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

Merge remote-tracking branch 'origin/development' into sirinfpv-dev

This commit is contained in:
Evgeny Sychov 2016-06-16 01:37:56 -07:00
parent d73f28fe94 e717472f60
commit 8d41a07ae7
21 changed files with 296 additions and 260 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

286
src/main/drivers/io.c
View File

@ -8,115 +8,115 @@
// io ports defs are stored in array by index now
struct ioPortDef_s {
rccPeriphTag_t rcc;
rccPeriphTag_t rcc;
};
#if defined(STM32F1)
const struct ioPortDef_s ioPortDefs[] = {
{ RCC_APB2(IOPA) },
{ RCC_APB2(IOPB) },
{ RCC_APB2(IOPC) },
{ RCC_APB2(IOPD) },
{ RCC_APB2(IOPE) },
{ RCC_APB2(IOPA) },
{ RCC_APB2(IOPB) },
{ RCC_APB2(IOPC) },
{ RCC_APB2(IOPD) },
{ RCC_APB2(IOPE) },
{
#if defined (STM32F10X_HD) || defined (STM32F10X_XL) || defined (STM32F10X_HD_VL)
RCC_APB2(IOPF),
RCC_APB2(IOPF),
#else
0,
0,
#endif
},
{
#if defined (STM32F10X_HD) || defined (STM32F10X_XL) || defined (STM32F10X_HD_VL)
RCC_APB2(IOPG),
RCC_APB2(IOPG),
#else
0,
0,
#endif
},
};
#elif defined(STM32F3)
const struct ioPortDef_s ioPortDefs[] = {
{ RCC_AHB(GPIOA) },
{ RCC_AHB(GPIOB) },
{ RCC_AHB(GPIOC) },
{ RCC_AHB(GPIOD) },
{ RCC_AHB(GPIOE) },
{ RCC_AHB(GPIOF) },
{ RCC_AHB(GPIOA) },
{ RCC_AHB(GPIOB) },
{ RCC_AHB(GPIOC) },
{ RCC_AHB(GPIOD) },
{ RCC_AHB(GPIOE) },
{ RCC_AHB(GPIOF) },
};
#elif defined(STM32F4)
const struct ioPortDef_s ioPortDefs[] = {
{ RCC_AHB1(GPIOA) },
{ RCC_AHB1(GPIOB) },
{ RCC_AHB1(GPIOC) },
{ RCC_AHB1(GPIOD) },
{ RCC_AHB1(GPIOE) },
{ RCC_AHB1(GPIOF) },
{ RCC_AHB1(GPIOA) },
{ RCC_AHB1(GPIOB) },
{ RCC_AHB1(GPIOC) },
{ RCC_AHB1(GPIOD) },
{ RCC_AHB1(GPIOE) },
{ RCC_AHB1(GPIOF) },
};
# endif
ioRec_t* IO_Rec(IO_t io)
{
return io;
return io;
}
GPIO_TypeDef* IO_GPIO(IO_t io)
{
ioRec_t *ioRec = IO_Rec(io);
return ioRec->gpio;
ioRec_t *ioRec = IO_Rec(io);
return ioRec->gpio;
}
uint16_t IO_Pin(IO_t io)
{
ioRec_t *ioRec = IO_Rec(io);
return ioRec->pin;
ioRec_t *ioRec = IO_Rec(io);
return ioRec->pin;
}
// port index, GPIOA == 0
int IO_GPIOPortIdx(IO_t io)
{
if (!io)
return -1;
return (((size_t)IO_GPIO(io) - GPIOA_BASE) >> 10); // ports are 0x400 apart
if (!io)
return -1;
return (((size_t)IO_GPIO(io) - GPIOA_BASE) >> 10); // ports are 0x400 apart
}
int IO_EXTI_PortSourceGPIO(IO_t io)
{
return IO_GPIOPortIdx(io);
return IO_GPIOPortIdx(io);
}
int IO_GPIO_PortSource(IO_t io)
{
return IO_GPIOPortIdx(io);
return IO_GPIOPortIdx(io);
}
// zero based pin index
int IO_GPIOPinIdx(IO_t io)
{
if (!io)
return -1;
return 31 - __builtin_clz(IO_Pin(io)); // CLZ is a bit faster than FFS
if (!io)
return -1;
return 31 - __builtin_clz(IO_Pin(io)); // CLZ is a bit faster than FFS
}
int IO_EXTI_PinSource(IO_t io)
{
return IO_GPIOPinIdx(io);
return IO_GPIOPinIdx(io);
}
int IO_GPIO_PinSource(IO_t io)
{
return IO_GPIOPinIdx(io);
return IO_GPIOPinIdx(io);
}
// mask on stm32f103, bit index on stm32f303
uint32_t IO_EXTI_Line(IO_t io)
{
if (!io)
return 0;
if (!io)
return 0;
#if defined(STM32F1)
return 1 << IO_GPIOPinIdx(io);
return 1 << IO_GPIOPinIdx(io);
#elif defined(STM32F3)
return IO_GPIOPinIdx(io);
return IO_GPIOPinIdx(io);
#elif defined(STM32F4)
return 1 << IO_GPIOPinIdx(io);
return 1 << IO_GPIOPinIdx(io);
#else
# error "Unknown target type"
#endif
@ -124,151 +124,151 @@ uint32_t IO_EXTI_Line(IO_t io)
bool IORead(IO_t io)
{
if (!io)
return false;
return !! (IO_GPIO(io)->IDR & IO_Pin(io));
if (!io)
return false;
return !! (IO_GPIO(io)->IDR & IO_Pin(io));
}
void IOWrite(IO_t io, bool hi)
{
if (!io)
return;
if (!io)
return;
#ifdef STM32F4
if (hi) {
IO_GPIO(io)->BSRRL = IO_Pin(io);
}
else {
IO_GPIO(io)->BSRRH = IO_Pin(io);
}
if (hi) {
IO_GPIO(io)->BSRRL = IO_Pin(io);
}
else {
IO_GPIO(io)->BSRRH = IO_Pin(io);
}
#else
IO_GPIO(io)->BSRR = IO_Pin(io) << (hi ? 0 : 16);
IO_GPIO(io)->BSRR = IO_Pin(io) << (hi ? 0 : 16);
#endif
}
void IOHi(IO_t io)
{
if (!io)
return;
if (!io)
return;
#ifdef STM32F4
IO_GPIO(io)->BSRRL = IO_Pin(io);
IO_GPIO(io)->BSRRL = IO_Pin(io);
#else
IO_GPIO(io)->BSRR = IO_Pin(io);
IO_GPIO(io)->BSRR = IO_Pin(io);
#endif
}
void IOLo(IO_t io)
{
if (!io)
return;
if (!io)
return;
#ifdef STM32F4
IO_GPIO(io)->BSRRH = IO_Pin(io);
IO_GPIO(io)->BSRRH = IO_Pin(io);
#else
IO_GPIO(io)->BRR = IO_Pin(io);
IO_GPIO(io)->BRR = IO_Pin(io);
#endif
}
void IOToggle(IO_t io)
{
if (!io)
return;
uint32_t mask = IO_Pin(io);
// Read pin state from ODR but write to BSRR because it only changes the pins
// high in the mask value rather than all pins. XORing ODR directly risks
// setting other pins incorrectly because it change all pins' state.
if (!io)
return;
uint32_t mask = IO_Pin(io);
// Read pin state from ODR but write to BSRR because it only changes the pins
// high in the mask value rather than all pins. XORing ODR directly risks
// setting other pins incorrectly because it change all pins' state.
#ifdef STM32F4
if (IO_GPIO(io)->ODR & mask) {
IO_GPIO(io)->BSRRH = mask;
} else {
IO_GPIO(io)->BSRRL = mask;
}
if (IO_GPIO(io)->ODR & mask) {
IO_GPIO(io)->BSRRH = mask;
} else {
IO_GPIO(io)->BSRRL = mask;
}
#else
if (IO_GPIO(io)->ODR & mask)
mask <<= 16; // bit is set, shift mask to reset half
if (IO_GPIO(io)->ODR & mask)
mask <<= 16; // bit is set, shift mask to reset half
IO_GPIO(io)->BSRR = mask;
IO_GPIO(io)->BSRR = mask;
#endif
}
// claim IO pin, set owner and resources
void IOInit(IO_t io, resourceOwner_t owner, resourceType_t resources)
{
ioRec_t *ioRec = IO_Rec(io);
if (owner != OWNER_FREE) // pass OWNER_FREE to keep old owner
ioRec->owner = owner;
ioRec->resourcesUsed |= resources;
ioRec_t *ioRec = IO_Rec(io);
if (owner != OWNER_FREE) // pass OWNER_FREE to keep old owner
ioRec->owner = owner;
ioRec->resourcesUsed |= resources;
}
void IORelease(IO_t io)
{
ioRec_t *ioRec = IO_Rec(io);
ioRec->owner = OWNER_FREE;
ioRec_t *ioRec = IO_Rec(io);
ioRec->owner = OWNER_FREE;
}
resourceOwner_t IOGetOwner(IO_t io)
{
ioRec_t *ioRec = IO_Rec(io);
return ioRec->owner;
ioRec_t *ioRec = IO_Rec(io);
return ioRec->owner;
}
resourceType_t IOGetResources(IO_t io)
{
ioRec_t *ioRec = IO_Rec(io);
return ioRec->resourcesUsed;
ioRec_t *ioRec = IO_Rec(io);
return ioRec->resourcesUsed;
}
#if defined(STM32F1)
void IOConfigGPIO(IO_t io, ioConfig_t cfg)
{
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Speed = cfg & 0x03,
.GPIO_Mode = cfg & 0x7c,
};
GPIO_Init(IO_GPIO(io), &init);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Speed = cfg & 0x03,
.GPIO_Mode = cfg & 0x7c,
};
GPIO_Init(IO_GPIO(io), &init);
}
#elif defined(STM32F3) || defined(STM32F4)
void IOConfigGPIO(IO_t io, ioConfig_t cfg)
{
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Mode = (cfg >> 0) & 0x03,
.GPIO_Speed = (cfg >> 2) & 0x03,
.GPIO_OType = (cfg >> 4) & 0x01,
.GPIO_PuPd = (cfg >> 5) & 0x03,
};
GPIO_Init(IO_GPIO(io), &init);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Mode = (cfg >> 0) & 0x03,
.GPIO_Speed = (cfg >> 2) & 0x03,
.GPIO_OType = (cfg >> 4) & 0x01,
.GPIO_PuPd = (cfg >> 5) & 0x03,
};
GPIO_Init(IO_GPIO(io), &init);
}
void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
{
if (!io)
return;
if (!io)
return;
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
GPIO_PinAFConfig(IO_GPIO(io), IO_GPIO_PinSource(io), af);
rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
GPIO_PinAFConfig(IO_GPIO(io), IO_GPIO_PinSource(io), af);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Mode = (cfg >> 0) & 0x03,
.GPIO_Speed = (cfg >> 2) & 0x03,
.GPIO_OType = (cfg >> 4) & 0x01,
.GPIO_PuPd = (cfg >> 5) & 0x03,
};
GPIO_Init(IO_GPIO(io), &init);
GPIO_InitTypeDef init = {
.GPIO_Pin = IO_Pin(io),
.GPIO_Mode = (cfg >> 0) & 0x03,
.GPIO_Speed = (cfg >> 2) & 0x03,
.GPIO_OType = (cfg >> 4) & 0x01,
.GPIO_PuPd = (cfg >> 5) & 0x03,
};
GPIO_Init(IO_GPIO(io), &init);
}
#endif
@ -279,32 +279,32 @@ ioRec_t ioRecs[DEFIO_IO_USED_COUNT];
// initialize all ioRec_t structures from ROM
// currently only bitmask is used, this may change in future
void IOInitGlobal(void) {
ioRec_t *ioRec = ioRecs;
ioRec_t *ioRec = ioRecs;
for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) {
for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) {
if (ioDefUsedMask[port] & (1 << pin)) {
ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart
ioRec->pin = 1 << pin;
ioRec++;
}
}
}
for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) {
for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) {
if (ioDefUsedMask[port] & (1 << pin)) {
ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart
ioRec->pin = 1 << pin;
ioRec++;
}
}
}
}
IO_t IOGetByTag(ioTag_t tag)
{
int portIdx = DEFIO_TAG_GPIOID(tag);
int pinIdx = DEFIO_TAG_PIN(tag);
int portIdx = DEFIO_TAG_GPIOID(tag);
int pinIdx = DEFIO_TAG_PIN(tag);
if (portIdx >= DEFIO_PORT_USED_COUNT)
return NULL;
// check if pin exists
if (!(ioDefUsedMask[portIdx] & (1 << pinIdx)))
return NULL;
// count bits before this pin on single port
int offset = __builtin_popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]);
// and add port offset
offset += ioDefUsedOffset[portIdx];
return ioRecs + offset;
if (portIdx >= DEFIO_PORT_USED_COUNT)
return NULL;
// check if pin exists
if (!(ioDefUsedMask[portIdx] & (1 << pinIdx)))
return NULL;
// count bits before this pin on single port
int offset = __builtin_popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]);
// and add port offset
offset += ioDefUsedOffset[portIdx];
return ioRecs + offset;
}

10
src/main/drivers/io_impl.h
View File

@ -5,14 +5,14 @@
#include "platform.h"
typedef struct ioDef_s {
ioTag_t tag;
ioTag_t tag;
} ioDef_t;
typedef struct ioRec_s {
GPIO_TypeDef *gpio;
uint16_t pin;
resourceOwner_t owner;
resourceType_t resourcesUsed; // TODO!
GPIO_TypeDef *gpio;
uint16_t pin;
resourceOwner_t owner;
resourceType_t resourcesUsed; // TODO!
} ioRec_t;
extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT];

9
src/main/drivers/pwm_mapping.c
View File

@ -189,12 +189,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif
#ifdef SONAR
if (init->sonarGPIOConfig &&
if (init->sonarConfig &&
(
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) ||
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin)
)
) {
timerHardwarePtr->pin == init->sonarConfig->triggerPin ||
timerHardwarePtr->pin == init->sonarConfig->echoPin
)) {
continue;
}
#endif

13
src/main/drivers/pwm_mapping.h
View File

@ -16,7 +16,7 @@
*/
#pragma once
#include "gpio.h"
#include "timer.h"
#define MAX_PWM_MOTORS 12
@ -42,11 +42,10 @@
#define ONESHOT42_TIMER_MHZ 24
#define ONESHOT125_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
uint16_t triggerPin;
uint16_t echoPin;
} sonarGPIOConfig_t;
typedef struct sonarIOConfig_s {
ioTag_t triggerPin;
ioTag_t echoPin;
} sonarIOConfig_t;
typedef struct drv_pwm_config_s {
bool useParallelPWM;
@ -78,7 +77,7 @@ typedef struct drv_pwm_config_s {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarGPIOConfig_t *sonarGPIOConfig;
sonarIOConfig_t *sonarConfig;
} drv_pwm_config_t;
enum {

29
src/main/drivers/sonar_hcsr04.c
View File

@ -22,7 +22,6 @@
#include "build_config.h"
#include "system.h"
#include "gpio.h"
#include "nvic.h"
#include "io.h"
#include "exti.h"
@ -43,8 +42,9 @@ static uint32_t lastMeasurementAt;
static sonarHardware_t const *sonarHardware;
extiCallbackRec_t hcsr04_extiCallbackRec;
static IO_t echoIO;
//static IO_t triggerIO;
static IO_t triggerIO;
void hcsr04_extiHandler(extiCallbackRec_t* cb)
{
@ -52,7 +52,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb)
uint32_t timing_stop;
UNUSED(cb);
if (digitalIn(sonarHardware->echo_gpio, sonarHardware->echo_pin) != 0) {
if (IORead(echoIO) != 0) {
timing_start = micros();
}
else {
@ -71,32 +71,27 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware, sonarRange_t *sona
sonarRange->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
#if !defined(UNIT_TEST)
gpio_config_t gpio;
#ifdef STM32F10X
// enable AFIO for EXTI support
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
#ifdef STM32F303xC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
#if defined(STM32F3) || defined(STM32F4)
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
// trigger pin
gpio.pin = sonarHardware->trigger_pin;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(sonarHardware->trigger_gpio, &gpio);
triggerIO = IOGetByTag(sonarHardware->triggerIO);
IOInit(triggerIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
// echo pin
gpio.pin = sonarHardware->echo_pin;
gpio.mode = Mode_IN_FLOATING;
gpioInit(sonarHardware->echo_gpio, &gpio);
echoIO = IOGetByTag(sonarHardware->echoIO);
IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
echoIO = IOGetByTag(sonarHardware->echoIO);
#ifdef USE_EXTI
EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
@ -123,10 +118,10 @@ void hcsr04_start_reading(void)
lastMeasurementAt = now;
digitalHi(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOHi(triggerIO);
// The width of trig signal must be greater than 10us
delayMicroseconds(11);
digitalLo(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOLo(triggerIO);
#endif
}

4
src/main/drivers/sonar_hcsr04.h
View File

@ -21,10 +21,6 @@
#include "io.h"
typedef struct sonarHardware_s {
uint16_t trigger_pin;
GPIO_TypeDef* trigger_gpio;
uint16_t echo_pin;
GPIO_TypeDef* echo_gpio;
ioTag_t triggerIO;
ioTag_t echoIO;
} sonarHardware_t;

9
src/main/main.c
View File

@ -267,12 +267,11 @@ void init(void)
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.gpio = SONAR_GPIO,
.triggerPin = sonarHardware->echo_pin,
.echoPin = sonarHardware->trigger_pin,
sonarIOConfig_t sonarConfig = {
.triggerPin = sonarHardware->triggerIO,
.echoPin = sonarHardware->echoIO
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
pwm_params.sonarConfig = &sonarConfig;
}
#endif

78
src/main/sensors/sonar.c
View File

@ -26,7 +26,7 @@
#include "common/axis.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
@ -48,79 +48,21 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude;
#ifdef SONAR_CUSTOM_CONFIG
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig);
#endif
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
static const sonarHardware_t const sonarPWM56 = {
.trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant
.trigger_gpio = GPIOB,
.echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
#elif defined(OLIMEXINO)
#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(CC3D)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_5, // (PB5)
.trigger_gpio = GPIOB,
.echo_pin = Pin_0, // (PB0) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB5),
.echoIO = IO_TAG(PB0),
};
return &sonarHardware;
// TODO - move sonar pin selection to CLI
#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3) || defined(RMDO)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(SPARKY)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_2, // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOA,
.echo_pin = Pin_1, // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PA2),
.echoIO = IO_TAG(PB1),
.triggerIO = IO_TAG(SONAR_TRIGGER_PIN),
.echoIO = IO_TAG(SONAR_ECHO_PIN),
};
return &sonarHardware;
#elif defined(SONAR_CUSTOM_CONFIG)
return sonarGetTargetHardwareConfiguration(batteryConfig);
#elif defined(UNIT_TEST)
UNUSED(batteryConfig);
return 0;

3
src/main/target/CC3D/target.h
View File

@ -118,6 +118,9 @@
#define DISPLAY
#define SONAR
#define SONAR_ECHO_PIN PB0
#define SONAR_TRIGGER_PIN PB5
#undef GPS
#undef BARO

28
src/main/target/EUSTM32F103RC/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/EUSTM32F103RC/target.h
View File

@ -69,6 +69,8 @@
#define MAG_AK8975_ALIGN CW180_DEG_FLIP
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

3
src/main/target/FURYF3/target.h
View File

@ -184,6 +184,9 @@
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES FEATURE_BLACKBOX

28
src/main/target/NAZE/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

1
src/main/target/NAZE/target.h
View File

@ -111,6 +111,7 @@
#define MAG_HMC5883_ALIGN CW180_DEG
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/OLIMEXINO/target.h
View File

@ -59,6 +59,8 @@
#define USE_MAG_HMC5883
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

28
src/main/target/PORT103R/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/PORT103R/target.h
View File

@ -87,6 +87,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/RMDO/target.h
View File

@ -52,6 +52,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

3
src/main/target/SPARKY/target.h
View File

@ -156,6 +156,9 @@
// USART2, PA3
#define BIND_PIN PA3
//#define SONAR
//#define SONAR_ECHO_PIN PB1
//#define SONAR_TRIGGER_PIN PA2
// available IO pins (from schematics)
//#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))

2
src/main/target/SPRACINGF3/target.h
View File

@ -61,6 +61,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

10
src/main/target/SPRACINGF3MINI/target.h
View File

@ -24,9 +24,9 @@
// early prototype had slightly different pin mappings.
//#define SPRACINGF3MINI_MKII_REVA
#define LED0 PB3
#define LED0 PB3
#define BEEPER PC15
#define BEEPER PC15
#define BEEPER_INVERTED
#define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
@ -50,7 +50,7 @@
//#define USE_FAKE_ACC
#define USE_ACC_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_MPU6500_ALIGN CW180_DEG
#define GYRO_MPU6500_ALIGN CW180_DEG
#define BARO
@ -64,11 +64,13 @@
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USB_IO
#define USB_CABLE_DETECTION
#define USB_DETECT_PIN PB5
#define USB_DETECT_PIN PB5
#define USE_VCP
#define USE_USART1