diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c new file mode 100644 index 00000000000..fbc514987dc --- /dev/null +++ b/src/main/target/F4BY/target.c @@ -0,0 +1,108 @@ + +#include +#include +#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 +}; + diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h new file mode 100644 index 00000000000..7336fc9f87e --- /dev/null +++ b/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 . + */ + +#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)) + diff --git a/src/main/target/F4BY/target.mk b/src/main/target/F4BY/target.mk new file mode 100644 index 00000000000..c2b01346f66 --- /dev/null +++ b/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 \ No newline at end of file