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Add new target BeeBrain_V2

This commit is contained in:
czchc 2017-08-03 17:12:43 +08:00
parent f974c7fdc0
commit 3a0045dfb9
4 changed files with 249 additions and 0 deletions
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86
src/main/target/BEEBRAIN_V2/config.c Executable file
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/*
* 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 <string.h>
#include <platform.h>
#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

33
src/main/target/BEEBRAIN_V2/target.c Executable file
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/*
* 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 <stdint.h>
#include <platform.h>
#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
};

120
src/main/target/BEEBRAIN_V2/target.h Executable file
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/*
* 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
#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) )

10
src/main/target/BEEBRAIN_V2/target.mk Executable file
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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