Merge pull request #2873 from theseankelly/cf2_bf
Adding target for Crazyflie 2.0 Nanocopter
This commit is contained in:
Martin Budden
GitHub
commit
3aefa479d4
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@ -55,7 +55,9 @@ mpuResetFnPtr mpuResetFn;
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#define MPU_I2C_INSTANCE I2C_DEVICE
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#define MPU_I2C_INSTANCE I2C_DEVICE
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#endif
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#endif
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#ifndef MPU_ADDRESS
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#define MPU_ADDRESS 0x68
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#define MPU_ADDRESS 0x68
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#endif
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// WHO_AM_I register contents for MPU3050, 6050 and 6500
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// WHO_AM_I register contents for MPU3050, 6050 and 6500
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#define MPU6500_WHO_AM_I_CONST (0x70)
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#define MPU6500_WHO_AM_I_CONST (0x70)
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@ -58,6 +58,7 @@
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#include "rx/jetiexbus.h"
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#include "rx/jetiexbus.h"
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#include "rx/crsf.h"
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#include "rx/crsf.h"
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#include "rx/rx_spi.h"
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#include "rx/rx_spi.h"
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#include "rx/targetcustomserial.h"
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//#define DEBUG_RX_SIGNAL_LOSS
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//#define DEBUG_RX_SIGNAL_LOSS
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@ -257,6 +258,11 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
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case SERIALRX_CRSF:
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case SERIALRX_CRSF:
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enabled = crsfRxInit(rxConfig, rxRuntimeConfig);
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enabled = crsfRxInit(rxConfig, rxRuntimeConfig);
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break;
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break;
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#endif
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#ifdef USE_SERIALRX_TARGET_CUSTOM
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case SERIALRX_TARGET_CUSTOM:
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enabled = targetCustomSerialRxInit(rxConfig, rxRuntimeConfig);
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break;
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#endif
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#endif
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default:
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default:
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enabled = false;
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enabled = false;
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@ -56,6 +56,7 @@ typedef enum {
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SERIALRX_JETIEXBUS = 8,
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SERIALRX_JETIEXBUS = 8,
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SERIALRX_CRSF = 9,
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SERIALRX_CRSF = 9,
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SERIALRX_SRXL = 10,
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SERIALRX_SRXL = 10,
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SERIALRX_TARGET_CUSTOM = 11,
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} SerialRXType;
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} SerialRXType;
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#define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT 12
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#define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT 12
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@ -0,0 +1,21 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// Function to be implemented on a per-target basis under src/main/target/<TARGET>/serialrx.c
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bool targetCustomSerialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
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@ -0,0 +1,96 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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* This file contains definitions for the CRTP protocol, the data transport
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* protocol used for OTA communication to the crazyflie (via either Nordic ESB or
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* Bluetooth LE) and transmitted from the NRF51 to the STM32 via the syslink protocol
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*
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* For more details, see https://wiki.bitcraze.io/projects:crazyflie:crtp
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*/
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#define CRTP_MAX_DATA_SIZE 30
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typedef enum {
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CRTP_PORT_CONSOLE = 0x00,
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CRTP_PORT_PARAM = 0x02,
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CRTP_PORT_SETPOINT = 0x03,
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CRTP_PORT_MEM = 0x04,
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CRTP_PORT_LOG = 0x05,
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CRTP_PORT_LOCALIZATION = 0x06,
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CRTP_PORT_SETPOINT_GENERIC = 0x07,
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CRTP_PORT_PLATFORM = 0x0D,
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CRTP_PORT_LINK = 0x0F,
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} crtpPort_e;
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typedef struct crtpPacket_s
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{
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struct{
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uint8_t chan : 2;
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uint8_t link : 2;
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uint8_t port : 4;
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} header;
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uint8_t data[CRTP_MAX_DATA_SIZE];
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} __attribute__((packed)) crtpPacket_t;
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typedef enum {
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stopType = 0,
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velocityWorldType = 1,
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zDistanceType = 2,
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cppmEmuType = 3,
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} crtpCommanderPacketType_e;
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// Legacy RPYT data type for supporting existing clients
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// See https://wiki.bitcraze.io/projects:crazyflie:crtp:commander
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typedef struct crtpCommanderRPYT_s
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{
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float roll; // deg
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float pitch; // deg
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float yaw; // deg
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uint16_t thrust;
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} __attribute__((packed)) crtpCommanderRPYT_t;
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// Commander packet type for emulating CPPM-style setpoints
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// Corresponds to crtpCommanderPacketType_e::cppmEmuType
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#define CRTP_CPPM_EMU_MAX_AUX_CHANNELS 10
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typedef struct crtpCommanderCPPMEmuPacket_s
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{
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struct {
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uint8_t numAuxChannels : 4; // Set to 0 through CRTP_CPPM_EMU_MAX_AUX_CHANNELS
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uint8_t reserved : 4;
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} hdr;
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uint16_t channelRoll;
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uint16_t channelPitch;
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uint16_t channelYaw;
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uint16_t channelThrust;
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uint16_t channelAux[CRTP_CPPM_EMU_MAX_AUX_CHANNELS];
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} __attribute__((packed)) crtpCommanderCPPMEmuPacket_t;
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//typedef struct crtpCommander_s
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//{
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// struct{
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// uint8_t chan : 2;
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// uint8_t link : 2;
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// uint8_t port : 4;
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// }hdr;
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// uint8_t type;
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// uint8_t numChannels;
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// uint16_t channels[14];
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//
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//} __attribute__((packed)) crtpCommander_t;
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@ -0,0 +1,233 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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||||||
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* This file implements the custom Crazyflie serial Rx protocol which
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* consists of CRTP packets sent from the onboard NRF51 over UART using
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* the syslink protocol.
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*
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* The implementation supports two types of commander packets:
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* - RPYT on port CRTP_PORT_SETPOINT
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* - CPPM emulation on port CRTP_PORT_SETPOINT_GENERIC using type cppmEmuType
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*
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* The CPPM emulation packet type is recommended for use with this target.
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*
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* The RPYT type is mainly for legacy support (various mobile apps, python PC client,
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* etc) and can be used with the following restrictions to ensure angles are accurately
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* translated into PWM values:
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* - Max angles for pitch and roll must be set to 50 degrees
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* - Max yaw rate must be set to 400 degrees
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*
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* This implementation has been ported from the Crazyflie source code.
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*
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* For more information, see the following Crazyflie wiki pages:
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* CRTP: https://wiki.bitcraze.io/projects:crazyflie:crtp
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* Syslink: https://wiki.bitcraze.io/doc:crazyflie:syslink:index
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/targetcustomserial.h"
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#include "syslink.h"
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#include "crtp.h"
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#define SYSLINK_BAUDRATE 1000000
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// Variables for the Syslink Rx state machine
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static syslinkRxState_e rxState = waitForFirstStart;
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static syslinkPacket_t slp;
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static uint8_t dataIndex = 0;
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static uint8_t cksum[2] = {0};
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static uint8_t counter = 0;
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static rxRuntimeConfig_t *rxRuntimeConfigPtr;
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static serialPort_t *serialPort;
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#define SUPPORTED_CHANNEL_COUNT (4 + CRTP_CPPM_EMU_MAX_AUX_CHANNELS)
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static uint32_t channelData[SUPPORTED_CHANNEL_COUNT];
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static bool rcFrameComplete = false;
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static void routeIncommingPacket(syslinkPacket_t* slp)
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{
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// Only support packets of type SYSLINK_RADIO_RAW
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if(slp->type == SYSLINK_RADIO_RAW) {
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crtpPacket_t *crtpPacket = (crtpPacket_t*)(slp->data);
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switch(crtpPacket->header.port) {
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case CRTP_PORT_SETPOINT:
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{
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crtpCommanderRPYT_t *crtpRYPTPacket =
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(crtpCommanderRPYT_t*)&crtpPacket->data[0];
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// Write RPYT channels in TAER order
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// Translate thrust from 0-MAX_UINT16 into a PWM_style value (1000-2000)
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channelData[0] = (crtpRYPTPacket->thrust * 1000 / UINT16_MAX) + 1000;
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// Translate RPY from an angle setpoint to a PWM-style value (1000-2000)
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// For R and P, assume the client sends a max of -/+50 degrees (full range of 100)
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// For Y, assume a max of -/+400 deg/s (full range of 800)
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channelData[1] = (uint16_t)((crtpRYPTPacket->roll / 100 * 1000) + 1500);
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channelData[2] = (uint16_t)((-crtpRYPTPacket->pitch / 100 * 1000) + 1500); // Pitch is inverted
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channelData[3] = (uint16_t)((crtpRYPTPacket->yaw / 800 * 1000) + 1500);
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rcFrameComplete = true;
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break;
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}
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case CRTP_PORT_SETPOINT_GENERIC:
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// First byte of the packet is the type
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// Only support the CPPM Emulation type
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if(crtpPacket->data[0] == cppmEmuType) {
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crtpCommanderCPPMEmuPacket_t *crtpCppmPacket =
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(crtpCommanderCPPMEmuPacket_t*)&crtpPacket->data[1];
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// Write RPYT channels in TAER order
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channelData[0] = crtpCppmPacket->channelThrust;
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channelData[1] = crtpCppmPacket->channelRoll;
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channelData[2] = crtpCppmPacket->channelPitch;
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channelData[3] = crtpCppmPacket->channelYaw;
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// Write the rest of the auxiliary channels
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uint8_t i;
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for (i = 0; i < crtpCppmPacket->hdr.numAuxChannels; i++) {
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channelData[i + 4] = crtpCppmPacket->channelAux[i];
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}
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}
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rcFrameComplete = true;
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break;
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default:
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// Unsupported port - do nothing
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break;
|
||||||
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}
|
||||||
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}
|
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}
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||||||
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// Receive ISR callback
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static void dataReceive(uint16_t c)
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{
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counter++;
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switch(rxState) {
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case waitForFirstStart:
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rxState = (c == SYSLINK_START_BYTE1) ? waitForSecondStart : waitForFirstStart;
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break;
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case waitForSecondStart:
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rxState = (c == SYSLINK_START_BYTE2) ? waitForType : waitForFirstStart;
|
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|
break;
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case waitForType:
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cksum[0] = c;
|
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cksum[1] = c;
|
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|
slp.type = c;
|
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rxState = waitForLength;
|
||||||
|
break;
|
||||||
|
case waitForLength:
|
||||||
|
if (c <= SYSLINK_MTU) {
|
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|
slp.length = c;
|
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|
cksum[0] += c;
|
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cksum[1] += cksum[0];
|
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|
dataIndex = 0;
|
||||||
|
rxState = (c > 0) ? waitForData : waitForChksum1;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
rxState = waitForFirstStart;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case waitForData:
|
||||||
|
slp.data[dataIndex] = c;
|
||||||
|
cksum[0] += c;
|
||||||
|
cksum[1] += cksum[0];
|
||||||
|
dataIndex++;
|
||||||
|
if (dataIndex == slp.length) {
|
||||||
|
rxState = waitForChksum1;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case waitForChksum1:
|
||||||
|
if (cksum[0] == c) {
|
||||||
|
rxState = waitForChksum2;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
rxState = waitForFirstStart; //Checksum error
|
||||||
|
}
|
||||||
|
break;
|
||||||
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case waitForChksum2:
|
||||||
|
if (cksum[1] == c) {
|
||||||
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routeIncommingPacket(&slp);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
rxState = waitForFirstStart; //Checksum error
|
||||||
|
}
|
||||||
|
rxState = waitForFirstStart;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static uint8_t frameStatus(void)
|
||||||
|
{
|
||||||
|
if (!rcFrameComplete) {
|
||||||
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return RX_FRAME_PENDING;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set rcFrameComplete to false so we don't process this one twice
|
||||||
|
rcFrameComplete = false;
|
||||||
|
|
||||||
|
return RX_FRAME_COMPLETE;
|
||||||
|
}
|
||||||
|
|
||||||
|
static uint16_t readRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
|
||||||
|
{
|
||||||
|
if (chan >= rxRuntimeConfig->channelCount) {
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
return channelData[chan];
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
bool targetCustomSerialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
|
||||||
|
{
|
||||||
|
rxRuntimeConfigPtr = rxRuntimeConfig;
|
||||||
|
|
||||||
|
if(rxConfig->serialrx_provider != SERIALRX_TARGET_CUSTOM)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
|
||||||
|
if (!portConfig) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
rxRuntimeConfig->channelCount = SUPPORTED_CHANNEL_COUNT;
|
||||||
|
rxRuntimeConfig->rxRefreshRate = 20000; // Value taken from rx_spi.c (NRF24 is being used downstream)
|
||||||
|
rxRuntimeConfig->rcReadRawFn = readRawRC;
|
||||||
|
rxRuntimeConfig->rcFrameStatusFn = frameStatus;
|
||||||
|
|
||||||
|
serialPort = openSerialPort(portConfig->identifier,
|
||||||
|
FUNCTION_RX_SERIAL,
|
||||||
|
dataReceive,
|
||||||
|
SYSLINK_BAUDRATE,
|
||||||
|
MODE_RX,
|
||||||
|
SERIAL_NOT_INVERTED | SERIAL_STOPBITS_1 | SERIAL_PARITY_NO
|
||||||
|
);
|
||||||
|
|
||||||
|
return serialPort != NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
@ -0,0 +1,72 @@
|
||||||
|
/*
|
||||||
|
* 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
|
||||||
|
|
||||||
|
/*
|
||||||
|
* This file contains definitions for the syslink protocol, a UART-based
|
||||||
|
* protocol for communication between the NRF51 MCU and the STM32 MCU on
|
||||||
|
* the Crazyflie flight controller board.
|
||||||
|
*
|
||||||
|
* For more details, see https://wiki.bitcraze.io/doc:crazyflie:syslink:index
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define SYSLINK_MTU 32
|
||||||
|
|
||||||
|
#define SYSLINK_START_BYTE1 0xBC
|
||||||
|
#define SYSLINK_START_BYTE2 0xCF
|
||||||
|
|
||||||
|
#define SYSLINK_RADIO_GROUP 0x00
|
||||||
|
#define SYSLINK_RADIO_RAW 0x00
|
||||||
|
#define SYSLINK_RADIO_CHANNEL 0x01
|
||||||
|
#define SYSLINK_RADIO_DATARATE 0x02
|
||||||
|
#define SYSLINK_RADIO_CONTWAVE 0x03
|
||||||
|
#define SYSLINK_RADIO_RSSI 0x04
|
||||||
|
#define SYSLINK_RADIO_ADDRESS 0x05
|
||||||
|
#define SYSLINK_RADIO_RAW_BROADCAST 0x06
|
||||||
|
|
||||||
|
#define SYSLINK_PM_GROUP 0x10
|
||||||
|
#define SYSLINK_PM_SOURCE 0x10
|
||||||
|
#define SYSLINK_PM_ONOFF_SWITCHOFF 0x11
|
||||||
|
#define SYSLINK_PM_BATTERY_VOLTAGE 0x12
|
||||||
|
#define SYSLINK_PM_BATTERY_STATE 0x13
|
||||||
|
#define SYSLINK_PM_BATTERY_AUTOUPDATE 0x14
|
||||||
|
|
||||||
|
#define SYSLINK_OW_GROUP 0x20
|
||||||
|
#define SYSLINK_OW_SCAN 0x20
|
||||||
|
#define SYSLINK_OW_GETINFO 0x21
|
||||||
|
#define SYSLINK_OW_READ 0x22
|
||||||
|
#define SYSLINK_OW_WRITE 0x23
|
||||||
|
|
||||||
|
typedef struct syslinkPacket_s
|
||||||
|
{
|
||||||
|
uint8_t type;
|
||||||
|
uint8_t length;
|
||||||
|
char data[SYSLINK_MTU];
|
||||||
|
} __attribute__((packed)) syslinkPacket_t;
|
||||||
|
|
||||||
|
// State machine states for receiving syslink packets
|
||||||
|
typedef enum
|
||||||
|
{
|
||||||
|
waitForFirstStart,
|
||||||
|
waitForSecondStart,
|
||||||
|
waitForType,
|
||||||
|
waitForLength,
|
||||||
|
waitForData,
|
||||||
|
waitForChksum1,
|
||||||
|
waitForChksum2
|
||||||
|
} syslinkRxState_e;
|
||||||
|
|
@ -0,0 +1,38 @@
|
||||||
|
/*
|
||||||
|
* 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/timer.h"
|
||||||
|
#include "drivers/dma.h"
|
||||||
|
|
||||||
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
|
#ifndef CRAZYFLIE2_USE_BIG_QUAD_DECK
|
||||||
|
{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM2 - OUT2 (Motor 2)
|
||||||
|
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM1 - OUT1 (Motor 1)
|
||||||
|
{ TIM2, IO_TAG(PA15), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM3 - OUT3 (Motor 3)
|
||||||
|
{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, NULL, 0, 0 }, // PWM4 - OUT4 (Motor 4)
|
||||||
|
#else
|
||||||
|
{ TIM3, IO_TAG(PB4), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, NULL, 0, 0 }, // PWM2 - OUT2 (Motor 2)
|
||||||
|
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM1 - OUT1 (Motor 1)
|
||||||
|
{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, NULL, 0, 0 }, // PWM3 - OUT3 (Motor 3)
|
||||||
|
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM4 - OUT4 (Motor 4)
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
@ -0,0 +1,101 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* This target is for the Crazyflie 2.0 nanocopter board
|
||||||
|
*
|
||||||
|
* For details on using this target with the Crazyflie see:
|
||||||
|
* https://wiki.bitcraze.io/misc:hacks:betaflight
|
||||||
|
*
|
||||||
|
* Target code written and maintained by Sean Kelly (theseankelly@outlook.com)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#define TARGET_BOARD_IDENTIFIER "CF20"
|
||||||
|
|
||||||
|
#define USBD_PRODUCT_STRING "Crazyflie 2.0"
|
||||||
|
|
||||||
|
// Uncomment this define to build for the Crazyflie
|
||||||
|
// using the BigQuad expansion deck
|
||||||
|
//#define CRAZYFLIE2_USE_BIG_QUAD_DECK
|
||||||
|
|
||||||
|
#define USABLE_TIMER_CHANNEL_COUNT 14
|
||||||
|
#ifndef CRAZYFLIE2_USE_BIG_QUAD_DECK
|
||||||
|
#define USED_TIMERS ( TIM_N(2) | TIM_N(4) )
|
||||||
|
#define BRUSHED_MOTORS
|
||||||
|
#else
|
||||||
|
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) )
|
||||||
|
#endif //CRAZYFLIE2_USE_BIG_QUAD_DECK
|
||||||
|
|
||||||
|
#define LED0 PD2
|
||||||
|
#define LED1 PC0
|
||||||
|
#define LED2 PC3
|
||||||
|
|
||||||
|
// Using STM32F405RG, 64 pin package (LQFP64)
|
||||||
|
// 16 pins per port, ports A, B, C, and also PD2
|
||||||
|
#define TARGET_IO_PORTA 0xFFFF
|
||||||
|
#define TARGET_IO_PORTB 0xFFFF
|
||||||
|
#define TARGET_IO_PORTC 0xFFFF
|
||||||
|
#define TARGET_IO_PORTD (BIT(2))
|
||||||
|
|
||||||
|
#define USE_VCP
|
||||||
|
|
||||||
|
#define USE_UART2
|
||||||
|
#define UART2_TX_PIN PA1
|
||||||
|
#define UART2_RX_PIN PA3
|
||||||
|
|
||||||
|
#define USE_UART3
|
||||||
|
#define UART3_TX_PIN PC10
|
||||||
|
#define UART3_RX_PIN PC11
|
||||||
|
|
||||||
|
#define USE_UART6
|
||||||
|
#define UART6_TX_PIN PC6
|
||||||
|
#define UART6_RX_PIN PC7
|
||||||
|
|
||||||
|
#define SERIAL_PORT_COUNT 4
|
||||||
|
|
||||||
|
#define USE_I2C
|
||||||
|
#define USE_I2C_DEVICE_3
|
||||||
|
#define I2C_DEVICE (I2CDEV_3)
|
||||||
|
|
||||||
|
// MPU9250 has the AD0 pin held high so the
|
||||||
|
// address is 0x69 instead of the default 0x68
|
||||||
|
#define MPU_ADDRESS 0x69
|
||||||
|
|
||||||
|
#define GYRO
|
||||||
|
#define USE_GYRO_MPU6500
|
||||||
|
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||||
|
|
||||||
|
#define ACC
|
||||||
|
#define USE_ACC_MPU6500
|
||||||
|
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||||
|
|
||||||
|
// Mag isn't working quite right -- disabling it for now
|
||||||
|
//#define MAG
|
||||||
|
//#define USE_MPU9250_MAG // Enables bypass configuration on the MPU9250 I2C bus
|
||||||
|
//#define USE_MAG_AK8963
|
||||||
|
//#define MAG_AK8963_ALIGN CW270_DEG
|
||||||
|
|
||||||
|
#define USE_EXTI
|
||||||
|
#define MPU_INT_EXTI PC13
|
||||||
|
|
||||||
|
#define USE_SERIALRX_TARGET_CUSTOM
|
||||||
|
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||||
|
#define SERIALRX_UART SERIAL_PORT_USART6
|
||||||
|
#define SERIALRX_PROVIDER SERIALRX_TARGET_CUSTOM
|
||||||
|
#define RX_CHANNELS_TAER
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
F405_TARGETS += $(TARGET)
|
||||||
|
FEATURES += VCP
|
||||||
|
|
||||||
|
TARGET_SRC = \
|
||||||
|
drivers/accgyro/accgyro_mpu.c \
|
||||||
|
drivers/accgyro/accgyro_mpu6500.c \
|
||||||
|
drivers/compass/compass_ak8963.c \
|
||||||
Loading…
Reference in New Issue