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Merge branch 'development' into development_F4_changes

This commit is contained in:
kc10kevin 2016-07-04 02:22:53 -05:00
parent 39ec4a128a 59c1f240a9
commit f3465d1aba
95 changed files with 1299 additions and 662 deletions
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1
Makefile
View File

@ -600,6 +600,7 @@ LDFLAGS = -lm \
-Wl,-gc-sections,-Map,$(TARGET_MAP) \
-Wl,-L$(LINKER_DIR) \
-Wl,--cref \
-Wl,--no-wchar-size-warning \
-T$(LD_SCRIPT)
###############################################################################

91
src/main/common/filter.c
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@ -17,76 +17,81 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include "common/axis.h"
#include "common/filter.h"
#include "common/maths.h"
#define M_LN2_FLOAT 0.69314718055994530942f
#define M_PI_FLOAT 3.14159265358979323846f
#define M_LN2_FLOAT 0.69314718055994530942f
#define M_PI_FLOAT 3.14159265358979323846f
#define BIQUAD_BANDWIDTH 1.9f /* bandwidth in octaves */
#define BIQUAD_Q 1.0f / sqrtf(2.0f) /* quality factor - butterworth*/
// PT1 Low Pass filter (when no dT specified it will be calculated from the cycleTime)
float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dT) {
// PT1 Low Pass filter
// Pre calculate and store RC
if (!filter->RC) {
filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
}
void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT)
{
filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
filter->dT = dT;
}
filter->state = filter->state + dT / (filter->RC + dT) * (input - filter->state);
float pt1FilterApply(pt1Filter_t *filter, float input)
{
filter->state = filter->state + filter->dT / (filter->RC + filter->dT) * (input - filter->state);
return filter->state;
}
float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
{
// Pre calculate and store RC
if (!filter->RC) {
filter->RC = 1.0f / ( 2.0f * M_PI_FLOAT * f_cut );
filter->dT = dT;
}
filter->state = filter->state + filter->dT / (filter->RC + filter->dT) * (input - filter->state);
return filter->state;
}
/* sets up a biquad Filter */
void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate)
void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
{
float sampleRate;
const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
sampleRate = 1 / ((float)refreshRate * 0.000001f);
float omega, sn, cs, alpha;
float a0, a1, a2, b0, b1, b2;
/* setup variables */
omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
sn = sinf(omega);
cs = cosf(omega);
// setup variables
const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
const float sn = sinf(omega);
const float cs = cosf(omega);
//this is wrong, should be hyperbolic sine
//alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
alpha = sn / (2 * BIQUAD_Q);
const float alpha = sn / (2 * BIQUAD_Q);
b0 = (1 - cs) / 2;
b1 = 1 - cs;
b2 = (1 - cs) / 2;
a0 = 1 + alpha;
a1 = -2 * cs;
a2 = 1 - alpha;
const float b0 = (1 - cs) / 2;
const float b1 = 1 - cs;
const float b2 = (1 - cs) / 2;
const float a0 = 1 + alpha;
const float a1 = -2 * cs;
const float a2 = 1 - alpha;
/* precompute the coefficients */
newState->b0 = b0 / a0;
newState->b1 = b1 / a0;
newState->b2 = b2 / a0;
newState->a1 = a1 / a0;
newState->a2 = a2 / a0;
// precompute the coefficients
filter->b0 = b0 / a0;
filter->b1 = b1 / a0;
filter->b2 = b2 / a0;
filter->a1 = a1 / a0;
filter->a2 = a2 / a0;
/* zero initial samples */
newState->d1 = newState->d2 = 1;
// zero initial samples
filter->d1 = filter->d2 = 0;
}
/* Computes a biquad_t filter on a sample */
float applyBiQuadFilter(float sample, biquad_t *state) //direct form 2 transposed
float biquadFilterApply(biquadFilter_t *filter, float input)
{
float result;
result = state->b0 * sample + state->d1;
state->d1 = state->b1 * sample - state->a1 * result + state->d2;
state->d2 = state->b2 * sample - state->a2 * result;
const float result = filter->b0 * input + filter->d1;
filter->d1 = filter->b1 * input - filter->a1 * result + filter->d2;
filter->d2 = filter->b2 * input - filter->a2 * result;
return result;
}

26
src/main/common/filter.h
View File

@ -17,20 +17,26 @@
#define DELTA_MAX_SAMPLES 12
typedef struct filterStatePt1_s {
float state;
float RC;
float constdT;
} filterStatePt1_t;
typedef struct pt1Filter_s {
float state;
float RC;
float dT;
} pt1Filter_t;
/* this holds the data required to update samples thru a filter */
typedef struct biquad_s {
typedef struct biquadFilter_s {
float b0, b1, b2, a1, a2;
float d1, d2;
} biquad_t;
} biquadFilter_t;
void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
float biquadFilterApply(biquadFilter_t *filter, float input);
void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);
float pt1FilterApply(pt1Filter_t *filter, float input);
float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT);
float applyBiQuadFilter(float sample, biquad_t *state);
float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dt);
int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]);
float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]);
void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate);

26
src/main/config/config.c
View File

@ -646,6 +646,12 @@ static void resetConf(void)
#endif // BLACKBOX
#ifdef SERIALRX_UART
if (featureConfigured(FEATURE_RX_SERIAL)) {
masterConfig.serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
}
#endif
// alternative defaults settings for COLIBRI RACE targets
#if defined(COLIBRI_RACE)
masterConfig.escAndServoConfig.minthrottle = 1025;
@ -660,11 +666,6 @@ static void resetConf(void)
#if defined(ALIENFLIGHT)
featureClear(FEATURE_ONESHOT125);
#ifdef ALIENFLIGHTF1
masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
#else
masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
#endif
#ifdef ALIENFLIGHTF3
masterConfig.mag_hardware = MAG_NONE; // disabled by default
#endif
@ -688,11 +689,6 @@ static void resetConf(void)
masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L#endif
#endif
#if defined(SINGULARITY)
// alternative defaults settings for SINGULARITY target
masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
#endif
// copy first profile into remaining profile
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
@ -848,10 +844,10 @@ void validateAndFixConfig(void)
if (featureConfigured(FEATURE_SOFTSERIAL) && (
0
#ifdef USE_SOFTSERIAL1
|| (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
|| (WS2811_TIMER == SOFTSERIAL_1_TIMER)
#endif
#ifdef USE_SOFTSERIAL2
|| (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
|| (WS2811_TIMER == SOFTSERIAL_2_TIMER)
#endif
)) {
// led strip needs the same timer as softserial
@ -901,15 +897,11 @@ void validateAndFixConfig(void)
#if defined(COLIBRI_RACE)
masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
if (featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
featureClear(FEATURE_RX_PARALLEL_PWM);
featureClear(FEATURE_RX_MSP);
featureSet(FEATURE_RX_PPM);
}
if(featureConfigured(FEATURE_RX_SERIAL)) {
masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
//masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
}
#endif
useRxConfig(&masterConfig.rxConfig);

2
src/main/drivers/io.h
View File

@ -52,6 +52,7 @@ typedef uint8_t ioConfig_t; // packed IO configuration
#define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
#define IOCFG_OUT_PP IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL) // TODO
#define IOCFG_OUT_PP_25 IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
#define IOCFG_OUT_OD IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
#define IOCFG_AF_PP IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
#define IOCFG_AF_PP_PD IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_PP, GPIO_PuPd_DOWN)
@ -60,6 +61,7 @@ typedef uint8_t ioConfig_t; // packed IO configuration
#define IOCFG_IPD IO_CONFIG(GPIO_Mode_IN, 0, 0, GPIO_PuPd_DOWN)
#define IOCFG_IPU IO_CONFIG(GPIO_Mode_IN, 0, 0, GPIO_PuPd_UP)
#define IOCFG_IN_FLOATING IO_CONFIG(GPIO_Mode_IN, 0, 0, GPIO_PuPd_NOPULL)
#define IOCFG_IPU_25 IO_CONFIG(GPIO_Mode_IN, GPIO_Speed_25MHz, 0, GPIO_PuPd_UP)
#elif defined(UNIT_TEST)

16
src/main/drivers/light_ws2811strip.c
View File

@ -80,18 +80,9 @@ void setStripColors(const hsvColor_t *colors)
}
}
void ws2811DMAHandler(DMA_Channel_TypeDef *channel) {
if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(channel, DISABLE);
DMA_ClearFlag(WS2811_DMA_TC_FLAG);
}
}
void ws2811LedStripInit(void)
{
memset(&ledStripDMABuffer, 0, WS2811_DMA_BUFFER_SIZE);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
ws2811LedStripHardwareInit();
ws2811UpdateStrip();
}
@ -141,12 +132,11 @@ STATIC_UNIT_TESTED void updateLEDDMABuffer(uint8_t componentValue)
*/
void ws2811UpdateStrip(void)
{
static uint32_t waitCounter = 0;
static rgbColor24bpp_t *rgb24;
// wait until previous transfer completes
while(ws2811LedDataTransferInProgress) {
waitCounter++;
// don't wait - risk of infinite block, just get an update next time round
if (ws2811LedDataTransferInProgress) {
return;
}
dmaBufferOffset = 0; // reset buffer memory index

48
src/main/drivers/light_ws2811strip_stm32f10x.c
View File

@ -23,35 +23,41 @@
#include "common/color.h"
#include "drivers/light_ws2811strip.h"
#include "nvic.h"
#include "io.h"
#include "dma.h"
#include "timer.h"
#ifdef LED_STRIP
static IO_t ws2811IO = IO_NONE;
bool ws2811Initialised = false;
void ws2811DMAHandler(DMA_Channel_TypeDef *channel)
{
if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(channel, DISABLE);
DMA_ClearFlag(WS2811_DMA_TC_FLAG);
}
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
#ifdef CC3D
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
/* GPIOA Configuration: TIM3 Channel 1 as alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
IOConfigGPIO(ws2811IO, IO_CONFIG(GPIO_Speed_50MHz, GPIO_Mode_AF_PP));
RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
@ -108,16 +114,20 @@ void ws2811LedStripHardwareInit(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
ws2811Initialised = true;
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void ws2811LedStripDMAEnable(void)
{
if (!ws2811Initialised)
return;
DMA_SetCurrDataCounter(DMA1_Channel6, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE);
DMA_Cmd(DMA1_Channel6, ENABLE);
}
#endif

55
src/main/drivers/light_ws2811strip_stm32f30x.c
View File

@ -20,51 +20,54 @@
#include <platform.h>
#include "gpio.h"
#include "io.h"
#include "nvic.h"
#include "common/color.h"
#include "drivers/light_ws2811strip.h"
#include "dma.h"
#include "rcc.h"
#include "timer.h"
#ifndef WS2811_GPIO
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#ifdef LED_STRIP
#ifndef WS2811_PIN
#define WS2811_PIN PB8 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER
#endif
static IO_t ws2811IO = IO_NONE;
bool ws2811Initialised = false;
void ws2811DMAHandler(DMA_Channel_TypeDef *channel)
{
if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(channel, DISABLE);
DMA_ClearFlag(WS2811_DMA_TC_FLAG);
}
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
RCC_AHBPeriphClockCmd(WS2811_GPIO_AHB_PERIPHERAL, ENABLE);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
GPIO_PinAFConfig(WS2811_GPIO, WS2811_PIN_SOURCE, WS2811_GPIO_AF);
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER));
/* Configuration alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = WS2811_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(WS2811_GPIO, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(WS2811_TIMER_APB2_PERIPHERAL, ENABLE);
RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
@ -122,16 +125,20 @@ void ws2811LedStripHardwareInit(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
ws2811Initialised = true;
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void ws2811LedStripDMAEnable(void)
{
if (!ws2811Initialised)
return;
DMA_SetCurrDataCounter(WS2811_DMA_CHANNEL, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(WS2811_TIMER, 0);
TIM_Cmd(WS2811_TIMER, ENABLE);
DMA_Cmd(WS2811_DMA_CHANNEL, ENABLE);
}
#endif

145
src/main/drivers/light_ws2811strip_stm32f4xx.c
View File

@ -22,64 +22,121 @@
#include "common/color.h"
#include "light_ws2811strip.h"
#include "dma.h"
#include "nvic.h"
#include "io.h"
#include "system.h"
#include "rcc.h"
#include "timer.h"
#ifdef LED_STRIP
#if !defined(WS2811_PIN)
#define WS2811_PIN PA0
#define WS2811_TIMER TIM5
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER
#define WS2811_DMA_STREAM DMA1_Stream2
#define WS2811_DMA_FLAG DMA_FLAG_TCIF2
#define WS2811_DMA_IT DMA_IT_TCIF2
#define WS2811_DMA_CHANNEL DMA_Channel_6
#define WS2811_DMA_IRQ DMA1_Stream2_IRQn
#define WS2811_TIMER_CHANNEL TIM_Channel_1
#endif
static IO_t ws2811IO = IO_NONE;
static uint16_t timDMASource = 0;
bool ws2811Initialised = false;
void ws2811DMAHandler(DMA_Stream_TypeDef *stream)
{
if (DMA_GetFlagStatus(stream, WS2811_DMA_FLAG)) {
ws2811LedDataTransferInProgress = 0;
DMA_ClearITPendingBit(stream, WS2811_DMA_IT);
DMA_Cmd(stream, DISABLE);
TIM_DMACmd(WS2811_TIMER, timDMASource, DISABLE);
}
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM5);
IOInit(ws2811IO, OWNER_SYSTEM, RESOURCE_OUTPUT);
IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER));
// Stop timer
TIM_Cmd(TIM5, DISABLE);
TIM_Cmd(WS2811_TIMER, DISABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 2 / 84000000) - 1;
prescalerValue = (uint16_t)(SystemCoreClock / 2 / 84000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 104; // 800kHz
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(WS2811_TIMER, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM5, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
TIM_Cmd(TIM5, ENABLE);
uint32_t channelAddress = 0;
switch (WS2811_TIMER_CHANNEL) {
case TIM_Channel_1:
TIM_OC1Init(WS2811_TIMER, &TIM_OCInitStructure);
timDMASource = TIM_DMA_CC1;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR1);
TIM_OC1PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(WS2811_TIMER, &TIM_OCInitStructure);
timDMASource = TIM_DMA_CC2;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR2);
TIM_OC2PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(WS2811_TIMER, &TIM_OCInitStructure);
timDMASource = TIM_DMA_CC3;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR3);
TIM_OC3PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(WS2811_TIMER, &TIM_OCInitStructure);
timDMASource = TIM_DMA_CC4;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR4);
TIM_OC4PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
break;
}
TIM_CtrlPWMOutputs(WS2811_TIMER, ENABLE);
TIM_ARRPreloadConfig(WS2811_TIMER, ENABLE);
TIM_CCxCmd(WS2811_TIMER, WS2811_TIMER_CHANNEL, TIM_CCx_Enable);
TIM_Cmd(WS2811_TIMER, ENABLE);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
/* configure DMA */
/* DMA1 Channel Config */
DMA_Cmd(DMA1_Stream2, DISABLE); // disable DMA channel 6
DMA_DeInit(DMA1_Stream2);
DMA_Cmd(WS2811_DMA_STREAM, DISABLE);
DMA_DeInit(WS2811_DMA_STREAM);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_Channel = DMA_Channel_6;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(TIM5->CCR1);
DMA_InitStructure.DMA_Channel = WS2811_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = channelAddress;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
@ -93,38 +150,36 @@ void ws2811LedStripHardwareInit(void)
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream2, &DMA_InitStructure);
DMA_ITConfig(DMA1_Stream2, DMA_IT_TC, ENABLE);
DMA_ClearITPendingBit(DMA1_Stream2, DMA_IT_TCIF2); // clear DMA1 Channel 6 transfer complete flag
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
DMA_Init(WS2811_DMA_STREAM, &DMA_InitStructure);
DMA_ITConfig(WS2811_DMA_STREAM, DMA_IT_TC, ENABLE);
DMA_ClearITPendingBit(WS2811_DMA_STREAM, WS2811_DMA_IT);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream2_IRQn;
NVIC_InitStructure.NVIC_IRQChannel = WS2811_DMA_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
ws2811Initialised = true;
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void DMA1_Stream2_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_Stream2, DMA_FLAG_TCIF2)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(DMA1_Stream2, DISABLE);
TIM_DMACmd(TIM5, TIM_DMA_CC1, DISABLE);
DMA_ClearITPendingBit(DMA1_Stream2, DMA_IT_TCIF2);
}
}
void ws2811LedStripDMAEnable(void)
{
DMA_SetCurrDataCounter(DMA1_Stream2, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(TIM5, 0);
DMA_Cmd(DMA1_Stream2, ENABLE);
TIM_DMACmd(TIM5, TIM_DMA_CC1, ENABLE);
if (!ws2811Initialised)
return;
DMA_SetCurrDataCounter(WS2811_DMA_STREAM, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(WS2811_TIMER, 0);
DMA_Cmd(WS2811_DMA_STREAM, ENABLE);
TIM_DMACmd(WS2811_TIMER, timDMASource, ENABLE);
}
#endif

2
src/main/drivers/max7456_symbols.h
View File

@ -176,7 +176,7 @@
#define SYM_FT 0x0F
// Voltage and amperage
#define SYM_VOLT 0x00
#define SYM_VOLT 0x06
#define SYM_AMP 0x9A
#define SYM_MAH 0xA4
#define SYM_WATT 0x57

18
src/main/drivers/pwm_mapping.c
View File

@ -157,33 +157,33 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
#endif
#ifdef LED_STRIP_TIMER
#ifdef WS2811_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
if (timerHardwarePtr->tim == WS2811_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
if (CheckGPIOPinSource(timerHardwarePtr->tag, WS2811_GPIO, WS2811_PIN_SOURCE))
#if defined(STM32F303xC) && defined(WS2811_PIN)
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN))
continue;
#endif
}
#endif
#ifdef VBAT_ADC_GPIO
if (init->useVbat && CheckGPIOPin(timerHardwarePtr->tag, VBAT_ADC_GPIO, VBAT_ADC_GPIO_PIN)) {
#ifdef VBAT_ADC_PIN
if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && CheckGPIOPin(timerHardwarePtr->tag, RSSI_ADC_GPIO, RSSI_ADC_GPIO_PIN)) {
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && CheckGPIOPin(timerHardwarePtr->tag, CURRENT_METER_ADC_GPIO, CURRENT_METER_ADC_GPIO_PIN)) {
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
continue;
}
#endif
@ -274,7 +274,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(LED_STRIP_TIMER)
#if defined(NAZE) && defined(WS2811_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {

160
src/main/drivers/serial_uart_stm32f30x.c
View File

@ -71,6 +71,24 @@
#define UART3_RX_PINSOURCE GPIO_PinSource11
#endif
#ifndef UART4_GPIO
#define UART4_TX_PIN GPIO_Pin_10 // PC10 (AF5)
#define UART4_RX_PIN GPIO_Pin_11 // PC11 (AF5)
#define UART4_GPIO_AF GPIO_AF_5
#define UART4_GPIO GPIOC
#define UART4_TX_PINSOURCE GPIO_PinSource10
#define UART4_RX_PINSOURCE GPIO_PinSource11
#endif
#ifndef UART5_GPIO // The real UART5_RX is on PD2, no board is using.
#define UART5_TX_PIN GPIO_Pin_12 // PC12 (AF5)
#define UART5_RX_PIN GPIO_Pin_12 // PC12 (AF5)
#define UART5_GPIO_AF GPIO_AF_5
#define UART5_GPIO GPIOC
#define UART5_TX_PINSOURCE GPIO_PinSource12
#define UART5_RX_PINSOURCE GPIO_PinSource12
#endif
#ifdef USE_USART1
static uartPort_t uartPort1;
#endif
@ -80,6 +98,12 @@ static uartPort_t uartPort2;
#ifdef USE_USART3
static uartPort_t uartPort3;
#endif
#ifdef USE_USART4
static uartPort_t uartPort4;
#endif
#ifdef USE_USART5
static uartPort_t uartPort5;
#endif
#ifdef USE_USART1
uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode, portOptions_t options)
@ -324,6 +348,124 @@ uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t optio
}
#endif
#ifdef USE_USART4
uartPort_t *serialUSART4(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx4Buffer[UART4_RX_BUFFER_SIZE];
static volatile uint8_t tx4Buffer[UART4_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
s = &uartPort4;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART4_RX_BUFFER_SIZE;
s->port.txBufferSize = UART4_TX_BUFFER_SIZE;
s->port.rxBuffer = rx4Buffer;
s->port.txBuffer = tx4Buffer;
s->USARTx = UART4;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);
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 = (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
if (options & SERIAL_BIDIR) {
GPIO_InitStructure.GPIO_Pin = UART4_TX_PIN;
GPIO_InitStructure.GPIO_OType = (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD;
GPIO_PinAFConfig(UART4_GPIO, UART4_TX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
if(!(options & SERIAL_INVERTED))
GPIO_SetBits(UART4_GPIO, UART4_TX_PIN); // OpenDrain output should be inactive
} else {
if (mode & MODE_TX) {
GPIO_InitStructure.GPIO_Pin = UART4_TX_PIN;
GPIO_PinAFConfig(UART4_GPIO, UART4_TX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
}
if (mode & MODE_RX) {
GPIO_InitStructure.GPIO_Pin = UART4_RX_PIN;
GPIO_PinAFConfig(UART4_GPIO, UART4_RX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
}
}
NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART4);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART4);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
#endif
#ifdef USE_USART5
uartPort_t *serialUSART5(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx5Buffer[UART5_RX_BUFFER_SIZE];
static volatile uint8_t tx5Buffer[UART5_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
s = &uartPort5;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART5_RX_BUFFER_SIZE;
s->port.txBufferSize = UART5_TX_BUFFER_SIZE;
s->port.rxBuffer = rx5Buffer;
s->port.txBuffer = tx5Buffer;
s->USARTx = UART5;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE);
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 = (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
if (options & SERIAL_BIDIR) {
GPIO_InitStructure.GPIO_Pin = UART5_TX_PIN;
GPIO_InitStructure.GPIO_OType = (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD;
GPIO_PinAFConfig(UART5_GPIO, UART5_TX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
if(!(options & SERIAL_INVERTED))
GPIO_SetBits(UART5_GPIO, UART5_TX_PIN); // OpenDrain output should be inactive
} else {
if (mode & MODE_TX) {
GPIO_InitStructure.GPIO_Pin = UART5_TX_PIN;
GPIO_PinAFConfig(UART5_GPIO, UART5_TX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
}
if (mode & MODE_RX) {
GPIO_InitStructure.GPIO_Pin = UART5_RX_PIN;
GPIO_PinAFConfig(UART5_GPIO, UART5_RX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
}
}
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
#endif
static void handleUsartTxDma(uartPort_t *s)
{
DMA_Cmd(s->txDMAChannel, DISABLE);
@ -424,3 +566,21 @@ void USART3_IRQHandler(void)
usartIrqHandler(s);
}
#endif
#ifdef USE_USART4
void UART4_IRQHandler(void)
{
uartPort_t *s = &uartPort4;
usartIrqHandler(s);
}
#endif
#ifdef USE_USART5
void UART5_IRQHandler(void)
{
uartPort_t *s = &uartPort5;
usartIrqHandler(s);
}
#endif

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

@ -42,6 +42,7 @@ void systemReset(void);
void systemResetToBootloader(void);
bool isMPUSoftReset(void);
void cycleCounterInit(void);
void checkForBootLoaderRequest(void);
void enableGPIOPowerUsageAndNoiseReductions(void);
// current crystal frequency - 8 or 12MHz

8
src/main/drivers/system_stm32f10x.c
View File

@ -37,7 +37,8 @@ void systemReset(void)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
void systemResetToBootloader(void)
{
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
@ -68,6 +69,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock(false);
#ifdef CC3D
@ -110,3 +113,6 @@ void systemInit(void)
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
{
}

9
src/main/drivers/system_stm32f30x.c
View File

@ -35,7 +35,8 @@ void systemReset(void)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
void systemResetToBootloader(void)
{
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
@ -82,6 +83,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
// Enable FPU
SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
SetSysClock();
@ -102,3 +105,7 @@ void systemInit(void)
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
{
}

17
src/main/drivers/system_stm32f4xx.c
View File

@ -169,6 +169,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock();
// Configure NVIC preempt/priority groups
@ -194,3 +196,18 @@ void systemInit(void)
SysTick_Config(SystemCoreClock / 1000);
}
void(*bootJump)(void);
void checkForBootLoaderRequest(void)
{
if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
*((uint32_t *)0x2001FFFC) = 0x0;
__enable_irq();
__set_MSP(0x20001000);
bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004));
bootJump();
while (1);
}
}

12
src/main/drivers/timer.c
View File

@ -151,6 +151,18 @@ rccPeriphTag_t timerRCC(TIM_TypeDef *tim)
return 0;
}
#if defined(STM32F3) || defined(STM32F4)
uint8_t timerGPIOAF(TIM_TypeDef *tim)
{
for (uint8_t i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; i++) {
if (timerDefinitions[i].TIMx == tim) {
return timerDefinitions[i].alternateFunction;
}
}
return 0;
}
#endif
void timerNVICConfigure(uint8_t irq)
{
NVIC_InitTypeDef NVIC_InitStructure;

12
src/main/drivers/timer.h
View File

@ -69,6 +69,9 @@ typedef struct timerOvrHandlerRec_s {
typedef struct timerDef_s {
TIM_TypeDef *TIMx;
rccPeriphTag_t rcc;
#if defined(STM32F3) || defined(STM32F4)
uint8_t alternateFunction;
#endif
} timerDef_t;
typedef struct timerHardware_s {
@ -82,8 +85,11 @@ typedef struct timerHardware_s {
uint8_t alternateFunction;
#endif
} timerHardware_t;
enum {TIMER_OUTPUT_ENABLED = 0x01, TIMER_OUTPUT_INVERTED = 0x02};
enum {
TIMER_OUTPUT_ENABLED = 0x01,
TIMER_OUTPUT_INVERTED = 0x02
};
#ifdef STM32F1
#if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)
@ -149,3 +155,7 @@ void timerForceOverflow(TIM_TypeDef *tim);
void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz); // TODO - just for migration
rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
#if defined(STM32F3) || defined(STM32F4)
uint8_t timerGPIOAF(TIM_TypeDef *tim);
#endif

43
src/main/drivers/timer_stm32f10x.c
View File

@ -57,34 +57,31 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
{
uint32_t tmp = 0;
uint32_t tmp = 0;
/* Check the parameters */
assert_param(IS_TIM_LIST8_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
/* Check the parameters */
assert_param(IS_TIM_LIST8_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
tmp = (uint32_t) TIMx;
tmp += CCMR_Offset;
tmp = (uint32_t) TIMx;
tmp += CCMR_Offset;
if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3))
{
tmp += (TIM_Channel>>1);
if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) {
tmp += (TIM_Channel>>1);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
}
else
{
tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
} else {
tmp += (uint16_t)(TIM_Channel - (uint16_t)4) >> (uint16_t)1;
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
}
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
}
}

60
src/main/drivers/timer_stm32f30x.c
View File

@ -10,16 +10,16 @@
#include "timer.h"
const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1) },
{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2) },
{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3) },
{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4) },
{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6) },
{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7) },
{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8) },
{ .TIMx = TIM15, .rcc = RCC_APB2(TIM15) },
{ .TIMx = TIM16, .rcc = RCC_APB2(TIM16) },
{ .TIMx = TIM17, .rcc = RCC_APB2(TIM17) },
{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1), GPIO_AF_6 },
{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2), GPIO_AF_1 },
{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3), GPIO_AF_2 },
{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4), GPIO_AF_10 },
{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6), 0 },
{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7), 0 },
{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8), GPIO_AF_5 },
{ .TIMx = TIM15, .rcc = RCC_APB2(TIM15), GPIO_AF_9 },
{ .TIMx = TIM16, .rcc = RCC_APB2(TIM16), GPIO_AF_1 },
{ .TIMx = TIM17, .rcc = RCC_APB2(TIM17), GPIO_AF_1 },
};
@ -58,31 +58,31 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint32_t TIM_OCMode)
{
uint32_t tmp = 0;
uint32_t tmp = 0;
/* Check the parameters */
assert_param(IS_TIM_LIST1_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
/* Check the parameters */
assert_param(IS_TIM_LIST1_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
tmp = (uint32_t) TIMx;
tmp += CCMR_OFFSET;
tmp = (uint32_t) TIMx;
tmp += CCMR_OFFSET;
if ((TIM_Channel == TIM_Channel_1) || (TIM_Channel == TIM_Channel_3)) {
tmp += (TIM_Channel>>1);
if ((TIM_Channel == TIM_Channel_1) || (TIM_Channel == TIM_Channel_3)) {
tmp += (TIM_Channel>>1);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= CCMR_OC13M_MASK;
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= CCMR_OC13M_MASK;
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
} else {
tmp += (uint32_t)(TIM_Channel - (uint32_t)4)>> (uint32_t)1;
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
} else {
tmp += (uint32_t)(TIM_Channel - (uint32_t)4) >> (uint32_t)1;
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= CCMR_OC24M_MASK;
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= CCMR_OC24M_MASK;
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint32_t)(TIM_OCMode << 8);
}
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint32_t)(TIM_OCMode << 8);
}
}

71
src/main/drivers/timer_stm32f4xx.c
View File

@ -35,53 +35,50 @@
#define CCMR_Offset ((uint16_t)0x0018)
const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1) },
{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2) },
{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3) },
{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4) },
{ .TIMx = TIM5, .rcc = RCC_APB1(TIM5) },
{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6) },
{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7) },
{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8) },
{ .TIMx = TIM9, .rcc = RCC_APB2(TIM9) },
{ .TIMx = TIM10, .rcc = RCC_APB2(TIM10) },
{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
{ .TIMx = TIM12, .rcc = RCC_APB1(TIM12) },
{ .TIMx = TIM13, .rcc = RCC_APB1(TIM13) },
{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
{ .TIMx = TIM1, .rcc = RCC_APB2(TIM1), GPIO_AF_TIM1 },
{ .TIMx = TIM2, .rcc = RCC_APB1(TIM2), GPIO_AF_TIM2 },
{ .TIMx = TIM3, .rcc = RCC_APB1(TIM3), GPIO_AF_TIM3 },
{ .TIMx = TIM4, .rcc = RCC_APB1(TIM4), GPIO_AF_TIM4 },
{ .TIMx = TIM5, .rcc = RCC_APB1(TIM5), GPIO_AF_TIM5 },
{ .TIMx = TIM6, .rcc = RCC_APB1(TIM6), 0 },
{ .TIMx = TIM7, .rcc = RCC_APB1(TIM7), 0 },
{ .TIMx = TIM8, .rcc = RCC_APB2(TIM8), GPIO_AF_TIM8 },
{ .TIMx = TIM9, .rcc = RCC_APB2(TIM9), GPIO_AF_TIM9 },
{ .TIMx = TIM10, .rcc = RCC_APB2(TIM10), GPIO_AF_TIM10 },
{ .TIMx = TIM11, .rcc = RCC_APB2(TIM11), GPIO_AF_TIM11 },
{ .TIMx = TIM12, .rcc = RCC_APB1(TIM12), GPIO_AF_TIM12 },
{ .TIMx = TIM13, .rcc = RCC_APB1(TIM13), GPIO_AF_TIM13 },
{ .TIMx = TIM14, .rcc = RCC_APB1(TIM14), GPIO_AF_TIM14 },
};
void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode)
{
uint32_t tmp = 0;
uint32_t tmp = 0;
/* Check the parameters */
assert_param(IS_TIM_LIST8_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
/* Check the parameters */
assert_param(IS_TIM_LIST8_PERIPH(TIMx));
assert_param(IS_TIM_CHANNEL(TIM_Channel));
assert_param(IS_TIM_OCM(TIM_OCMode));
tmp = (uint32_t) TIMx;
tmp += CCMR_Offset;
tmp = (uint32_t) TIMx;
tmp += CCMR_Offset;
if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3))
{
tmp += (TIM_Channel>>1);
if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) {
tmp += (TIM_Channel>>1);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M);
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
}
else
{
tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= TIM_OCMode;
} else {
tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1;
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
/* Reset the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M);
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
}
/* Configure the OCxM bits in the CCMRx register */
*(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8);
}
}

1
src/main/flight/imu.c
View File

@ -28,7 +28,6 @@
#include "debug.h"
#include "common/axis.h"
#include "common/filter.h"
#include "drivers/system.h"
#include "drivers/sensor.h"

6
src/main/flight/mixer.c
View File

@ -946,7 +946,7 @@ void filterServos(void)
#ifdef USE_SERVOS
static int16_t servoIdx;
static bool servoFilterIsSet;
static biquad_t servoFilterState[MAX_SUPPORTED_SERVOS];
static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
@ -955,11 +955,11 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
if (!servoFilterIsSet) {
BiQuadNewLpf(mixerConfig->servo_lowpass_freq, &servoFilterState[servoIdx], targetPidLooptime);
biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
servoFilterIsSet = true;
}
servo[servoIdx] = lrintf(applyBiQuadFilter((float) servo[servoIdx], &servoFilterState[servoIdx]));
servo[servoIdx] = lrintf(biquadFilterApply(&servoFilter[servoIdx], (float)servo[servoIdx]));
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}

12
src/main/flight/pid.c
View File

@ -112,8 +112,8 @@ float getdT (void)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t deltaFilterState[3];
static filterStatePt1_t yawFilterState;
static pt1Filter_t deltaFilter[3];
static pt1Filter_t yawFilter;
#ifndef SKIP_PID_LUXFLOAT
static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
@ -205,7 +205,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = lrintf(PTerm + ITerm);
@ -230,7 +230,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
delta *= (1.0f / getdT());
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
@ -344,7 +344,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = PTerm + ITerm;
@ -369,7 +369,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], (float)delta, pidProfile->dterm_lpf_hz, getdT());
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;

8
src/main/io/ledstrip.c
View File

@ -440,7 +440,7 @@ void updateLedCount(void)
}
}
void reevalulateLedConfig(void)
void reevaluateLedConfig(void)
{
updateLedCount();
determineLedStripDimensions();
@ -534,7 +534,7 @@ bool parseLedStripConfig(uint8_t ledIndex, const char *config)
memset(ledConfig, 0, sizeof(ledConfig_t));
}
reevalulateLedConfig();
reevaluateLedConfig();
return ok;
}
@ -1095,7 +1095,7 @@ void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
memset(ledConfigs, 0, MAX_LED_STRIP_LENGTH * sizeof(ledConfig_t));
memcpy(ledConfigs, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
reevalulateLedConfig();
reevaluateLedConfig();
}
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse)
@ -1107,7 +1107,7 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse)
void ledStripEnable(void)
{
reevalulateLedConfig();
reevaluateLedConfig();
ledStripInitialised = true;
ws2811LedStripInit();

2
src/main/io/ledstrip.h
View File

@ -94,4 +94,4 @@ bool parseColor(uint8_t index, const char *colorConfig);
void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount);
void ledStripEnable(void);
void reevalulateLedConfig(void);
void reevaluateLedConfig(void);

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

@ -316,7 +316,7 @@ serialPort_t *openSerialPort(
#endif
#ifdef USE_USART5
case SERIAL_PORT_USART5:
serialPort = uartOpen(USART5, callback, baudRate, mode, options);
serialPort = uartOpen(UART5, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_USART6

25
src/main/io/serial_4way.c
View File

@ -44,15 +44,15 @@
#define USE_TXRX_LED
#if defined(USE_TXRX_LED) && defined(LED0)
# define RX_LED_OFF LED0_OFF
# define RX_LED_ON LED0_ON
# ifdef LED1
# define TX_LED_OFF LED1_OFF
# define TX_LED_ON LED1_ON
# else
# define TX_LED_OFF LED0_OFF
# define TX_LED_ON LED0_ON
# endif
#define RX_LED_OFF LED0_OFF
#define RX_LED_ON LED0_ON
#ifdef LED1
#define TX_LED_OFF LED1_OFF
#define TX_LED_ON LED1_ON
#else
#define TX_LED_OFF LED0_OFF
#define TX_LED_ON LED0_ON
#endif
#else
# define RX_LED_OFF do {} while(0)
# define RX_LED_ON do {} while(0)
@ -330,6 +330,7 @@ void esc4wayProcess(serialPort_t *serial)
while(!esc4wayExitRequested) {
// restart looking for new sequence from host
crcIn = 0;
uint8_t esc = readByteCrc();
if(esc != cmd_Local_Escape)
continue; // wait for sync character
@ -348,7 +349,6 @@ void esc4wayProcess(serialPort_t *serial)
paramBuf[i] = readByteCrc();
readByteCrc(); readByteCrc(); // update input CRC
RX_LED_OFF;
outLen = 0; // output handling code will send single zero byte if necessary
replyAck = esc4wayAck_OK;
@ -356,8 +356,10 @@ void esc4wayProcess(serialPort_t *serial)
if(crcIn != 0) // CRC of correct message == 0
replyAck = esc4wayAck_I_INVALID_CRC;
TX_LED_ON;
if (replyAck == esc4wayAck_OK)
replyAck = esc4wayProcessCmd(command, addr, paramBuf, inLen, &outLen);
RX_LED_OFF;
// send single '\0' byte is output when length is zero (len ==0 -> 256 bytes)
if(!outLen) {
@ -366,14 +368,13 @@ void esc4wayProcess(serialPort_t *serial)
}
crcOut = 0;
TX_LED_ON;
serialBeginWrite(port);
writeByteCrc(cmd_Remote_Escape);
writeByteCrc(command);
writeByteCrc(addr >> 8);
writeByteCrc(addr & 0xff);
writeByteCrc(outLen & 0xff); // only low byte is send, 0x00 -> 256B
for(int i = 0; i < outLen; i++)
for(int i = 0; i < outLen % 0x100; i++)
writeByteCrc(paramBuf[i]);
writeByteCrc(replyAck);
writeByte(crcOut >> 8);

2
src/main/io/serial_4way_avrootloader.c
View File

@ -238,7 +238,7 @@ void BL_SendCMDRunRestartBootloader(void)
static uint8_t BL_SendCMDSetAddress(ioMem_t *pMem) //supports only 16 bit Adr
{
// skip if adr == 0xFFFF
if((pMem->addr == 0xffff))
if(pMem->addr == 0xffff)
return 1;
uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->addr >> 8, pMem->addr & 0xff };
BL_SendBuf(sCMD, sizeof(sCMD), true);

24
src/main/io/serial_cli.c
View File

@ -112,6 +112,7 @@ static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
void cliDfu(char *cmdLine);
static void cliDump(char *cmdLine);
void cliDumpProfile(uint8_t profileIndex);
void cliDumpRateProfile(uint8_t rateProfileIndex) ;
@ -122,6 +123,7 @@ static void cliPlaySound(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliRebootEx(bool bootLoader);
static void cliSave(char *cmdline);
static void cliSerial(char *cmdline);
#ifndef SKIP_SERIAL_PASSTHROUGH
@ -263,8 +265,8 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile]", cliDump),
CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
CLI_COMMAND_DEF("feature", "configure features",
"list\r\n"
@ -2564,10 +2566,19 @@ static void cliRateProfile(char *cmdline) {
static void cliReboot(void)
{
cliPrint("\r\nRebooting");
cliRebootEx(false);
}
static void cliRebootEx(bool bootLoader)
{
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopMotors();
if (bootLoader) {
systemResetToBootloader();
return;
}
systemReset();
}
@ -3107,6 +3118,13 @@ static void cliResource(char *cmdline)
}
}
void cliDfu(char *cmdLine)
{
UNUSED(cmdLine);
cliPrint("\r\nRestarting in DFU mode");
cliRebootEx(true);
}
void cliInit(serialConfig_t *serialConfig)
{
UNUSED(serialConfig);

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

@ -1807,7 +1807,7 @@ static bool processInCommand(void)
ledConfig->color = read8();
reevalulateLedConfig();
reevaluateLedConfig();
}
break;
#endif

4
src/main/scheduler/scheduler_tasks.c
View File

@ -168,8 +168,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_LEDSTRIP] = {
.taskName = "LEDSTRIP",
.taskFunc = taskLedStrip,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_IDLE,
.desiredPeriod = 1000000 / 10, // 10 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif

19
src/main/sensors/acceleration.c
View File

@ -47,7 +47,6 @@ uint32_t accTargetLooptime;
static uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
extern uint16_t InflightcalibratingA;
extern bool AccInflightCalibrationArmed;
extern bool AccInflightCalibrationMeasurementDone;
extern bool AccInflightCalibrationSavetoEEProm;
extern bool AccInflightCalibrationActive;
@ -55,7 +54,7 @@ extern bool AccInflightCalibrationActive;
static flightDynamicsTrims_t *accelerationTrims;
static float accLpfCutHz = 0;
static biquad_t accFilterState[XYZ_AXIS_COUNT];
static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
static bool accFilterInitialised = false;
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
@ -87,9 +86,8 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
static int32_t a[3];
int axis;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
// Reset a[axis] at start of calibration
if (isOnFirstAccelerationCalibrationCycle())
@ -179,14 +177,13 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
int16_t accADCRaw[XYZ_AXIS_COUNT];
int axis;
int16_t accADCRaw[XYZ_AXIS_COUNT];
if (!acc.read(accADCRaw)) {
return;
}
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
accSmooth[axis] = accADCRaw[axis];
}
@ -194,13 +191,17 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
if (accLpfCutHz) {
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(accLpfCutHz, &accFilterState[axis], accTargetLooptime);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}
}
if (accFilterInitialised) {
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) accSmooth[axis] = lrintf(applyBiQuadFilter((float) accSmooth[axis], &accFilterState[axis]));
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
}
}
}

15
src/main/sensors/battery.c
View File

@ -63,20 +63,19 @@ uint16_t batteryAdcToVoltage(uint16_t src)
static void updateBatteryVoltage(void)
{
uint16_t vbatSample;
static biquad_t vbatFilterState;
static bool vbatFilterStateIsSet;
static biquadFilter_t vbatFilter;
static bool vbatFilterIsInitialised;
// store the battery voltage with some other recent battery voltage readings
vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
uint16_t vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
if (!vbatFilterStateIsSet) {
BiQuadNewLpf(VBATT_LPF_FREQ, &vbatFilterState, 50000); //50HZ Update
vbatFilterStateIsSet = true;
if (!vbatFilterIsInitialised) {
biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
vbatFilterIsInitialised = true;
}
vbatSample = applyBiQuadFilter(vbatSample, &vbatFilterState);
vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
vbat = batteryAdcToVoltage(vbatSample);
if (debugMode == DEBUG_BATTERY) debug[1] = vbat;

6
src/main/sensors/gyro.c
View File

@ -43,7 +43,7 @@ float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
static uint8_t gyroSoftLpfHz;
static uint16_t calibratingG = 0;
@ -57,7 +57,7 @@ void gyroInit(void)
{
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
for (int axis = 0; axis < 3; axis++) {
BiQuadNewLpf(gyroSoftLpfHz, &gyroFilterState[axis], gyro.targetLooptime);
biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
}
}
}
@ -157,7 +157,7 @@ void gyroUpdate(void)
if (gyroSoftLpfHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {

46
src/main/target/ALIENFLIGHTF3/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>
@ -9,16 +24,16 @@
const uint16_t multiPPM[] = {
PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
0xFFFF
};
@ -48,10 +63,7 @@ const uint16_t airPWM[] = {
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
//
// 6 x 3 pin headers
//
{ TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
{ TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PB14 - TIM1_CH2N, *TIM15_CH1
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3 - PA8 - *TIM1_CH1, TIM4_ETR
@ -59,20 +71,14 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1
//
// 6 pin header
//
// PWM7-10
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
{ TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8 - PA7 - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
{ TIM3, IO_TAG(PA4), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9 - PA4 - *TIM3_CH2
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1 - *TIM2_CH2, TIM15_CH1N
//
// PPM PORT - Also USART2 RX (AF5)
//
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_1 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13
//{ TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13

2
src/main/target/ALIENFLIGHTF3/target.h
View File

@ -117,7 +117,6 @@
#define USE_ADC
#define ADC_INSTANCE ADC2
//#define BOARD_HAS_VOLTAGE_DIVIDER
#define VBAT_ADC_PIN PA4
#define VBAT_SCALE_DEFAULT 20
@ -133,6 +132,7 @@
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
#define SERIALRX_UART SERIAL_PORT_USART3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

123
src/main/target/ALIENFLIGHTF4/target.c
View File

@ -1,74 +1,91 @@
/*
* 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 <stdint.h>
#include <stdbool.h>
#include <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 or #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #2
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #5 or #3
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #6 or #4
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #7 or #5
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #8 or #6
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 or #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #2
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #5 or #3
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #6 or #4
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #7 or #5
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #8 or #6
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
const uint16_t multiPWM[] = {
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8), // input #2
PWM3 | (MAP_TO_PWM_INPUT << 8), // input #3
PWM4 | (MAP_TO_PWM_INPUT << 8), // input #4
PWM5 | (MAP_TO_PWM_INPUT << 8), // input #5
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 or #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #2
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #5 or #3
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #6 or #4
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #7 or #5
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #8 or #6
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8), // input #2
PWM3 | (MAP_TO_PWM_INPUT << 8), // input #3
PWM4 | (MAP_TO_PWM_INPUT << 8), // input #4
PWM5 | (MAP_TO_PWM_INPUT << 8), // input #5
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 or #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #2
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #5 or #3
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #6 or #4
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #7 or #5
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #8 or #6
0xFFFF
};
const uint16_t airPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
PWM2 | (MAP_TO_SERVO_OUTPUT << 8), // servo #7
PWM3 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #9
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
PWM2 | (MAP_TO_SERVO_OUTPUT << 8), // servo #7
PWM3 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #9
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
0xFFFF
};
const uint16_t airPWM[] = {
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8), // input #2
PWM3 | (MAP_TO_PWM_INPUT << 8), // input #3
PWM4 | (MAP_TO_PWM_INPUT << 8), // input #4
PWM5 | (MAP_TO_PWM_INPUT << 8), // input #5
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8), // input #2
PWM3 | (MAP_TO_PWM_INPUT << 8), // input #3
PWM4 | (MAP_TO_PWM_INPUT << 8), // input #4
PWM5 | (MAP_TO_PWM_INPUT << 8), // input #5
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM13 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
0xFFFF
};

9
src/main/target/ALIENFLIGHTF4/target.h
View File

@ -146,16 +146,10 @@
// LED strip configuration using RC5 pin.
//#define LED_STRIP
//#define LED_STRIP_TIMER TIM8
//#define USE_LED_STRIP_ON_DMA1_CHANNEL3
//#define WS2811_GPIO GPIOB
//#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
//#define WS2811_GPIO_AF GPIO_AF_3
//#define WS2811_PIN GPIO_Pin_15 // TIM8_CH3
//#define WS2811_PIN_SOURCE GPIO_PinSource15
//#define WS2811_PIN PB15 // TIM8_CH3
//#define WS2811_TIMER TIM8
//#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM8
//#define WS2811_DMA_CHANNEL DMA1_Channel3
//#define WS2811_IRQ DMA1_Channel3_IRQn
@ -176,6 +170,7 @@
#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
#define SERIALRX_UART SERIAL_PORT_USART3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

17
src/main/target/BLUEJAYF4/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

13
src/main/target/BLUEJAYF4/target.h
View File

@ -134,6 +134,19 @@
#define USE_ADC
#define VBAT_ADC_PIN PC3
#define LED_STRIP
// LED Strip can run off Pin 6 (PB1) of the ESC outputs.
#define WS2811_PIN PB1
#define WS2811_TIMER TIM3
#define WS2811_TIMER_CHANNEL TIM_Channel_4
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER
#define WS2811_DMA_STREAM DMA1_Stream2
#define WS2811_DMA_FLAG DMA_FLAG_TCIF2
#define WS2811_DMA_IT DMA_IT_TCIF2
#define WS2811_DMA_CHANNEL DMA_Channel_5
#define WS2811_DMA_IRQ DMA1_Stream2_IRQn
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM

4
src/main/target/BLUEJAYF4/target.mk
View File

@ -4,5 +4,7 @@ FEATURES += SDCARD VCP
TARGET_SRC = \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c
drivers/barometer_ms5611.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f4xx.c

31
src/main/target/CC3D/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>
@ -8,16 +23,16 @@
const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};

9
src/main/target/CC3D/target.h
View File

@ -92,12 +92,13 @@
#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
#define USE_ADC
#define CURRENT_METER_ADC_PIN PB1
#define VBAT_ADC_PIN PA0
#define RSSI_ADC_PIN PB0
#define CURRENT_METER_ADC_PIN PB1
#define VBAT_ADC_PIN PA0
#define RSSI_ADC_PIN PB0
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define WS2811_PIN PB4
#define WS2811_TIMER TIM3
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER

18
src/main/target/CHEBUZZF3/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

17
src/main/target/CJMCU/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

2
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -1403,7 +1403,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
ledConfig->color = bstRead8();
reevalulateLedConfig();
reevaluateLedConfig();
}
break;
#endif

17
src/main/target/COLIBRI_RACE/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

15
src/main/target/COLIBRI_RACE/target.h
View File

@ -113,7 +113,6 @@
#define USE_ADC
#define ADC_INSTANCE ADC1
#define BOARD_HAS_VOLTAGE_DIVIDER
#define VBAT_ADC_PIN PC0
#define CURRENT_METER_ADC_PIN PC1
#define RSSI_ADC_PIN PC2
@ -122,15 +121,8 @@
#define LED_STRIP
#define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
#define LED_STRIP_TIMER TIM16
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_PIN PA6 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3
@ -144,7 +136,10 @@
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES FEATURE_VBAT
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

18
src/main/target/DOGE/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

8
src/main/target/DOGE/target.h
View File

@ -140,15 +140,9 @@
#define LED_STRIP
// tqfp48 pin 16
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_PIN PA6 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

18
src/main/target/EUSTM32F103RC/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

3
src/main/target/EUSTM32F103RC/target.h
View File

@ -102,9 +102,6 @@
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
//#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define SPEKTRUM_BIND
// USART2, PA3
#define BIND_PIN PA3

20
src/main/target/FURYF3/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
@ -58,7 +74,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - S1
{ TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
{ TIM17, IO_TAG(PB5), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM6 - S3
{ TIM17, IO_TAG(PB5), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
{ TIM16, IO_TAG(PB4), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP

8
src/main/target/FURYF3/target.h
View File

@ -156,16 +156,10 @@
#define CURRENT_METER_ADC_PIN PA2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

18
src/main/target/FURYF4/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

18
src/main/target/IRCFUSIONF3/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

18
src/main/target/KISSFC/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

5
src/main/target/KISSFC/target.h
View File

@ -73,7 +73,7 @@
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
#define USE_ADC
#define VBAT_SCALE_DEFAULT 164
#define VBAT_SCALE_DEFAULT 160
#define ADC_INSTANCE ADC1
#define VBAT_ADC_PIN PA0
//#define CURRENT_METER_ADC_PIN PA5
@ -81,7 +81,8 @@
#define DEFAULT_FEATURES FEATURE_VBAT
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS;
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART2
#define SPEKTRUM_BIND
#define BIND_PIN PB4

30
src/main/target/LUX_RACE/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
@ -56,12 +72,12 @@ const uint16_t airPWM[] = {
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};

9
src/main/target/LUX_RACE/target.h
View File

@ -95,15 +95,8 @@
#define EXTERNAL1_ADC_PIN PC3
#define LED_STRIP
#define LED_STRIP_TIMER TIM16
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_PIN PA6 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

18
src/main/target/MOTOLAB/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

8
src/main/target/MOTOLAB/target.h
View File

@ -126,16 +126,10 @@
#define LED_STRIP
#if 1
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PB8 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

30
src/main/target/NAZE/target.c
View File

@ -1,22 +1,38 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};

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

@ -155,7 +155,8 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define WS2811_TIMER TIM3
#define WS2811_PIN PA6
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
@ -180,6 +181,7 @@
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
#define SERIALRX_UART SERIAL_PORT_USART2
#define HARDWARE_BIND_PLUG
// Hardware bind plug at PB5 (Pin 41)

18
src/main/target/OLIMEXINO/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

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

@ -78,18 +78,12 @@
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67
#define USE_ADC
#define CURRENT_METER_ADC_PIN PB1
#define VBAT_ADC_PIN PA4
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
//#define LED_STRIP
//#define LED_STRIP_TIMER TIM3
// IO - assuming all IOs on smt32f103rb LQFP64 package
#define TARGET_IO_PORTA 0xffff

18
src/main/target/OMNIBUS/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

8
src/main/target/OMNIBUS/target.h
View File

@ -166,15 +166,9 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

18
src/main/target/PIKOBLX/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

8
src/main/target/PIKOBLX/target.h
View File

@ -94,16 +94,10 @@
#define LED_STRIP
#if 1
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PB8 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

18
src/main/target/PORT103R/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

3
src/main/target/PORT103R/target.h
View File

@ -115,9 +115,6 @@
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
//#define LED_STRIP
//#define LED_STRIP_TIMER TIM3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f103RCT6 in 64pin package

32
src/main/target/REVO/target.c
View File

@ -1,23 +1,39 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};

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

@ -110,8 +110,6 @@
#define SENSORS_SET (SENSOR_ACC)
//#define LED_STRIP
//#define LED_STRIP_TIMER TIM5
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_ONESHOT125 | FEATURE_RX_SERIAL)

2
src/main/target/REVONANO/target.c
View File

@ -15,10 +15,10 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

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

@ -85,12 +85,6 @@
#define VBAT_ADC_PIN PA6
#define RSSI_ADC_PIN PA5
//#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG)
//#define LED_STRIP
//#define LED_STRIP_TIMER TIM5
#define GPS
#define BLACKBOX
#define TELEMETRY

18
src/main/target/RMDO/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

8
src/main/target/RMDO/target.h
View File

@ -112,16 +112,10 @@
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

18
src/main/target/SINGULARITY/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

14
src/main/target/SINGULARITY/target.h
View File

@ -91,23 +91,16 @@
#define M25P16_SPI_INSTANCE SPI2
#define USE_ADC
#define BOARD_HAS_VOLTAGE_DIVIDER
#define ADC_INSTANCE ADC2
#define VBAT_ADC_PIN PB2
#define VBAT_SCALE_DEFAULT 77
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
@ -115,8 +108,9 @@
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES FEATURE_BLACKBOX
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_BLACKBOX)
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART3
#define SPEKTRUM_BIND
// USART2, PA15

18
src/main/target/SIRINFPV/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

18
src/main/target/SPARKY/target.c
View File

@ -1,8 +1,24 @@
/*
* 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 <platform.h>
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {

9
src/main/target/SPARKY/target.h
View File

@ -97,16 +97,9 @@
#define LED_STRIP
#if 1
// LED strip configuration using PWM motor output pin 5.
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_PIN PA6 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

17
src/main/target/SPRACINGF3/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

8
src/main/target/SPRACINGF3/target.h
View File

@ -121,16 +121,10 @@
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

17
src/main/target/SPRACINGF3EVO/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

9
src/main/target/SPRACINGF3EVO/target.h
View File

@ -142,16 +142,9 @@
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

17
src/main/target/SPRACINGF3MINI/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>

9
src/main/target/SPRACINGF3MINI/target.h
View File

@ -150,15 +150,8 @@
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

57
src/main/target/STM32F3DISCOVERY/target.c
View File

@ -1,5 +1,20 @@
/*
* 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 <platform.h>
@ -8,16 +23,16 @@
const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
@ -30,27 +45,27 @@ const uint16_t multiPWM[] = {
PWM6 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (MAP_TO_PWM_INPUT << 8),
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
0xFFFF
};
const uint16_t airPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
0xFFFF
};
@ -63,12 +78,12 @@ const uint16_t airPWM[] = {
PWM6 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (MAP_TO_PWM_INPUT << 8),
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
0xFFFF
};

8
src/main/target/STM32F3DISCOVERY/target.h
View File

@ -146,14 +146,8 @@
#define EXTERNAL1_ADC_PIN PC3
#define LED_STRIP
#define LED_STRIP_TIMER TIM16
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PB8 // TIM16_CH1
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3

8
src/main/target/X_RACERSPI/target.h
View File

@ -124,16 +124,10 @@
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define LED_STRIP_TIMER TIM1
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_6
#define WS2811_PIN GPIO_Pin_8
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_PIN PA8
#define WS2811_TIMER TIM1
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2

38
src/main/vcpf4/usbd_cdc_vcp.c
View File

@ -170,20 +170,16 @@ uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
*/
static uint16_t VCP_DataTx(uint8_t* Buf, uint32_t Len)
{
uint16_t ptr = APP_Rx_ptr_in;
uint32_t i;
for (i = 0; i < Len; i++)
APP_Rx_Buffer[ptr++ & (APP_RX_DATA_SIZE-1)] = Buf[i];
APP_Rx_ptr_in = ptr % APP_RX_DATA_SIZE;
for (uint32_t i = 0; i < Len; i++) {
APP_Rx_Buffer[APP_Rx_ptr_in] = Buf[i];
APP_Rx_ptr_in = (APP_Rx_ptr_in + 1) % APP_RX_DATA_SIZE;
}
return USBD_OK;
}
uint8_t usbAvailable(void)
{
return (usbData.rxBufHead != usbData.rxBufTail);
return (usbData.bufferInPosition != usbData.bufferOutPosition);
}
/*******************************************************************************
@ -198,8 +194,8 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
uint32_t ch = 0;
while (usbAvailable() && ch < len) {
recvBuf[ch] = usbData.rxBuf[usbData.rxBufTail];
usbData.rxBufTail = (usbData.rxBufTail + 1) % USB_RX_BUFSIZE;
recvBuf[ch] = usbData.buffer[usbData.bufferOutPosition];
usbData.bufferOutPosition = (usbData.bufferOutPosition + 1) % USB_RX_BUFSIZE;
ch++;
receiveLength--;
}
@ -222,19 +218,19 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
* @param Len: Number of data received (in bytes)
* @retval Result of the opeartion: USBD_OK if all operations are OK else VCP_FAIL
*/
static uint32_t rxTotalBytes = 0;
static uint32_t rxPackets = 0;
static uint16_t VCP_DataRx(uint8_t* Buf, uint32_t Len)
{
uint16_t ptr = usbData.rxBufHead;
uint32_t i;
rxPackets++;
for (i = 0; i < Len; i++)
usbData.rxBuf[ptr++ & (USB_RX_BUFSIZE-1)] = Buf[i];
usbData.rxBufHead = ptr % USB_RX_BUFSIZE;
receiveLength = ((usbData.rxBufHead - usbData.rxBufTail) > 0 ?
(usbData.rxBufHead - usbData.rxBufTail) :
(usbData.rxBufHead + USB_RX_BUFSIZE - usbData.rxBufTail)) % USB_RX_BUFSIZE;
for (uint32_t i = 0; i < Len; i++) {
usbData.buffer[usbData.bufferInPosition] = Buf[i];
usbData.bufferInPosition = (usbData.bufferInPosition + 1) % USB_RX_BUFSIZE;
receiveLength++;
rxTotalBytes++;
}
if(receiveLength > (USB_RX_BUFSIZE-1))
return USBD_FAIL;

8
src/main/vcpf4/usbd_cdc_vcp.h
View File

@ -34,7 +34,7 @@
#include "usbd_usr.h"
#include "usbd_desc.h"
#define USB_RX_BUFSIZE 1024
#define USB_RX_BUFSIZE 2048
__ALIGN_BEGIN USB_OTG_CORE_HANDLE USB_OTG_dev __ALIGN_END;
@ -71,9 +71,9 @@ typedef struct
} LINE_CODING;
typedef struct {
uint8_t rxBuf[USB_RX_BUFSIZE];
uint16_t rxBufHead;
uint16_t rxBufTail;
uint8_t buffer[USB_RX_BUFSIZE];
uint16_t bufferInPosition;
uint16_t bufferOutPosition;
} usbStruct_t;