SPRACINGF4EVO - Initial target support
This commit is contained in:
Hydra
Dominic Clifton
parent
5a59013a46
commit
3d2c776825
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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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#include <stdbool.h>
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#include <stdint.h>
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#include <platform.h>
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#include "common/axis.h"
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#include "drivers/sensor.h"
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#include "drivers/compass.h"
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#include "drivers/serial.h"
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#include "fc/rc_controls.h"
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#include "flight/failsafe.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "rx/rx.h"
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#include "io/serial.h"
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#include "telemetry/telemetry.h"
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#include "sensors/sensors.h"
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#include "sensors/compass.h"
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#include "sensors/barometer.h"
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#include "config/feature.h"
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#include "fc/config.h"
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#ifdef TARGET_CONFIG
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void targetConfiguration(void)
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{
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barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
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rxConfigMutable()->sbus_inversion = 1;
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serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // So SPRacingF3OSD users don't have to change anything.
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serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_RX_SERIAL;
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serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
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telemetryConfigMutable()->telemetry_inversion = 0;
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telemetryConfigMutable()->sportHalfDuplex = 0;
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}
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#endif
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@ -0,0 +1,64 @@
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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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#include <stdint.h>
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#include <platform.h>
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#include "drivers/io.h"
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#include "drivers/timer.h"
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#include "drivers/timer_def.h"
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#include "drivers/dma.h"
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM_USE_PPM | TIM_USE_PWM, 0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM1 / UART2 RX
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{ TIM9, IO_TAG(PA2), TIM_Channel_1, TIM_USE_PWM, 0, GPIO_AF_TIM9, NULL, 0, 0 }, // PPM / PWM2 / UART2 TX
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{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream2, DMA_Channel_7, DMA2_ST2_HANDLER }, // ESC 1
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{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream3, DMA_Channel_7, DMA2_ST3_HANDLER }, // ESC 2
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{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream7, DMA_Channel_7, DMA2_ST7_HANDLER }, // ESC 3
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{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM8, DMA2_Stream4, DMA_Channel_7, DMA2_ST4_HANDLER }, // ESC 4
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#if (SPRACINGF4EVO_REV >= 2)
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{ TIM4, IO_TAG(PB6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, DMA1_Stream0, DMA_Channel_2, DMA1_ST0_HANDLER }, // ESC 5 / Conflicts with USART5_RX / SPI3_RX - SPI3_RX can be mapped to DMA1_ST3_CH0
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{ TIM4, IO_TAG(PB7), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, DMA1_Stream3, DMA_Channel_2, DMA1_ST3_HANDLER }, // ESC 6 / Conflicts with USART3_RX
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#else
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#ifdef USE_TIM10_TIM11_FOR_MOTORS
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{ TIM10, IO_TAG(PB8), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM10, NULL, 0, 0 }, // ESC 5
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{ TIM11, IO_TAG(PB9), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM11, NULL, 0, 0 }, // ESC 6
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#else
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{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, DMA1_Stream7, DMA_Channel_2, DMA1_ST7_HANDLER }, // ESC 5
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{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, NULL, 0, 0 }, // ESC 6
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#endif
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#endif
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // ESC 7
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // ESC 8
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{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM_USE_LED, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // LED Strip
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// Additional 2 PWM channels available on UART3 RX/TX pins
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// However, when using led strip the timer cannot be used, but no code appears to prevent that right now
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{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // Shared with UART3 TX PIN and SPI3 TX (OSD)
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{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // Shared with UART3 RX PIN
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{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_TRANSPONDER, 1, GPIO_AF_TIM1, DMA2_Stream6, DMA_Channel_0, DMA2_ST6_HANDLER }, // Transponder
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// Additional 2 PWM channels available on UART1 RX/TX pins
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// However, when using transponder the timer cannot be used, but no code appears to prevent that right now
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{ TIM1, IO_TAG(PA9), TIM_Channel_2, TIM_USE_SERVO | TIM_USE_PWM, 1, GPIO_AF_TIM1, DMA2_Stream2, DMA_Channel_6, DMA2_ST2_HANDLER }, // PWM 3
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{ TIM1, IO_TAG(PA10), TIM_Channel_3, TIM_USE_SERVO | TIM_USE_PWM, 1, GPIO_AF_TIM1, DMA2_Stream6, DMA_Channel_6, DMA2_ST6_HANDLER }, // PWM 4
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};
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@ -0,0 +1,189 @@
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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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#define TARGET_BOARD_IDENTIFIER "SP4E"
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#define TARGET_CONFIG
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#ifndef SPRACINGF4EVO_REV
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#define SPRACINGF4EVO_REV 2
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#endif
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#define USBD_PRODUCT_STRING "SP Racing F4 NEO"
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#define LED0 PA0
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#define BEEPER PC15
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#define BEEPER_INVERTED
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#define INVERTER_PIN_UART2 PB2
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#define USE_EXTI
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#define MPU_INT_EXTI PC13
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#define USE_MPU_DATA_READY_SIGNAL
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#define ENSURE_MPU_DATA_READY_IS_LOW
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#define USE_MAG_DATA_READY_SIGNAL
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#define ENSURE_MAG_DATA_READY_IS_HIGH
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#define GYRO
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#define USE_GYRO_SPI_MPU6500
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#define ACC
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#define USE_ACC_SPI_MPU6500
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#define ACC_MPU6500_ALIGN CW0_DEG
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#define GYRO_MPU6500_ALIGN CW0_DEG
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#define BARO
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#define USE_BARO_BMP280
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#define USE_BARO_MS5611
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#define MAG
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#define USE_MAG_AK8975
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#define USE_MAG_HMC5883
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#define USB_IO
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#define USE_VCP
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#define USE_UART1
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#define USE_UART2
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#define USE_UART3
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#define USE_UART4
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#define USE_UART5
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#define SERIAL_PORT_COUNT 6
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#define UART1_TX_PIN PA9
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#define UART1_RX_PIN PA10
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#define UART2_TX_PIN PA2
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#define UART2_RX_PIN PA3
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#define UART3_TX_PIN PB10
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#define UART3_RX_PIN PB11
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#define UART4_TX_PIN PC10
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#define UART4_RX_PIN PC11
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#define UART5_TX_PIN PC12
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#define UART5_RX_PIN PD2
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// TODO
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// #define USE_ESCSERIAL
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// #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_1)
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#if (SPRACINGF4EVO_REV >= 2)
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#define I2C1_SCL PB8
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#define I2C1_SDA PB9
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#else
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#define I2C1_SCL PB6
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#define I2C1_SDA PB7
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#endif
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#define USE_SPI
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#define USE_SPI_DEVICE_1 // MPU
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#define USE_SPI_DEVICE_2 // SDCard
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#define USE_SPI_DEVICE_3 // External
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#define SPI1_NSS_PIN PA4
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#define SPI1_SCK_PIN PA5
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#define SPI1_MISO_PIN PA6
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#define SPI1_MOSI_PIN PA7
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#define SPI2_NSS_PIN PB12
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#define SPI2_SCK_PIN PB13
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#define SPI2_MISO_PIN PB14
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#define SPI2_MOSI_PIN PB15
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#define SPI3_NSS_PIN PA15 // NC
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#define SPI3_SCK_PIN PB3 // NC
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#define SPI3_MISO_PIN PB4 // NC
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#define SPI3_MOSI_PIN PB5 // NC
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#define USE_SDCARD
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#define USE_SDCARD_SPI2
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#define SDCARD_DETECT_INVERTED
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#define SDCARD_DETECT_PIN PC14
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#define SDCARD_SPI_INSTANCE SPI2
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#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
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// SPI3 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
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#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
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// Divide to under 25MHz for normal operation:
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#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
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#define SDCARD_DMA_CHANNEL_TX DMA1_Stream4
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#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
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#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
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#define SDCARD_DMA_CHANNEL DMA_Channel_0
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#define MPU6500_CS_PIN SPI1_NSS_PIN
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#define MPU6500_SPI_INSTANCE SPI1
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#define USE_ADC
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#define ADC_INSTANCE ADC1
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#define ADC1_DMA_STREAM DMA2_Stream0
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#define VBAT_ADC_PIN PC1
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#define CURRENT_METER_ADC_PIN PC2
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#define RSSI_ADC_PIN PC0
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// PC4 - NC - Free for ADC12_IN14 / VTX CS
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// PC5 - NC - Free for ADC12_IN15 / VTX Enable / OSD VSYNC
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#define BOARD_HAS_VOLTAGE_DIVIDER
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#define LED_STRIP
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#define TRANSPONDER
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#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
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#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
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#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
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#define SERIALRX_UART SERIAL_PORT_USART2
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#define TELEMETRY_UART SERIAL_PORT_UART5
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#define SERIALRX_PROVIDER SERIALRX_SBUS
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#define SPEKTRUM_BIND_PIN UART2_RX_PIN
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define TARGET_IO_PORTD (BIT(2))
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#define USABLE_TIMER_CHANNEL_COUNT 16 // 4xPWM, 8xESC, 2xESC via UART3 RX/TX, 1xLED Strip, 1xIR.
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#if (SPRACINGF4NEO_REV >= 2)
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#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(9))
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#else
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#define USE_TIM10_TIM11_FOR_MOTORS
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#ifdef USE_TIM10_TIM11_FOR_MOTORS
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#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(9) | TIM_N(10) | TIM_N(11))
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#else
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#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(9))
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#endif
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#endif
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@ -0,0 +1,18 @@
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F405_TARGETS += $(TARGET)
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FEATURES = VCP SDCARD
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TARGET_SRC = \
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drivers/accgyro_mpu6500.c \
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drivers/accgyro_spi_mpu6500.c \
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drivers/barometer_bmp280.c \
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drivers/barometer_ms5611.c \
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drivers/compass_ak8975.c \
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drivers/compass_hmc5883l.c \
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drivers/max7456.c \
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drivers/transponder_ir.c \
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drivers/vtx_rtc6705.c \
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io/osd.c \
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io/transponder_ir.c \
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io/vtx.c
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