Merge pull request cleanflight#1159 from Swift-Flyer/master

Initial support for F4BY target

src/main/target/F4BY/target.c

@@ -0,0 +1,108 @@
+
+#include <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),          // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),    
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),     
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),         // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM16 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),          // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),    
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),     
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),         // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    PWM16 | (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),      // Swap to servo if needed
+    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM11  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM15  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM16  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),          // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    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
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #5
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #6
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM3, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},       // S1_IN
+    { TIM3, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S2_IN
+    { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S3_IN
+    { TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S4_IN
+    { TIM4, IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S5_IN
+    { TIM4, IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S6_IN
+    { TIM4, IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S7_IN
+    { TIM4, IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S8_IN
+
+    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2},    // S1_OUT
+    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2},    // S2_OUT
+    { TIM5, IO_TAG(PA2), TIM_Channel_3, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5},    // S3_OUT
+    { TIM5, IO_TAG(PA3), TIM_Channel_4, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5},    // S4_OUT
+    { TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S5_OUT
+    { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S6_OUT
+    { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S7_OUT
+    { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S8_OUT
+
+    { TIM9, IO_TAG(PE6), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 },          // sonar echo if needed
+};
+

src/main/target/F4BY/target.h

@@ -0,0 +1,156 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "F4BY"
+
+#define USBD_PRODUCT_STRING     "Swift-Flyer F4BY"
+
+#define LED0                    PE3 // Blue LED
+#define LED1                    PE2 // Red LED
+#define LED2                    PE1 // Green LED
+
+#define BEEPER                  PE5
+#define BEEPER_INVERTED
+
+#define INVERTER                PD3
+#define INVERTER_USART          USART6
+
+
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI            PB0
+#define USE_EXTI
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW90_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW90_DEG
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW90_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+
+
+#define USE_SDCARD
+
+#define SDCARD_SPI_INSTANCE     SPI2
+#define SDCARD_SPI_CS_PIN       PE15
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream3
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF3
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA9
+
+#define USE_UART1
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART2
+#define UART2_RX_PIN            PD6
+#define UART2_TX_PIN            PD5
+
+#define USE_UART3
+#define UART3_RX_PIN            PD9
+#define UART3_TX_PIN            PD8
+
+#define USE_UART4
+#define UART4_RX_PIN            PC11
+#define UART4_TX_PIN            PC10
+
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       6 //VCP, UART1, UART2, UART3, UART4,  UART6
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+#define SPI1_NSS_PIN            NONE
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            NONE
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_2)
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN   PC2
+#define RSSI_ADC_PIN            PC1
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// Number of available PWM outputs
+#define MAX_PWM_OUTPUT_PORTS    15
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTE         0xffff
+
+#define USED_TIMERS             ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+

src/main/target/F4BY/target.mk

@@ -0,0 +1,9 @@
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP
+
+TARGET_SRC = \
+             drivers/accgyro_spi_mpu6000.c \
+             drivers/barometer_ms5611.c \
+             drivers/compass_hmc5883l.c \
+             drivers/sonar_hcsr04.c \
+             drivers/max7456.c