Firmware for a Feiyu Mini 3D



Copyright (C) 2012-2021 Adam Williams <broadcast at earthling dot net>

This program 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 2 of the License, or
(at your option) any later version.

This program 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 this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


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The factory Feiyu had pitch, yaw, & mode control.  They were controlled
by 3 PWM signals.

The 3 factory modes were:
    Rate of yaw change based on PWM + absolute pitch based on absolute PWM.
    Yaw follows handle.  Fixed pitch.
    Yaw follows handle.  Absolute pitch based on absolute PWM.

The custom firmware supports yaw control only.  It takes a 1 byte UART
code which specifies the yaw change & whether yaw should follow the
handle.

Manually flip the camera & hold it for 1 second to switch to flipped
mode.  Flipping the camera allows the handle to go above or below the
camera.  The handle can't go in front & below the camera in flipped mode.


The Feiyu has 3 STM32F1's daisychained next to the motors.  Outside the
gimbal, an ATMega328 is attached to provide a user interface.  

The makefile makes an ARM bootloader, ARM firmware, ATMega firmware, &
ARM programmer for the Feiyu.

The journey begins by soldering the GND, SWDIO & SWCLK pins of the 3
STM32F1s to a temporary header.  Then, erase the factory firmware on the
3 STM32F1's & write feiyu_bootloader.bin, the custom bootloader.  You
must compile a different feiyu_bootloader for each board.  More notes
about writing the bootloader are in feiyu_bootloader.c.

Remove the SWD header after testing the bootloader.  

Flash the ATMega328 with feiyu2.hex the usual way for programming
atmegas.  More notes about writing feiyu2.hex are in feiyu2.c

To write the ARM firmware, short out GND & DISABLE PWM on the ATMega to
pass through the UART.  Then uncomment 1 of the BOARD lines in
feiyu_mane.h to select which ARM the firmware is for.  0 is the 1st ARM
in the daisychain.  2 is the ARM next to the camera.

Rebuild with the right BOARD option.

make clean;make

Then program with feiyu_program & notes in feiyu_mane.h


enclosure2.FCStd: Handle for the feiyu + ATMega control board
    TODO: deeper battery clamshell
    passage for programming cables in battery compartment

feiyu3.pcb: ATmega control board for the Feiyu
    Powered by 7.2-8.4V Lipo
    MODE, YAW, PITCH, V+, GND pins connect to corresponding pins in the
        Feiyu header.
    PITCH & YAW double as UART pins in the Feiyu.
    User input goes into STICK YAW, MODE POT

feiyu_bootloader.c: custom bootloader for the STM32F1

feiyu.c: Obsolete ATMega328 firmware for controlling the factory ARM's
with PWM signals.

feiyu2.c: ATMega328 firmware for controlling the custom ARM's with a
UART protocol.  Remnants of the factory control scheme remane.

feiyu_mane.c: The custom ARM firmware.




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The 1st brushless gimbal, a single STM32F4 with
3 L6234's driving 3 home wound motors on a giant angle rod assembly

arm_math.c
gimbal.c
hardi2c.c
idg3200.c
imu.c
linux.c
mpu9150.c
stm32f4/
uart.c

bootloader.c
stm32f4/
uart.c
    Bootloader for the 1st gimbal

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Tracking camera experiments

cam.c
motion.c
    Tracking cam using differences between frames

cam_lidar.c: Tracking cam using lidar

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suntracker.c
suntracker.h
suntracker.pcb

Might have been the start of an automated way to track the sun during an
eclipse that was deemed unnecessary.

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