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Merge pull request #1447 from blckmn/REVOLT 

Adding both AirbotF4 and Revolt targets
This commit is contained in:
Martin Budden 2016-11-05 09:21:01 +01:00 committed by GitHub
parent 504ac9c134 4c0273c119
commit 537e4ce676
8 changed files with 60 additions and 15 deletions
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5
src/main/drivers/accgyro_mpu6500.h
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@ -15,9 +15,12 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define ICM20608G_WHO_AM_I_CONST (0xAF)
#define ICM20602_WHO_AM_I_CONST (0x12)
#define MPU6500_BIT_RESET (0x80)
#define MPU6500_BIT_INT_ANYRD_2CLEAR (1 << 4)
@ -25,8 +28,6 @@
#define MPU6500_BIT_I2C_IF_DIS (1 << 4)
#define MPU6500_BIT_RAW_RDY_EN (0x01)
#pragma once
bool mpu6500AccDetect(acc_t *acc);
bool mpu6500GyroDetect(gyro_t *gyro);

5
src/main/drivers/accgyro_spi_mpu6500.c
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@ -84,7 +84,10 @@ bool mpu6500SpiDetect(void)
mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
if (tmp == MPU6500_WHO_AM_I_CONST ||
tmp == MPU9250_WHO_AM_I_CONST ||
tmp == ICM20608G_WHO_AM_I_CONST ||
tmp == ICM20602_WHO_AM_I_CONST) {
return true;
}

1
src/main/drivers/dma.h
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@ -15,6 +15,7 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
struct dmaChannelDescriptor_s;
typedef void (*dmaCallbackHandlerFuncPtr)(struct dmaChannelDescriptor_s *channelDescriptor);

0
src/main/target/REVO/AIRBOTF4.mk Normal file
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0
src/main/target/REVO/REVOLT.mk Normal file
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6
src/main/target/REVO/target.c
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@ -34,6 +34,10 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S2_OUT
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S3_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S4_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S5_OUT
#ifdef REVOLT
{ TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, TIM_USE_LED, 0, GPIO_AF_TIM4, DMA1_Stream0, DMA_Channel_2, DMA1_ST0_HANDLER }, // LED for REVOLT
#else
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S5_OUT / LED for REVO
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, TIM_USE_MOTOR, 1, GPIO_AF_TIM5, DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER }, // S6_OUT
#endif
};

56
src/main/target/REVO/target.h
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@ -17,43 +17,71 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "REVO"
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
#if defined(AIRBOTF4)
#define TARGET_BOARD_IDENTIFIER "AIR4"
#define USBD_PRODUCT_STRING "AirbotF4"
#elif defined(REVOLT)
#define TARGET_BOARD_IDENTIFIER "RVLT"
#define USBD_PRODUCT_STRING "Revolt"
#else
#define TARGET_BOARD_IDENTIFIER "REVO"
#define USBD_PRODUCT_STRING "Revolution"
#ifdef OPBL
#define USBD_SERIALNUMBER_STRING "0x8020000"
#endif
#endif
#define USE_DSHOT
#define LED0 PB5
// Disable LED1, conflicts with AirbotF4/Flip32F4 beeper
//#define LED1 PB4
// Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
#if defined(AIRBOTF4) || defined(REVOLT)
#define BEEPER PB4
#define BEEPER_INVERTED
#else
#define LED1 PB4
// Leave beeper here but with none as io - so disabled unless mapped.
#define BEEPER NONE
#endif
#define INVERTER PC0 // PC0 used as inverter select GPIO
// PC0 used as inverter select GPIO
#define INVERTER PC0
#define INVERTER_USART USART1
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define ACC
#define USE_ACC_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define GYRO
#define USE_GYRO_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU9250_ALIGN CW270_DEG
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#if !defined(AIRBOTF4) && !defined(REVOLT)
#define MAG
#define USE_MAG_HMC5883
#define MAG_HMC5883_ALIGN CW90_DEG
@ -67,6 +95,7 @@
//#define PITOT
//#define USE_PITOT_MS4525
//#define MS4525_BUS I2C_DEVICE_EXT
#endif
#define M25P16_CS_PIN PB3
#define M25P16_SPI_INSTANCE SPI3
@ -78,8 +107,8 @@
#define VBUS_SENSING_PIN PC5
#define USE_UART1
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
#define USE_UART3
@ -106,7 +135,7 @@
#define SPI3_MOSI_PIN PC12
#define USE_I2C
#define I2C_DEVICE (I2CDEV_1)
#define I2C_DEVICE (I2CDEV_1)
#define USE_ADC
#define CURRENT_METER_ADC_PIN PC1
@ -126,7 +155,7 @@
#define WS2811_DMA_FLAG DMA_FLAG_TCIF4
#define WS2811_DMA_IT DMA_IT_TCIF4
#define SENSORS_SET (SENSOR_ACC)
#define SENSORS_SET (SENSOR_ACC)
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES (FEATURE_BLACKBOX)
@ -140,7 +169,12 @@
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD 0xffff
#define TARGET_IO_PORTD (BIT(2))
#ifdef REVOLT
#define USABLE_TIMER_CHANNEL_COUNT 11
#else
#define USABLE_TIMER_CHANNEL_COUNT 12
#endif
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )

2
src/main/target/REVO/target.mk
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@ -3,5 +3,7 @@ FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c