Support for BigQuad deck as a CRAZYFLIE2 variant

Supported features in this commit:
- Mag enabled (both CRAZYFLIE2 and CRAZYFLIE2BQ)
- Brushless motors
- ESC passthrough for BLHeli programming
- CPPM Rx input
- VBat sensor
- Current sensor
- GPS Tx/Rx pins enabled
- I2C SDA/SCL enabled as UART1 (SDA = Rx, SCL = Tx)

src/main/drivers/timer.c

@@ -680,6 +680,9 @@ _TIM_IRQ_HANDLER(TIM1_TRG_COM_TIM11_IRQHandler, 11);
 #if USED_TIMERS & TIM_N(12)
 _TIM_IRQ_HANDLER(TIM8_BRK_TIM12_IRQHandler, 12);
 #endif
+#if USED_TIMERS & TIM_N(14)
+_TIM_IRQ_HANDLER(TIM8_TRG_COM_TIM14_IRQHandler, 14);
+#endif
 #if USED_TIMERS & TIM_N(15)
 _TIM_IRQ_HANDLER(TIM1_BRK_TIM15_IRQHandler, 15);
 #endif
@@ -856,4 +859,4 @@ uint16_t timerGetPrescalerByDesiredMhz(TIM_TypeDef *tim, uint16_t mhz)
 uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_t hertz)
 {
     return ((uint16_t)((timerClock(tim) / (prescaler + 1)) / hertz));
-}
+}

src/main/target/CRAZYFLIE2/CRAZYFLIE2BQ.mk

@@ -0,0 +1 @@
+# CRAZYFLIE2BQ is a VARIANT of CRAZYFLIE2 with custom config for the BigQuad expansion deck (https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:bigquad)

src/main/target/CRAZYFLIE2/target.c

@@ -21,18 +21,20 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/timer_def.h"
 #include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-#ifndef CRAZYFLIE2_USE_BIG_QUAD_DECK
+#if defined(CRAZYFLIE2BQ)
-    { TIM2, IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM2 - OUT2 (Motor 2)
+    DEF_TIM(TIM14, CH1, PA7, TIM_USE_PPM,   TIMER_INPUT_ENABLED,  0 ), // PPM IN
-    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM1 - OUT1 (Motor 1)
+    DEF_TIM(TIM3,  CH1, PB4, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 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)
+    DEF_TIM(TIM2,  CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // PWM2 - OUT2 (Motor 2)
-    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM4, NULL, 0, 0 }, // PWM4 - OUT4 (Motor 4)
+    DEF_TIM(TIM3,  CH2, PB5, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // PWM3 - OUT3 (Motor 3)
+    DEF_TIM(TIM2,  CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 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)
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM1 - OUT1 (Motor 1)
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, NULL, 0, 0 }, // PWM1 - OUT1 (Motor 1)
+    DEF_TIM(TIM2, CH2, PA1,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM2 - OUT2 (Motor 2)
-    { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, NULL, 0, 0 }, // PWM3 - OUT3 (Motor 3)
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 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)
+    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM4 - OUT4 (Motor 4)
 #endif
 };

src/main/target/CRAZYFLIE2/target.h

@@ -26,21 +26,21 @@
 
 #pragma once
 
+#if defined(CRAZYFLIE2BQ)
+#define TARGET_BOARD_IDENTIFIER "CFBQ"
+#define USBD_PRODUCT_STRING     "Crazyflie 2.0 (BigQuad Deck)"
+#else
 #define TARGET_BOARD_IDENTIFIER "CF20"
-
 #define USBD_PRODUCT_STRING     "Crazyflie 2.0"
-
+#endif
-// 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) )
+#if defined(CRAZYFLIE2BQ)
-#define BRUSHED_MOTORS
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(14) )
 #else
-#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) )
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(4) )
-#endif //CRAZYFLIE2_USE_BIG_QUAD_DECK
+#endif
 
 #define LED0                    PD2
 #define LED1                    PC0
@@ -55,19 +55,25 @@
 
 #define USE_VCP
 
-#define USE_UART2
+#if defined(CRAZYFLIE2BQ)
-#define UART2_TX_PIN            PA1
+#define USE_UART1
-#define UART2_RX_PIN            PA3
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
 #define USE_UART3
 #define UART3_TX_PIN            PC10
 #define UART3_RX_PIN            PC11
+#endif
 
 #define USE_UART6
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7
 
+#if defined(CRAZYFLIE2BQ)
 #define SERIAL_PORT_COUNT       4
+#else
+#define SERIAL_PORT_COUNT       2
+#endif
 
 #define USE_I2C
 #define USE_I2C_DEVICE_3
@@ -85,17 +91,34 @@
 #define USE_ACC_MPU6500
 #define ACC_MPU6500_ALIGN       CW270_DEG
 
-// Mag isn't working quite right -- disabling it for now
+#define MAG
-//#define MAG
+#define USE_MPU9250_MAG // Enables bypass configuration on the MPU9250 I2C bus
-//#define USE_MPU9250_MAG // Enables bypass configuration on the MPU9250 I2C bus
+#define USE_MAG_AK8963
-//#define USE_MAG_AK8963
+#define MAG_AK8963_ALIGN        CW270_DEG
-//#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
+
+#if defined(CRAZYFLIE2BQ)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#else
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#endif
+
+#if defined(CRAZYFLIE2BQ)
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define USE_ADC
+#define ADC_INSTANCE            ADC1
+#define CURRENT_METER_ADC_PIN   PA5
+#define VBAT_ADC_PIN            PA6
+#else
+#define BRUSHED_MOTORS
+#endif