rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AlienFligth F3 V2 support 

Updated SPI driver (SPI3 on F3 targets)
AK8963 Mag support (part of MPU9250)
MPU9250 SPI support via MPU6500 driver
Updated LED driver for alternative LED sets
Enable gyro intterupt for AlienFlight F3 targets
Update AlienWii/AlienFlight documentation
Rename AlienWii to AlienFlight
This commit is contained in:
Michael Jakob 2016-01-27 09:40:58 +01:00 committed by borisbstyle
parent b1476c05f8
commit 7634e4c635
36 changed files with 771 additions and 247 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
.travis.yml
View File

@ -19,8 +19,8 @@ env:
- TARGET=PORT103R
- TARGET=SPARKY
- TARGET=STM32F3DISCOVERY
- TARGET=ALIENWIIF1
- TARGET=ALIENWIIF3
- TARGET=ALIENFLIGHTF1
- TARGET=ALIENFLIGHTF3
# use new docker environment
sudo: false

24
Makefile
View File

@ -42,7 +42,7 @@ FORKNAME = betaflight
CC3D_TARGETS = CC3D CC3D_OPBL
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI
# Valid targets for OP VCP support
VCP_VALID_TARGETS = $(CC3D_TARGETS)
@ -51,10 +51,10 @@ VCP_VALID_TARGETS = $(CC3D_TARGETS)
OPBL_VALID_TARGETS = CC3D_OPBL
64K_TARGETS = CJMCU
128K_TARGETS = ALIENWIIF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE LUX_RACE MOTOLAB
128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB
F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO
F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO
# Configure default flash sizes for the targets
@ -221,9 +221,9 @@ endif
TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
ifeq ($(TARGET),ALIENWIIF1)
# ALIENWIIF1 is a VARIANT of NAZE
TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32
ifeq ($(TARGET),ALIENFLIGHTF1)
# ALIENFLIGHTF1 is a VARIANT of NAZE
TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENFLIGHT
TARGET_DIR = $(ROOT)/src/main/target/NAZE
endif
@ -378,7 +378,7 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
$(HIGHEND_SRC) \
$(COMMON_SRC)
ALIENWIIF1_SRC = $(NAZE_SRC)
ALIENFLIGHTF1_SRC = $(NAZE_SRC)
AFROMINI_SRC = $(NAZE_SRC)
@ -612,8 +612,12 @@ SPARKY_SRC = \
$(COMMON_SRC) \
$(VCP_SRC)
ALIENWIIF3_SRC = \
$(SPARKY_SRC)
ALIENFLIGHTF3_SRC = \
$(SPARKY_SRC) \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/compass_ak8963.c \
hardware_revision.c
RMDO_SRC = \
$(STM32F30x_COMMON_SRC) \

2
build_docs.sh
View File

@ -28,7 +28,7 @@ doc_files=(
'Blackbox.md'
'Migrating from baseflight.md'
'Boards.md'
'Board - AlienWii32.md'
'Board - AlienFlight.md'
'Board - CC3D.md'
'Board - CJMCU.md'
'Board - Naze32.md'

45
docs/Board - AlienFlight.md Normal file
View File

@ -0,0 +1,45 @@
# Board - AlienFlight (ALIENFLIGHTF1 and ALIENFLIGHTF3 target)
AlienWii is now AlienFlight. This target supports various variants of brushed and brusless flight controllers. The designs for them are released for public use at:
http://www.alienflight.com
All published designs are flight tested by various people. The intention here is to make this flight controllers available and enable skilled users or RC vendors to build this designs.
Here are the general hardware specifications for this boards:
- STM32F103CBT6 MCU (ALIENFLIGHTF1)
- STM32F303CCT6 MCU (ALIENFLIGHTF3)
- MPU6050/6500/9250 accelerometer/gyro(/mag) sensor unit
- The MPU sensor interrupt is connected to the MCU for all new F3 designs and enabled in the firmware
- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors
- extra-wide traces on the PCB, for maximum power throughput
- USB port, integrated
- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31)
- CPPM input
- ground and 3.3V for the receiver
- hardware bind plug for easy binding
- motor connections are at the corners for a clean look with reduced wiring
- small footprint
- direct operation from an single cell lipoly battery
- 3.3V LDO power regulator (older prototypes)
- 3.3V buck-boost power converter (all new versions)
- 5V buck-boost power converter for FPV (some versions)
- battery monitoring with an LED for buzzer functionality (actually for some ALIENFLIGHTF3 variants only)
(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
set serialrx_provider = 1 (0 for 1024bit, 1 for 2048bit)
set spektrum_sat_bind = 5
For more detail of the different bind modes please refer the [Spektrum Bind](Spektrum bind.md) document
Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different.
The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with an hardware detection.
The AlienFlight firmware will be built as target ALIENFLIGHTF1 or ALIENFLIGHTF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight in an Hexa- or Octocopter or to do some more tuning. Additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.
## Flashing the firmware
The firmware can be updated with the Cleanflight configurator as for any other target. All AlienFlight boards have an boot jumper which need to be closed for the initial flashing or for recovery from an broken firmware.

38
docs/Board - AlienWii32.md
View File

@ -1,38 +0,0 @@
# Board - AlienWii32 (ALIENWIIF1 and ALIENWIIF3 target)
The AlienWii32 is actually in prototype stage and few samples exist. There are some different variants and field testing with some users is ongoing. The information below is preliminary and will be updated as needed.
Here are the hardware specifications:
- STM32F103CBT6 MCU (ALIENWIIF1)
- STM32F303CCT6 MCU (ALIENWIIF3)
- MPU6050 accelerometer/gyro sensor unit
- 4-8 x 4.2A brushed ESCs, integrated, to run the strongest micro motors
- extra-wide traces on the PCB, for maximum power throughput
- USB port, integrated
- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31)
- ground and 3.3V for the receiver
- hardware bind plug for easy binding
- motor connections are at the corners for a clean look with reduced wiring
- dimensions: 29x33mm
- direct operation from an single cell lipoly battery
- 3.3V LDO power regulator (older prototypes)
- 3.3V buck-boost power converter (newer prototypes and production versions)
- battery monitoring with an LED for buzzer functionality (actualy for an ALIENWIIF3 variant)
(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
set serialrx_provider = 1 (0 for 1024bit, 1 for 2048bit)
set spektrum_sat_bind = 5
For more detail of the different bind modes please refer the [Spektrum Bind](Spektrum bind.md) document
Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different.
The pin layout for the ALIENWIIF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENWIIF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The AlienWii32 firmware will be built as target ALIENWIIF1 or ALIENWIIF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.
## Flashing the firmware
The AlienWii32 F1 board can be flashed like the Naze board or the related clones. All the different methods will work in the same way.
The AlienWii32 F3 board needs to be flashed via the USB port in DFU mode. Flashing via the Cleanflight GUI is not possible yet. The DFU mode can be activated via setting the BOOT0 jumper during power on of the board. The second method is to connect with an terminal program (i.e. Putty) to the board and enter the character "R" immediately after connecting. Details about the flashing process can be found in the related section of the [Sparky](Board - Sparky.md) documentation. The BOOT0 jumper should be removed and the board needs to be repowerd after firmware flashing. Please be aware, during reboot of the AlienWii F3 board, the GUI will disconnect and an manual reconnect is required.

2
docs/Boards.md
View File

@ -4,7 +4,7 @@ The current focus is geared towards flight controller hardware that use the STM3
The core set of supported flyable boards are:
* AlienWii32
* AlienFlight
* CC3D
* CJMCU
* Flip32+

14
docs/Spektrum bind.md
View File

@ -20,7 +20,7 @@ This is to activate the hardware bind plug feature
## Hardware
The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienWii32 firmware is built. The hardware bind plug is expected between the defined bind pin and ground.
The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienFlight firmware is built. The hardware bind plug is expected between the defined bind pin and ground.
## Function
@ -34,12 +34,12 @@ Please refer to the satellite receiver documentation for more details of the spe
## Table with spektrum_sat_bind parameter value
| Value | Receiver mode | Notes |
| ----- | ------------------| -------------------|
| 3 | DSM2 1024bit/22ms | |
| 5 | DSM2 2048bit/11ms | default AlienWii32 |
| 7 | DSMX 1024bit/22ms | |
| 9 | DSMX 2048bit/11ms | |
| Value | Receiver mode | Notes |
| ----- | ------------------| --------------------|
| 3 | DSM2 1024bit/22ms | |
| 5 | DSM2 2048bit/11ms | default AlienFlight |
| 7 | DSMX 1024bit/22ms | |
| 9 | DSMX 2048bit/11ms | |
More detailed information regarding the satellite binding process can be found here:
http://wiki.openpilot.org/display/Doc/Spektrum+Satellite

4
fake_travis_build.sh
View File

@ -16,8 +16,8 @@ targets=("PUBLISHMETA=True" \
"TARGET=RMDO" \
"TARGET=SPARKY" \
"TARGET=STM32F3DISCOVERY" \
"TARGET=ALIENWIIF1" \
"TARGET=ALIENWIIF3")
"TARGET=ALIENFLIGHTF1" \
"TARGET=ALIENFLIGHTF3")
#fake a travis build environment
export TRAVIS_BUILD_NUMBER=$(date +%s)

15
src/main/config/config.c
View File

@ -606,11 +606,12 @@ static void resetConf(void)
featureSet(FEATURE_FAILSAFE);
#endif
// alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets
#ifdef ALIENWII32
// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
#ifdef ALIENFLIGHT
featureSet(FEATURE_RX_SERIAL);
featureSet(FEATURE_MOTOR_STOP);
#ifdef ALIENWIIF3
featureClear(FEATURE_ONESHOT125);
#ifdef ALIENFLIGHTF3
masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
masterConfig.batteryConfig.vbatscale = 20;
#else
@ -621,15 +622,13 @@ static void resetConf(void)
masterConfig.escAndServoConfig.minthrottle = 1000;
masterConfig.escAndServoConfig.maxthrottle = 2000;
masterConfig.motor_pwm_rate = 32000;
currentProfile->pidProfile.pidController = 3;
currentProfile->pidProfile.P8[ROLL] = 36;
currentProfile->pidProfile.P8[PITCH] = 36;
currentProfile->pidProfile.pidController = 2;
masterConfig.failsafeConfig.failsafe_delay = 2;
masterConfig.failsafeConfig.failsafe_off_delay = 0;
currentControlRateProfile->rcRate8 = 130;
currentControlRateProfile->rcRate8 = 100;
currentControlRateProfile->rates[FD_PITCH] = 20;
currentControlRateProfile->rates[FD_ROLL] = 20;
currentControlRateProfile->rates[FD_YAW] = 100;
currentControlRateProfile->rates[FD_YAW] = 20;
parseRcChannels("TAER1234", &masterConfig.rxConfig);
// { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R

1
src/main/drivers/accgyro_mpu6500.h
View File

@ -16,6 +16,7 @@
*/
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU6500_BIT_RESET (0x80)

7
src/main/drivers/accgyro_spi_mpu6500.c
View File

@ -107,10 +107,11 @@ bool mpu6500SpiDetect(void)
mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
if (tmp != MPU6500_WHO_AM_I_CONST)
return false;
if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST) {
return true;
}
return true;
return false;
}
bool mpu6500SpiAccDetect(acc_t *acc)

163
src/main/drivers/bus_spi.c
View File

@ -35,10 +35,12 @@ static volatile uint16_t spi3ErrorCount = 0;
#ifdef USE_SPI_DEVICE_1
#ifndef SPI1_GPIO
#define SPI1_GPIO GPIOA
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_NSS_GPIO GPIOA
#define SPI1_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_NSS_PIN GPIO_Pin_4
#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
#define SPI1_GPIO GPIOA
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_SCK_PIN GPIO_Pin_5
#define SPI1_SCK_PIN_SOURCE GPIO_PinSource5
#define SPI1_MISO_PIN GPIO_Pin_6
@ -71,7 +73,10 @@ void initSpi1(void)
GPIO_PinAFConfig(SPI1_GPIO, SPI1_SCK_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI1_GPIO, SPI1_MISO_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI1_GPIO, SPI1_MOSI_PIN_SOURCE, GPIO_AF_5);
#ifdef SPI1_NSS_PIN_SOURCE
RCC_AHBPeriphClockCmd(SPI1_NSS_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(SPI1_GPIO, SPI1_NSS_PIN_SOURCE, GPIO_AF_5);
#endif
// Init pins
@ -89,7 +94,7 @@ void initSpi1(void)
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
GPIO_Init(SPI1_NSS_GPIO, &GPIO_InitStructure);
#endif
#endif
@ -100,20 +105,20 @@ void initSpi1(void)
gpio.mode = Mode_AF_PP;
gpio.pin = SPI1_MOSI_PIN | SPI1_SCK_PIN;
gpio.speed = Speed_50MHz;
gpioInit(GPIOA, &gpio);
gpioInit(SPI1_GPIO, &gpio);
// MISO as input
gpio.pin = SPI1_MISO_PIN;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOA, &gpio);
gpioInit(SPI1_GPIO, &gpio);
#ifdef SPI1_NSS_PIN
// NSS as gpio slave select
gpio.pin = SPI1_NSS_PIN;
gpio.mode = Mode_Out_PP;
gpioInit(GPIOA, &gpio);
gpioInit(SPI1_NSS_GPIO, &gpio);
#endif
#endif
// Init SPI hardware
// Init SPI1 hardware
SPI_I2S_DeInit(SPI1);
spi.SPI_Mode = SPI_Mode_Master;
@ -133,16 +138,23 @@ void initSpi1(void)
SPI_Init(SPI1, &spi);
SPI_Cmd(SPI1, ENABLE);
#ifdef SPI1_NSS_PIN
// Drive NSS high to disable connected SPI device.
GPIO_SetBits(SPI1_NSS_GPIO, SPI1_NSS_PIN);
#endif
}
#endif
#ifdef USE_SPI_DEVICE_2
#ifndef SPI2_GPIO
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_NSS_GPIO GPIOB
#define SPI2_NSS_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_NSS_PIN GPIO_Pin_12
#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_SCK_PIN GPIO_Pin_13
#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
#define SPI2_MISO_PIN GPIO_Pin_14
@ -175,7 +187,10 @@ void initSpi2(void)
GPIO_PinAFConfig(SPI2_GPIO, SPI2_SCK_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI2_GPIO, SPI2_MISO_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI2_GPIO, SPI2_MOSI_PIN_SOURCE, GPIO_AF_5);
#ifdef SPI2_NSS_PIN_SOURCE
RCC_AHBPeriphClockCmd(SPI2_NSS_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(SPI2_GPIO, SPI2_NSS_PIN_SOURCE, GPIO_AF_5);
#endif
@ -193,14 +208,13 @@ void initSpi2(void)
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
GPIO_Init(SPI2_NSS_GPIO, &GPIO_InitStructure);
#endif
#endif
#ifdef STM32F10X
gpio_config_t gpio;
// MOSI + SCK as output
gpio.mode = Mode_AF_PP;
gpio.pin = SPI2_SCK_PIN | SPI2_MOSI_PIN;
@ -210,45 +224,135 @@ void initSpi2(void)
gpio.pin = SPI2_MISO_PIN;
gpio.mode = Mode_IN_FLOATING;
gpioInit(SPI2_GPIO, &gpio);
#ifdef SPI2_NSS_PIN
// NSS as gpio slave select
gpio.pin = SPI2_NSS_PIN;
gpio.mode = Mode_Out_PP;
gpioInit(SPI2_GPIO, &gpio);
gpioInit(SPI2_NSS_GPIO, &gpio);
#endif
#endif
// Init SPI2 hardware
SPI_I2S_DeInit(SPI2);
spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
spi.SPI_Mode = SPI_Mode_Master;
spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
spi.SPI_DataSize = SPI_DataSize_8b;
spi.SPI_CPOL = SPI_CPOL_High;
spi.SPI_CPHA = SPI_CPHA_2Edge;
spi.SPI_NSS = SPI_NSS_Soft;
spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
spi.SPI_FirstBit = SPI_FirstBit_MSB;
spi.SPI_CRCPolynomial = 7;
spi.SPI_CPOL = SPI_CPOL_High;
spi.SPI_CPHA = SPI_CPHA_2Edge;
spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
#ifdef STM32F303xC
// Configure for 8-bit reads.
SPI_RxFIFOThresholdConfig(SPI2, SPI_RxFIFOThreshold_QF);
#endif
SPI_Init(SPI2, &spi);
SPI_Cmd(SPI2, ENABLE);
#ifdef SPI2_NSS_PIN
// Drive NSS high to disable connected SPI device.
GPIO_SetBits(SPI2_GPIO, SPI2_NSS_PIN);
GPIO_SetBits(SPI2_NSS_GPIO, SPI2_NSS_PIN);
#endif
}
#endif
#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
#ifndef SPI3_GPIO
#define SPI3_NSS_GPIO GPIOA
#define SPI3_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI3_NSS_PIN GPIO_Pin_15
#define SPI3_NSS_PIN_SOURCE GPIO_PinSource15
#define SPI3_GPIO GPIOB
#define SPI3_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI3_SCK_PIN GPIO_Pin_3
#define SPI3_SCK_PIN_SOURCE GPIO_PinSource3
#define SPI3_MISO_PIN GPIO_Pin_4
#define SPI3_MISO_PIN_SOURCE GPIO_PinSource4
#define SPI3_MOSI_PIN GPIO_Pin_5
#define SPI3_MOSI_PIN_SOURCE GPIO_PinSource5
#endif
void initSpi3(void)
{
// Specific to the STM32F303 (AF6)
// SPI3 Driver
// PA15 38 SPI3_NSS
// PB3 39 SPI3_SCK
// PB4 40 SPI3_MISO
// PB5 41 SPI3_MOSI
SPI_InitTypeDef spi;
// Enable SPI3 clock
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHBPeriphClockCmd(SPI3_GPIO_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(SPI3_GPIO, SPI3_SCK_PIN_SOURCE, GPIO_AF_6);
GPIO_PinAFConfig(SPI3_GPIO, SPI3_MISO_PIN_SOURCE, GPIO_AF_6);
GPIO_PinAFConfig(SPI3_GPIO, SPI3_MOSI_PIN_SOURCE, GPIO_AF_6);
#ifdef SPI2_NSS_PIN_SOURCE
RCC_AHBPeriphClockCmd(SPI3_NSS_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(SPI3_NSS_GPIO, SPI3_NSS_PIN_SOURCE, GPIO_AF_6);
#endif
// Init pins
GPIO_InitStructure.GPIO_Pin = SPI3_SCK_PIN | SPI3_MISO_PIN | SPI3_MOSI_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
#ifdef SPI3_NSS_PIN
GPIO_InitStructure.GPIO_Pin = SPI3_NSS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI3_NSS_GPIO, &GPIO_InitStructure);
#endif
// Init SPI hardware
SPI_I2S_DeInit(SPI3);
spi.SPI_Mode = SPI_Mode_Master;
spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
spi.SPI_DataSize = SPI_DataSize_8b;
spi.SPI_NSS = SPI_NSS_Soft;
spi.SPI_FirstBit = SPI_FirstBit_MSB;
spi.SPI_CRCPolynomial = 7;
spi.SPI_CPOL = SPI_CPOL_High;
spi.SPI_CPHA = SPI_CPHA_2Edge;
spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
// Configure for 8-bit reads.
SPI_RxFIFOThresholdConfig(SPI3, SPI_RxFIFOThreshold_QF);
SPI_Init(SPI3, &spi);
SPI_Cmd(SPI3, ENABLE);
#ifdef SPI3_NSS_PIN
// Drive NSS high to disable connected SPI device.
GPIO_SetBits(SPI3_NSS_GPIO, SPI3_NSS_PIN);
#endif
}
#endif
bool spiInit(SPI_TypeDef *instance)
{
#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2)))
#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2) && defined(USE_SPI_DEVICE_3)))
UNUSED(instance);
#endif
@ -263,6 +367,12 @@ bool spiInit(SPI_TypeDef *instance)
initSpi2();
return true;
}
#endif
#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
if (instance == SPI3) {
initSpi3();
return true;
}
#endif
return false;
}
@ -271,15 +381,16 @@ uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)
{
if (instance == SPI1) {
spi1ErrorCount++;
return spi1ErrorCount;
} else if (instance == SPI2) {
spi2ErrorCount++;
}
return spi2ErrorCount;
#ifdef STM32F303xC
else {
} else if (instance == SPI3) {
spi3ErrorCount++;
return spi3ErrorCount;
}
#endif
}
return -1;
}
@ -412,6 +523,10 @@ uint16_t spiGetErrorCounter(SPI_TypeDef *instance)
return spi1ErrorCount;
} else if (instance == SPI2) {
return spi2ErrorCount;
#ifdef STM32F303xC
} else if (instance == SPI3) {
return spi3ErrorCount;
#endif
}
return 0;
}
@ -422,6 +537,10 @@ void spiResetErrorCounter(SPI_TypeDef *instance)
spi1ErrorCount = 0;
} else if (instance == SPI2) {
spi2ErrorCount = 0;
#ifdef STM32F303xC
} else if (instance == SPI3) {
spi3ErrorCount = 0;
#endif
}
}

218
src/main/drivers/compass_ak8963.c Normal file
View File

@ -0,0 +1,218 @@
/*
* 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 <math.h>
#include "build_config.h"
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "gpio.h"
#include "exti.h"
#include "bus_i2c.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensor.h"
#include "compass.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_spi_mpu6500.h"
#include "compass_ak8963.h"
// This sensor is available in MPU-9250.
// AK8963, mag sensor address
#define AK8963_MAG_I2C_ADDRESS 0x0C
#define AK8963_Device_ID 0x48
// Registers
#define AK8963_MAG_REG_WHO_AM_I 0x00
#define AK8963_MAG_REG_INFO 0x01
#define AK8963_MAG_REG_STATUS1 0x02
#define AK8963_MAG_REG_HXL 0x03
#define AK8963_MAG_REG_HXH 0x04
#define AK8963_MAG_REG_HYL 0x05
#define AK8963_MAG_REG_HYH 0x06
#define AK8963_MAG_REG_HZL 0x07
#define AK8963_MAG_REG_HZH 0x08
#define AK8963_MAG_REG_STATUS2 0x09
#define AK8963_MAG_REG_CNTL 0x0a
#define AK8963_MAG_REG_ASCT 0x0c // self test
#define AK8963_MAG_REG_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
#define AK8963_MAG_REG_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
#define AK8963_MAG_REG_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
#define READ_FLAG 0x80
#define STATUS1_DATA_READY 0x01
#define STATUS2_DATA_ERROR 0x02
#define STATUS2_MAG_SENSOR_OVERFLOW 0x03
#define CNTL_MODE_POWER_DOWN 0x00
#define CNTL_MODE_ONCE 0x01
#define CNTL_MODE_CONT1 0x02
#define CNTL_MODE_CONT2 0x06
#define CNTL_MODE_SELF_TEST 0x08
#define CNTL_MODE_FUSE_ROM 0x0F
typedef bool (*ak8963ReadRegisterFunc)(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf);
typedef bool (*ak8963WriteRegisterFunc)(uint8_t addr_, uint8_t reg_, uint8_t data);
typedef struct ak8963Configuration_s {
ak8963ReadRegisterFunc read;
ak8963WriteRegisterFunc write;
} ak8963Configuration_t;
ak8963Configuration_t ak8963config;
static float magGain[3] = { 1.0f, 1.0f, 1.0f };
#ifdef USE_SPI
bool ak8963SPIRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf)
{
mpu6500WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read
mpu6500WriteRegister(MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
mpu6500WriteRegister(MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
delay(8);
__disable_irq();
mpu6500ReadRegister(MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C
__enable_irq();
return true;
}
bool ak8963SPIWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
{
mpu6500WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_); // set I2C slave address for write
mpu6500WriteRegister(MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register
mpu6500WriteRegister(MPU_RA_I2C_SLV0_DO, data); // set I2C salve value
mpu6500WriteRegister(MPU_RA_I2C_SLV0_CTRL, 0x81); // write 1 byte
return true;
}
#endif
bool ak8963Detect(mag_t *mag)
{
bool ack = false;
uint8_t sig = 0;
#ifdef USE_I2C
// check for AK8963 on I2C bus
ack = i2cRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig);
if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
{
ak8963config.read = i2cRead;
ak8963config.write = i2cWrite;
mag->init = ak8963Init;
mag->read = ak8963Read;
return true;
}
#endif
#ifdef USE_SPI
// check for AK8963 on I2C master via SPI bus (as part of MPU9250)
ack = mpu6500WriteRegister(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR
delay(10);
ack = mpu6500WriteRegister(MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz
delay(10);
ack = mpu6500WriteRegister(MPU_RA_USER_CTRL, 0x30); // I2C master mode, SPI mode only
delay(10);
ack = ak8963SPIRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig);
if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
{
ak8963config.read = ak8963SPIRead;
ak8963config.write = ak8963SPIWrite;
mag->init = ak8963Init;
mag->read = ak8963Read;
return true;
}
#endif
return false;
}
void ak8963Init()
{
bool ack;
UNUSED(ack);
uint8_t calibration[3];
uint8_t status;
ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down before entering fuse mode
delay(20);
ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_FUSE_ROM); // Enter Fuse ROM access mode
delay(10);
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ASAX, sizeof(calibration), calibration); // Read the x-, y-, and z-axis calibration values
delay(10);
magGain[X] = (((((float)(int8_t)calibration[X] - 128) / 256) + 1) * 30);
magGain[Y] = (((((float)(int8_t)calibration[Y] - 128) / 256) + 1) * 30);
magGain[Z] = (((((float)(int8_t)calibration[Z] - 128) / 256) + 1) * 30);
ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down after reading.
delay(10);
// Clear status registers
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &status);
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS2, 1, &status);
// Trigger first measurement
ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE);
}
bool ak8963Read(int16_t *magData)
{
bool ack;
uint8_t status;
uint8_t buf[6];
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &status);
if (!ack || (status & STATUS1_DATA_READY) == 0) {
return false;
}
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, sizeof(buf), buf);
ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS2, 1, &status);
if (!ack || (status & STATUS2_DATA_ERROR) || (status & STATUS2_MAG_SENSOR_OVERFLOW)) {
return false;
}
magData[X] = -(int16_t)(buf[1] << 8 | buf[0]) * magGain[X];
magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * magGain[Y];
magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * magGain[Z];
return ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE); // start reading again
}

22
src/main/drivers/compass_ak8963.h Normal file
View File

@ -0,0 +1,22 @@
/*
* 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
bool ak8963Detect(mag_t *mag);
void ak8963Init(void);
bool ak8963Read(int16_t *magData);

37
src/main/drivers/light_led.h
View File

@ -17,15 +17,20 @@
#pragma once
struct {
GPIO_TypeDef *gpio;
uint16_t pin;
} led_config[3];
// Helpful macros
#ifdef LED0
#define LED0_TOGGLE digitalToggle(LED0_GPIO, LED0_PIN)
#define LED0_TOGGLE digitalToggle(led_config[0].gpio, led_config[0].pin)
#ifndef LED0_INVERTED
#define LED0_OFF digitalHi(LED0_GPIO, LED0_PIN)
#define LED0_ON digitalLo(LED0_GPIO, LED0_PIN)
#define LED0_OFF digitalHi(led_config[0].gpio, led_config[0].pin)
#define LED0_ON digitalLo(led_config[0].gpio, led_config[0].pin)
#else
#define LED0_OFF digitalLo(LED0_GPIO, LED0_PIN)
#define LED0_ON digitalHi(LED0_GPIO, LED0_PIN)
#define LED0_OFF digitalLo(led_config[0].gpio, led_config[0].pin)
#define LED0_ON digitalHi(led_config[0].gpio, led_config[0].pin)
#endif // inverted
#else
#define LED0_TOGGLE do {} while(0)
@ -34,13 +39,13 @@
#endif
#ifdef LED1
#define LED1_TOGGLE digitalToggle(LED1_GPIO, LED1_PIN)
#define LED1_TOGGLE digitalToggle(led_config[1].gpio, led_config[1].pin)
#ifndef LED1_INVERTED
#define LED1_OFF digitalHi(LED1_GPIO, LED1_PIN)
#define LED1_ON digitalLo(LED1_GPIO, LED1_PIN)
#define LED1_OFF digitalHi(led_config[1].gpio, led_config[1].pin)
#define LED1_ON digitalLo(led_config[1].gpio, led_config[1].pin)
#else
#define LED1_OFF digitalLo(LED1_GPIO, LED1_PIN)
#define LED1_ON digitalHi(LED1_GPIO, LED1_PIN)
#define LED1_OFF digitalLo(led_config[1].gpio, led_config[1].pin)
#define LED1_ON digitalHi(led_config[1].gpio, led_config[1].pin)
#endif // inverted
#else
#define LED1_TOGGLE do {} while(0)
@ -50,13 +55,13 @@
#ifdef LED2
#define LED2_TOGGLE digitalToggle(LED2_GPIO, LED2_PIN)
#define LED2_TOGGLE digitalToggle(led_config[2].gpio, led_config[2].pin)
#ifndef LED2_INVERTED
#define LED2_OFF digitalHi(LED2_GPIO, LED2_PIN)
#define LED2_ON digitalLo(LED2_GPIO, LED2_PIN)
#define LED2_OFF digitalHi(led_config[2].gpio, led_config[2].pin)
#define LED2_ON digitalLo(led_config[2].gpio, led_config[2].pin)
#else
#define LED2_OFF digitalLo(LED2_GPIO, LED2_PIN)
#define LED2_ON digitalHi(LED2_GPIO, LED2_PIN)
#define LED2_OFF digitalLo(led_config[2].gpio, led_config[2].pin)
#define LED2_ON digitalHi(led_config[2].gpio, led_config[2].pin)
#endif // inverted
#else
#define LED2_TOGGLE do {} while(0)
@ -64,4 +69,4 @@
#define LED2_ON do {} while(0)
#endif
void ledInit(void);
void ledInit(bool alternative_led);

59
src/main/drivers/light_led_stm32f10x.c
View File

@ -28,56 +28,37 @@
#include "light_led.h"
void ledInit(void)
void ledInit(bool alternative_led)
{
UNUSED(alternative_led);
#if defined(LED0) || defined(LED1) || defined(LED2)
uint32_t i;
struct {
GPIO_TypeDef *gpio;
gpio_config_t cfg;
} gpio_setup[] = {
#ifdef LED0
{
.gpio = LED0_GPIO,
.cfg = { LED0_PIN, Mode_Out_PP, Speed_2MHz }
},
#endif
#ifdef LED1
{
.gpio = LED1_GPIO,
.cfg = { LED1_PIN, Mode_Out_PP, Speed_2MHz }
},
#endif
#ifdef LED2
{
.gpio = LED2_GPIO,
.cfg = { LED2_PIN, Mode_Out_PP, Speed_2MHz }
}
#endif
};
uint8_t gpio_count = ARRAYLEN(gpio_setup);
gpio_config_t cfg;
cfg.mode = Mode_Out_PP;
cfg.speed = Speed_2MHz;
#ifdef LED0
RCC_APB2PeriphClockCmd(LED0_PERIPHERAL, ENABLE);
led_config[0].gpio = LED0_GPIO;
led_config[0].pin = LED0_PIN;
cfg.pin = led_config[0].pin;
LED0_OFF;
gpioInit(led_config[0].gpio, &cfg);
#endif
#ifdef LED1
RCC_APB2PeriphClockCmd(LED1_PERIPHERAL, ENABLE);
led_config[1].gpio = LED1_GPIO;
led_config[1].pin = LED1_PIN;
cfg.pin = led_config[1].pin;
LED1_OFF;
gpioInit(led_config[1].gpio, &cfg);
#endif
#ifdef LED2
RCC_APB2PeriphClockCmd(LED2_PERIPHERAL, ENABLE);
#endif
LED0_OFF;
LED1_OFF;
led_config[2].gpio = LED2_GPIO;
led_config[2].pin = LED2_PIN;
cfg.pin = led_config[2].pin;
LED2_OFF;
for (i = 0; i < gpio_count; i++) {
gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
}
gpioInit(led_config[2].gpio, &cfg);
#endif
#endif
}

96
src/main/drivers/light_led_stm32f30x.c
View File

@ -27,52 +27,62 @@
#include "light_led.h"
void ledInit(void)
void ledInit(bool alternative_led)
{
uint32_t i;
struct {
GPIO_TypeDef *gpio;
gpio_config_t cfg;
} gpio_setup[] = {
#if defined(LED0) || defined(LED1) || defined(LED2)
gpio_config_t cfg;
cfg.mode = Mode_Out_PP;
cfg.speed = Speed_2MHz;
#ifdef LED0
{
.gpio = LED0_GPIO,
.cfg = { LED0_PIN, Mode_Out_PP, Speed_2MHz }
},
if (alternative_led) {
#ifdef LED0_PERIPHERAL_2
RCC_AHBPeriphClockCmd(LED0_PERIPHERAL_2, ENABLE);
led_config[0].gpio = LED0_GPIO_2;
led_config[0].pin = LED0_PIN_2;
#endif
#ifdef LED1
{
.gpio = LED1_GPIO,
.cfg = { LED1_PIN, Mode_Out_PP, Speed_2MHz }
},
#endif
#ifdef LED2
{
.gpio = LED2_GPIO,
.cfg = { LED2_PIN, Mode_Out_PP, Speed_2MHz }
}
#endif
};
uint8_t gpio_count = ARRAYLEN(gpio_setup);
#ifdef LED0
RCC_AHBPeriphClockCmd(LED0_PERIPHERAL, ENABLE);
#endif
#ifdef LED1
RCC_AHBPeriphClockCmd(LED1_PERIPHERAL, ENABLE);
#endif
#ifdef LED2
RCC_AHBPeriphClockCmd(LED2_PERIPHERAL, ENABLE);
#endif
LED0_OFF;
LED1_OFF;
LED2_OFF;
for (i = 0; i < gpio_count; i++) {
gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
} else {
RCC_AHBPeriphClockCmd(LED0_PERIPHERAL, ENABLE);
led_config[0].gpio = LED0_GPIO;
led_config[0].pin = LED0_PIN;
}
cfg.pin = led_config[0].pin;
LED0_OFF;
gpioInit(led_config[0].gpio, &cfg);
#endif
#ifdef LED1
if (alternative_led) {
#ifdef LED1_PERIPHERAL_2
RCC_AHBPeriphClockCmd(LED1_PERIPHERAL_2, ENABLE);
led_config[1].gpio = LED1_GPIO_2;
led_config[1].pin = LED1_PIN_2;
#endif
} else {
RCC_AHBPeriphClockCmd(LED1_PERIPHERAL, ENABLE);
led_config[1].gpio = LED1_GPIO;
led_config[1].pin = LED1_PIN;
}
cfg.pin = led_config[1].pin;
LED1_OFF;
gpioInit(led_config[1].gpio, &cfg);
#endif
#ifdef LED2
if (alternative_led) {
#ifdef LED2_PERIPHERAL_2
RCC_AHBPeriphClockCmd(LED2_PERIPHERAL_2, ENABLE);
led_config[2].gpio = LED2_GPIO_2;
led_config[2].pin = LED2_PIN_2;
#endif
} else {
RCC_AHBPeriphClockCmd(LED2_PERIPHERAL, ENABLE);
led_config[2].gpio = LED2_GPIO;
led_config[2].pin = LED2_PIN;
}
cfg.pin = led_config[2].pin;
LED2_OFF;
gpioInit(led_config[2].gpio, &cfg);
#endif
#else
UNUSED(alternative_led);
#endif
}

2
src/main/drivers/pwm_mapping.c
View File

@ -364,7 +364,7 @@ static const uint16_t airPWM[] = {
};
#endif
#if defined(SPARKY) || defined(ALIENWIIF3)
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
static const uint16_t multiPPM[] = {
PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input

2
src/main/drivers/timer.c
View File

@ -201,7 +201,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
#endif
#if defined(SPARKY) || defined(ALIENWIIF3)
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
//
// 6 x 3 pin headers

2
src/main/io/serial_cli.c
View File

@ -197,7 +197,7 @@ static const char * const sensorHardwareNames[4][11] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
{ "", "None", "HMC5883", "AK8975", NULL }
{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
};
#endif

4
src/main/io/serial_msp.c
View File

@ -81,7 +81,7 @@
#include "config/config_master.h"
#include "version.h"
#ifdef NAZE
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@ -766,7 +766,7 @@ static bool processOutCommand(uint8_t cmdMSP)
for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
serialize8(boardIdentifier[i]);
}
#ifdef NAZE
#ifdef USE_HARDWARE_REVISION_DETECTION
serialize16(hardwareRevision);
#else
serialize16(0); // No other build targets currently have hardware revision detection.

23
src/main/main.c
View File

@ -173,16 +173,24 @@ void init(void)
#endif
//i2cSetOverclock(masterConfig.i2c_overclock);
systemInit();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
ledInit();
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_1) {
ledInit(false);
} else {
ledInit(true);
}
#else
ledInit(false);
#endif
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
@ -324,6 +332,15 @@ void init(void)
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#ifdef STM32F303xC
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_2) {
spiInit(SPI3);
}
#else
spiInit(SPI3);
#endif
#endif
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION

5
src/main/sensors/compass.h
View File

@ -22,10 +22,11 @@ typedef enum {
MAG_DEFAULT = 0,
MAG_NONE = 1,
MAG_HMC5883 = 2,
MAG_AK8975 = 3
MAG_AK8975 = 3,
MAG_AK8963 = 4
} magSensor_e;
#define MAG_MAX MAG_AK8975
#define MAG_MAX MAG_AK8963
#ifdef MAG
void compassInit(void);

43
src/main/sensors/initialisation.c
View File

@ -55,6 +55,7 @@
#include "drivers/compass.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/compass_ak8975.h"
#include "drivers/compass_ak8963.h"
#include "drivers/sonar_hcsr04.h"
@ -68,7 +69,7 @@
#include "sensors/sonar.h"
#include "sensors/initialisation.h"
#ifdef NAZE
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@ -168,6 +169,34 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
return &MotolabF3MPU6050Config;
#endif
#ifdef ALIENFLIGHTF3
// MPU_INT output on V1 PA15
static const extiConfig_t alienWiiF3V1MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,
.gpioPort = GPIOA,
.gpioPin = Pin_15,
.exti_port_source = EXTI_PortSourceGPIOA,
.exti_pin_source = EXTI_PinSource15,
.exti_line = EXTI_Line15,
.exti_irqn = EXTI15_10_IRQn
};
// MPU_INT output on V2 PB13
static const extiConfig_t alienWiiF3V2MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOB,
.gpioPort = GPIOB,
.gpioPin = Pin_13,
.exti_port_source = EXTI_PortSourceGPIOB,
.exti_pin_source = EXTI_PinSource13,
.exti_line = EXTI_Line13,
.exti_irqn = EXTI15_10_IRQn
};
if (hardwareRevision == AFF3_REV_1) {
return &alienWiiF3V1MPUIntExtiConfig;
} else {
return &alienWiiF3V2MPUIntExtiConfig;
}
#endif
return NULL;
}
@ -616,6 +645,18 @@ retry:
#endif
; // fallthrough
case MAG_AK8963:
#ifdef USE_MAG_AK8963
if (ak8963Detect(&mag)) {
#ifdef MAG_AK8963_ALIGN
magAlign = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
}
#endif
; // fallthrough
case MAG_NONE:
magHardware = MAG_NONE;
break;

56
src/main/target/ALIENFLIGHTF3/hardware_revision.c Normal file
View File

@ -0,0 +1,56 @@
/*
* 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 <stdlib.h>
#include "platform.h"
#include "build_config.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "hardware_revision.h"
static const char * const hardwareRevisionNames[] = {
"Unknown",
"AlienFlight V1",
"AlienFlight V2"
};
uint8_t hardwareRevision = UNKNOWN;
void detectHardwareRevision(void)
{
gpio_config_t cfg = {HW_PIN, Mode_IPU, Speed_2MHz};
RCC_AHBPeriphClockCmd(HW_PERIPHERAL, ENABLE);
gpioInit(HW_GPIO, &cfg);
// Check hardware revision
delayMicroseconds(10); // allow configuration to settle
if (digitalIn(HW_GPIO, HW_PIN)) {
hardwareRevision = AFF3_REV_1;
} else {
hardwareRevision = AFF3_REV_2;
}
}
void updateHardwareRevision(void)
{
}

27
src/main/target/ALIENFLIGHTF3/hardware_revision.h Normal file
View File

@ -0,0 +1,27 @@
/*
* 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/>.
*/
typedef enum awf3HardwareRevision_t {
UNKNOWN = 0,
AFF3_REV_1, // MPU6050 / MPU9150 (I2C)
AFF3_REV_2 // MPU6500 / MPU9250 (SPI)
} awf3HardwareRevision_e;
extern uint8_t hardwareRevision;
void updateHardwareRevision(void);
void detectHardwareRevision(void);

0
src/main/target/ALIENWIIF3/system_stm32f30x.c → src/main/target/ALIENFLIGHTF3/system_stm32f30x.c
View File

0
src/main/target/ALIENWIIF3/system_stm32f30x.h → src/main/target/ALIENFLIGHTF3/system_stm32f30x.h
View File

52
src/main/target/ALIENWIIF3/target.h → src/main/target/ALIENFLIGHTF3/target.h
View File

@ -17,40 +17,66 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "AWF3" // AlienWii32 F3.
#define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
#define USE_HARDWARE_REVISION_DETECTION
#define HW_GPIO GPIOB
#define HW_PIN Pin_2
#define HW_PERIPHERAL RCC_AHBPeriph_GPIOB
// LED's V1
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_4 // Blue LEDs - PB4
#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOB
#define LED1_GPIO GPIOB
#define LED1_PIN Pin_5 // Green LEDs - PB5
#define LED1_PERIPHERAL RCC_AHBPeriph_GPIOB
// LED's V2
#define LED0_GPIO_2 GPIOB
#define LED0_PIN_2 Pin_8 // Blue LEDs - PB8
#define LED0_PERIPHERAL_2 RCC_AHBPeriph_GPIOB
#define LED1_GPIO_2 GPIOB
#define LED1_PIN_2 Pin_9 // Green LEDs - PB9
#define LED1_PERIPHERAL_2 RCC_AHBPeriph_GPIOB
#define BEEP_GPIO GPIOA
#define BEEP_PIN Pin_5 // White LEDs - PA5
#define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOA
#define USABLE_TIMER_CHANNEL_COUNT 11
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
// Using MPU6050 for the moment.
#define GYRO
#define USE_GYRO_MPU6050
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_MPU6500_ALIGN CW270_DEG
#define ACC
#define USE_ACC_MPU6050
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_MPU6500_ALIGN CW270_DEG
// No baro support.
//#define BARO
//#define USE_BARO_MS5611
// No mag support for now (option to use MPU9150 in the future).
//#define MAG
//#define USE_MAG_AK8975
#define MAG
#define USE_MAG_AK8963
#define MAG_AK8975_ALIGN CW0_DEG_FLIP
#define MAG_AK8963_ALIGN CW0_DEG_FLIP
#define BEEPER
#define LED0
@ -98,6 +124,20 @@
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
// SPI3
// PA15 38 SPI3_NSS
// PB3 39 SPI3_SCK
// PB4 40 SPI3_MISO
// PB5 41 SPI3_MOSI
#define USE_SPI
#define USE_SPI_DEVICE_3
#define MPU6500_CS_GPIO_CLK_PERIPHERAL RCC_AHBPeriph_GPIOA
#define MPU6500_CS_GPIO GPIOA
#define MPU6500_CS_PIN GPIO_Pin_15
#define MPU6500_SPI_INSTANCE SPI3
#define USE_ADC
#define ADC_INSTANCE ADC2
@ -123,8 +163,8 @@
#define BIND_PORT GPIOA
#define BIND_PIN Pin_3
// alternative defaults for AlienWii32 F3 target
#define ALIENWII32
// alternative defaults for AlienFlight F3 target
#define ALIENFLIGHT
#define HARDWARE_BIND_PLUG
// Hardware bind plug at PB12 (Pin 25)

4
src/main/target/COLIBRI_RACE/target.h
View File

@ -46,6 +46,10 @@
#define USE_SPI
#define USE_SPI_DEVICE_1
#define SPI1_NSS_GPIO GPIOA
#define SPI1_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_NSS_PIN GPIO_Pin_4
#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
#define SPI1_GPIO GPIOB
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI1_SCK_PIN GPIO_Pin_3

11
src/main/target/IRCFUSIONF3/target.h
View File

@ -108,17 +108,6 @@
#define USE_SPI
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_NSS_PIN Pin_12
#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
#define SPI2_SCK_PIN Pin_13
#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
#define SPI2_MISO_PIN Pin_14
#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14
#define SPI2_MOSI_PIN Pin_15
#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15
#define M25P16_CS_GPIO GPIOB
#define M25P16_CS_PIN GPIO_Pin_12
#define M25P16_SPI_INSTANCE SPI2

4
src/main/target/LUX_RACE/target.h
View File

@ -44,6 +44,10 @@
#define USE_SPI
#define USE_SPI_DEVICE_1
#define SPI1_NSS_GPIO GPIOA
#define SPI1_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_NSS_PIN GPIO_Pin_4
#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
#define SPI1_GPIO GPIOB
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI1_SCK_PIN GPIO_Pin_3

6
src/main/target/NAZE/target.h
View File

@ -195,10 +195,10 @@
#define S1W_RX_GPIO GPIOA
#define S1W_RX_PIN GPIO_Pin_10
// alternative defaults for AlienWii32 F1 target
#ifdef ALIENWII32
// alternative defaults for AlienFlight F1 target
#ifdef ALIENFLIGHT
#undef TARGET_BOARD_IDENTIFIER
#define TARGET_BOARD_IDENTIFIER "AWF1" // AlienWii32 F1.
#define TARGET_BOARD_IDENTIFIER "AWF1" // AlienFlight F1.
#undef BOARD_HAS_VOLTAGE_DIVIDER
#define HARDWARE_BIND_PLUG

11
src/main/target/RMDO/target.h
View File

@ -102,17 +102,6 @@
#define USE_SPI
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_NSS_PIN Pin_12
#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
#define SPI2_SCK_PIN Pin_13
#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
#define SPI2_MISO_PIN Pin_14
#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14
#define SPI2_MOSI_PIN Pin_15
#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15
#define M25P16_CS_GPIO GPIOB
#define M25P16_CS_PIN GPIO_Pin_12
#define M25P16_SPI_INSTANCE SPI2

11
src/main/target/SPRACINGF3/target.h
View File

@ -109,17 +109,6 @@
#define USE_SPI
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI2_NSS_PIN Pin_12
#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
#define SPI2_SCK_PIN Pin_13
#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
#define SPI2_MISO_PIN Pin_14
#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14
#define SPI2_MOSI_PIN Pin_15
#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15
#define M25P16_CS_GPIO GPIOB
#define M25P16_CS_PIN GPIO_Pin_12
#define M25P16_SPI_INSTANCE SPI2

4
top_makefile
View File

@ -32,8 +32,8 @@ clean_eustm32f103rc eustm32f103rc : opts := TARGET=EUSTM32F103RC
clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3
clean_port103r port103r : opts := TARGET=PORT103R
clean_sparky sparky : opts := TARGET=SPARKY
clean_alienwiif1 alienwiif1 : opts := TARGET=ALIENWIIF1
clean_alienwiif3 alienwiif3 : opts := TARGET=ALIENWIIF3
clean_alienwiif1 alienwiif1 : opts := TARGET=ALIENFLIGHTF1
clean_alienwiif3 alienwiif3 : opts := TARGET=ALIENFLIGHTF3
clean_colibri_race colibri_race : opts := TARGET=COLIBRI_RACE
clean_lux_race lux_race : opts := TARGET=LUX_RACE
clean_motolab motolab : opts := TARGET=MOTOLAB