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rewrite BEEBRAIN_V2D target as variant of BEEBRAIN_V2F

This commit is contained in:
czchc 2017-10-11 10:22:58 +08:00
parent c4a48d76f7
commit 3e94abe81f
7 changed files with 25 additions and 306 deletions
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144
src/main/target/BEEBRAIN_V2D/config.c
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@ -1,144 +0,0 @@
/*
* 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 "common/maths.h"
#include "config/feature.h"
#include "drivers/light_led.h"
#include "drivers/pwm_esc_detect.h"
#include "fc/config.h"
#include "fc/controlrate_profile.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;
motorConfigMutable()->minthrottle = 1030;
pidConfigMutable()->pid_process_denom = 1;
}
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pid[PID_ROLL].P = 86;
pidProfile->pid[PID_ROLL].I = 50;
pidProfile->pid[PID_ROLL].D = 60;
pidProfile->pid[PID_PITCH].P = 90;
pidProfile->pid[PID_PITCH].I = 55;
pidProfile->pid[PID_PITCH].D = 60;
pidProfile->pid[PID_YAW].P = 123;
pidProfile->pid[PID_YAW].I = 75;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
controlRateConfig->rcYawRate8 = 120;
controlRateConfig->rcExpo8 = 15;
controlRateConfig->rcYawExpo8 = 15;
controlRateConfig->rates[FD_ROLL] = 85;
controlRateConfig->rates[FD_PITCH] = 85;
}
for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) {
rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex);
channelRangeConfig->min = 1160;
channelRangeConfig->max = 1840;
}
batteryConfigMutable()->batteryCapacity = 250;
batteryConfigMutable()->vbatmincellvoltage = 28;
batteryConfigMutable()->vbatwarningcellvoltage = 33;
*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
vcdProfileMutable()->video_system = VIDEO_SYSTEM_NTSC;
strcpy(pilotConfigMutable()->name, "BeeBrain V2");
osdConfigMutable()->cap_alarm = 250;
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;
osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2] = OSD_POS(2, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_FLYMODE] = OSD_POS(17, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_VTX_CHANNEL] = OSD_POS(10, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_RSSI_VALUE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_THROTTLE_POS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_CROSSHAIRS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_HORIZON_SIDEBARS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ARTIFICIAL_HORIZON] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_CURRENT_DRAW] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_MAH_DRAWN] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_GPS_SPEED] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_GPS_LON] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_GPS_LAT] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_GPS_SATS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_HOME_DIR] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_HOME_DIST] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_COMPASS_BAR] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ALTITUDE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ROLL_PIDS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_PITCH_PIDS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_YAW_PIDS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_DEBUG] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_POWER] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_PIDRATE_PROFILE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_WARNINGS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_AVG_CELL_VOLTAGE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_PITCH_ANGLE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ROLL_ANGLE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_MAIN_BATT_USAGE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_DISARMED] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_NUMERICAL_HEADING] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_NUMERICAL_VARIO] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ESC_TMP] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ESC_RPM] &= ~VISIBLE_FLAG;
}
#endif

33
src/main/target/BEEBRAIN_V2D/target.c
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@ -1,33 +0,0 @@
/*
* 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
DEF_TIM(TIM16, CH1, PB8, TIM_USE_TRANSPONDER, TIMER_OUTPUT_ENABLED ),
};

114
src/main/target/BEEBRAIN_V2D/target.h
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@ -1,114 +0,0 @@
/*
* 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 "BBV2D" // BeeBrain V2 DSM
#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 DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_NONE
#define ADC_INSTANCE ADC3
#define VBAT_ADC_PIN PB13
#define TRANSPONDER
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART2
#define RX_CHANNELS_TAER
// Receiver - DSM
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD)
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
// 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 5
#define USED_TIMERS ( TIM_N(1) | TIM_N(8) | TIM_N(15) | TIM_N(16) )

9
src/main/target/BEEBRAIN_V2D/target.mk
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@ -1,9 +0,0 @@
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

1
src/main/target/BEEBRAIN_V2F/BEEBRAIN_V2D.mk Executable file
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@ -0,0 +1 @@
# BEEBRAIN_V2D is a variant of BEEBRAIN_V2F with DSM receiver

15
src/main/target/BEEBRAIN_V2F/config.c
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@ -47,7 +47,9 @@
#include "telemetry/telemetry.h"
#if !defined(BEEBRAIN_V2D)
#define BBV2_FRSKY_RSSI_CH_IDX 9
#endif
#ifdef BRUSHED_MOTORS_PWM_RATE
#undef BRUSHED_MOTORS_PWM_RATE
@ -103,7 +105,7 @@ void targetConfiguration(void)
osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2] = OSD_POS(2, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_FLYMODE] = OSD_POS(17, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_VTX_CHANNEL] = OSD_POS(10, 10) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_RSSI_VALUE] = OSD_POS(2, 11) | VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_RSSI_VALUE] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_THROTTLE_POS] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_CROSSHAIRS] &= ~VISIBLE_FLAG;
@ -136,11 +138,22 @@ void targetConfiguration(void)
osdConfigMutable()->item_pos[OSD_ESC_TMP] &= ~VISIBLE_FLAG;
osdConfigMutable()->item_pos[OSD_ESC_RPM] &= ~VISIBLE_FLAG;
#if defined(BEEBRAIN_V2D)
// DSM version
for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) {
rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex);
channelRangeConfig->min = 1160;
channelRangeConfig->max = 1840;
}
#else
// Frsky version
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL;
rxConfigMutable()->rssi_channel = BBV2_FRSKY_RSSI_CH_IDX;
rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(BBV2_FRSKY_RSSI_CH_IDX - 1);
channelFailsafeConfig->mode = RX_FAILSAFE_MODE_SET;
channelFailsafeConfig->step = CHANNEL_VALUE_TO_RXFAIL_STEP(1000);
osdConfigMutable()->item_pos[OSD_RSSI_VALUE] = OSD_POS(2, 11) | VISIBLE_FLAG;
#endif
}
#endif

15
src/main/target/BEEBRAIN_V2F/target.h
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@ -17,7 +17,7 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "BBV2F" // BeeBrain V2 Frsky
#define TARGET_BOARD_IDENTIFIER "BBV2" // BeeBrain V2.
#define TARGET_CONFIG
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
@ -28,7 +28,6 @@
#define LED1_PIN PB2
#define USE_EXTI
// #define DEBUG_MPU_DATA_READY_INTERRUPT
#define MPU_INT_EXTI PB6
#define USE_MPU_DATA_READY_SIGNAL
@ -100,9 +99,15 @@
#define SERIALRX_UART SERIAL_PORT_USART2
#define RX_CHANNELS_TAER
// Receiver - Frsky
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD | FEATURE_TELEMETRY)
#define SERIALRX_PROVIDER SERIALRX_SBUS
#if defined(BEEBRAIN_V2D)
// Receiver - DSM
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD)
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
#else
// Receiver - Frsky
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_MOTOR_STOP | FEATURE_OSD | FEATURE_TELEMETRY)
#define SERIALRX_PROVIDER SERIALRX_SBUS
#endif
// IO - stm32f303cc in 48pin package
#define TARGET_IO_PORTA 0xffff