Martin Budden
GitHub
commit
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <platform.h>
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#include "drivers/pwm_mapping.h"
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const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Motor #2
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Motor #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Motor #4
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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const uint16_t airPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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const uint16_t airPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM2, 0}, // PPM
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM3, 0}, // S2_IN
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM3, 0}, // S3_IN
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{ TIM3, IO_TAG(PA7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM3, 0}, // S4_IN
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{ TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM3, 0}, // S5_IN
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{ TIM2, IO_TAG(PA5), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM2, 0}, // S6_IN
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{ TIM1, IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1, 0}, // S1_OUT
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{ TIM2, IO_TAG(PB3), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2, 0}, // S2_OUT
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{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4, 0}, // S3_OUT
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{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM4, 0}, // S4_OUT
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{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5, 0}, // S5_OUT
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{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5, 0}, // S6_OUT
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};
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@ -0,0 +1,124 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define TARGET_BOARD_IDENTIFIER "REVN"
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#define CONFIG_START_FLASH_ADDRESS (0x08060000) //0x08060000 to 0x08080000 (FLASH_Sector_7)
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#define CONFIG_SERIALRX_PROVIDER 2
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#define CONFIG_BLACKBOX_DEVICE 1
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#define CONFIG_FEATURE_RX_SERIAL
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#define CONFIG_FEATURE_ONESHOT125
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#define CONFIG_MSP_PORT 1
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#define CONFIG_RX_SERIAL_PORT 2
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#define USBD_PRODUCT_STRING "Revo Nano"
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#ifdef OPBL
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#define USBD_SERIALNUMBER_STRING "0x8010000"
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#endif
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#define LED0 PC14
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#define LED1 PC13
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#define BEEPER PC13
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#define INVERTER PC15
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#define INVERTER_USART USART2 //Sbus on USART 2 of nano.
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#define MPU9250_CS_PIN PB12
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#define MPU9250_SPI_INSTANCE SPI2
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#define ACC
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#define USE_ACC_MPU9250
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#define USE_ACC_SPI_MPU9250
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#define ACC_MPU9250_ALIGN CW270_DEG
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#define GYRO
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#define USE_GYRO_MPU9250
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#define USE_GYRO_SPI_MPU9250
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#define GYRO_MPU9250_ALIGN CW270_DEG
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//#define MAG
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//#define USE_MAG_HMC5883
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#define BARO
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#define USE_BARO_MS5611
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// MPU9250 interrupts
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#define USE_MPU_DATA_READY_SIGNAL
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//#define ENSURE_MPU_DATA_READY_IS_LOW
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#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
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#define MPU_INT_EXTI PA15
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#define USE_EXTI
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#define USABLE_TIMER_CHANNEL_COUNT 12
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#define USE_VCP
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#define VBUS_SENSING_PIN PA9
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#define USE_USART1
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#define USART1_RX_PIN PB7
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#define USART1_TX_PIN PB6
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#define USE_USART2
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#define USART2_RX_PIN PA3
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#define USART2_TX_PIN PA2
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#define SERIAL_PORT_COUNT 3 //VCP, USART1, USART2
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#define USE_SPI
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//#define USE_SPI_DEVICE_1
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#define USE_SPI_DEVICE_2
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//#define USE_SPI_DEVICE_3
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_3)
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#define USE_ADC
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//FLEXI-IO 6
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#define CURRENT_METER_ADC_PIN PA7
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#define CURRENT_METER_ADC_CHANNEL ADC_Channel_7
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//FLEXI-IO 7
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#define VBAT_ADC_PIN PA6
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#define VBAT_ADC_CHANNEL ADC_Channel_6
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//FLEXI-IO 8
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#define RSSI_ADC_PIN PA5
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#define RSSI_ADC_CHANNEL ADC_Channel_5
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//#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG)
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//#define LED_STRIP
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//#define LED_STRIP_TIMER TIM5
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#define GPS
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#define BLACKBOX
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#define TELEMETRY
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#define SERIAL_RX
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#define USE_SERVOS
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#define USE_CLI
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) )
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#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB)
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#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1)
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@ -0,0 +1,6 @@
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F411_TARGETS += $(TARGET)
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FEATURES += VCP ONBOARDFLASH
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TARGET_SRC = \
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drivers/accgyro_spi_mpu9250.c \
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drivers/barometer_ms5611.c
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