE_3 + +#define SPI1_NSS_PIN PA4 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define SPI3_NSS_PIN PA15 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define MPU6500_CS_PIN PA15 +#define MPU6500_SPI_INSTANCE SPI3 + +#define OSD +#define USE_MAX7456 +#define MAX7456_SPI_INSTANCE SPI1 +#define MAX7456_SPI_CS_PIN PA4 + +#define VTX_RTC6705 +#define VTX_RTC6705SOFTSPI +#define VTX_CONTROL +#define RTC6705_SPIDATA_PIN PC15 +#define RTC6705_SPILE_PIN PB12 +#define RTC6705_SPICLK_PIN PC13 + +#define USE_ADC +// #define BOARD_HAS_VOLTAGE_DIVIDER +#define ADC_INSTANCE ADC3 +#define VBAT_ADC_PIN PB13 + +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_UART SERIAL_PORT_USART2 + +// #define BEEBRAIN_V2_DSM +#ifdef BEEBRAIN_V2_DSM + // Receiver - DSM + #define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_OSD) + #define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048 + #define RX_CHANNELS_TAER +#else + // Receiver - Frsky + #define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_OSD | FEATURE_TELEMETRY) + #define SERIALRX_PROVIDER SERIALRX_SBUS +#endif + +// IO - stm32f303cc in 48pin package +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15)) +#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)) + +#define USABLE_TIMER_CHANNEL_COUNT 4 +#define USED_TIMERS ( TIM_N(1) | TIM_N(8) | TIM_N(15) ) + diff --git a/src/main/target/BEEBRAIN_V2/target.mk b/src/main/target/BEEBRAIN_V2/target.mk new file mode 100755 index 000000000..398cfa2e7 --- /dev/null +++ b/src/main/target/BEEBRAIN_V2/target.mk @@ -0,0 +1,10 @@ +F3_TARGETS += $(TARGET) +FEATURES = VCP + +TARGET_SRC = \ + drivers/accgyro/accgyro_mpu.c \ + drivers/accgyro/accgyro_mpu6500.c \ + drivers/accgyro/accgyro_spi_mpu6500.c \ + drivers/vtx_rtc6705_soft_spi.c \ + drivers/max7456.c +