From efe82a9fb14d6751fc16d5e19c289ae05f08d679 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Niccol=C3=B2=20Maggioni?= Date: Mon, 12 Sep 2022 17:41:38 +0200 Subject: [PATCH] HakRC F405 DJI target --- src/main/target/HAKRCF405D/CMakeLists.txt | 1 + src/main/target/HAKRCF405D/config.c | 28 ++++ src/main/target/HAKRCF405D/target.c | 42 +++++ src/main/target/HAKRCF405D/target.h | 180 ++++++++++++++++++++++ 4 files changed, 251 insertions(+) create mode 100644 src/main/target/HAKRCF405D/CMakeLists.txt create mode 100644 src/main/target/HAKRCF405D/config.c create mode 100644 src/main/target/HAKRCF405D/target.c create mode 100644 src/main/target/HAKRCF405D/target.h diff --git a/src/main/target/HAKRCF405D/CMakeLists.txt b/src/main/target/HAKRCF405D/CMakeLists.txt new file mode 100644 index 00000000000..a8350a22b67 --- /dev/null +++ b/src/main/target/HAKRCF405D/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f405xg(HAKRCF405D) diff --git a/src/main/target/HAKRCF405D/config.c b/src/main/target/HAKRCF405D/config.c new file mode 100644 index 00000000000..7aac4ce8871 --- /dev/null +++ b/src/main/target/HAKRCF405D/config.c @@ -0,0 +1,28 @@ +/* + * 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 . + */ + +#include +#include + +#include "fc/fc_msp_box.h" +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; +} diff --git a/src/main/target/HAKRCF405D/target.c b/src/main/target/HAKRCF405D/target.c new file mode 100644 index 00000000000..b05c443f257 --- /dev/null +++ b/src/main/target/HAKRCF405D/target.c @@ -0,0 +1,42 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + +#include +#include + +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0), // PPM + + DEF_TIM(TIM3, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1 + DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1), // S3 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S4 + DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S5 + DEF_TIM(TIM1, CH1, PA8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S6 + + DEF_TIM(TIM4, CH1, PB8, TIM_USE_LED, 0, 0), // LED STRIP(2,6) + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_PWM, 0, 0), // PWM1 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_PWM, 0, 0), // PWM2 + DEF_TIM(TIM9, CH1, PA2, TIM_USE_PWM, 0, 0), // PWM3 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/HAKRCF405D/target.h b/src/main/target/HAKRCF405D/target.h new file mode 100644 index 00000000000..30bc213e51c --- /dev/null +++ b/src/main/target/HAKRCF405D/target.h @@ -0,0 +1,180 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "H40D" +#define USBD_PRODUCT_STRING "HAKRCF405D" + +#define USE_TARGET_CONFIG + +/*** Indicators ***/ +#define LED0 PB9 +#define LED1 PA14 +#define BEEPER PC13 +#define BEEPER_INVERTED + +/*** SPI & I2C ***/ +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_NSS_PIN PC2 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_NSS_PIN PB10 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_NSS_PIN PC0 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +/*** IMU sensors ***/ +#define USE_EXTI + +#define GYRO_INT_EXTI PC3 +#define USE_MPU_DATA_READY_SIGNAL + +// MPU6000 +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW270_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN SPI1_NSS_PIN +#define MPU6000_EXTI_PIN GYRO_INT_EXTI + +// ICM42605/ICM42688P +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW270_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN SPI1_NSS_PIN +#define ICM42605_EXTI_PIN GYRO_INT_EXTI +//BMI270 +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW270_DEG +#define BMI270_SPI_BUS BUS_SPI1 +#define BMI270_CS_PIN SPI1_NSS_PIN +#define BMI270_EXTI_PIN GYRO_INT_EXTI + +/*** OSD ***/ +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN SPI2_NSS_PIN + +/*** Onboard flash ***/ +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN SPI3_NSS_PIN +#define M25P16_SPI_BUS BUS_SPI3 + +/*** PINIO ***/ +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC14 +#define PINIO2_PIN PC15 + +/*** Serial ports ***/ +#define USE_VCP +#define USB_DETECT_PIN PB12 +#define USE_USB_DETECT + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART2 +#define UART2_RX_PIN PA3 +#define UART2_TX_PIN PA2 + +#define USE_UART3 +#define UART3_RX_PIN PC11 +#define UART3_TX_PIN PC10 + +#define USE_UART4 +#define UART4_RX_PIN PA1 +#define UART4_TX_PIN PA0 + +#define USE_UART5 +#define UART5_RX_PIN PD2 +#define UART5_TX_PIN PC12 + +#define SERIAL_PORT_COUNT 6 + +/*** BARO & MAG ***/ +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_SPL06 +#define USE_BARO_DPS310 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL + +/*** ADC ***/ +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC5 +#define ADC_CHANNEL_2_PIN PB1 +#define ADC_CHANNEL_3_PIN PC4 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3 +#define RSSI_METER_ADC_CHANNEL ADC_CHN_2 + +/*** LED STRIP ***/ +#define USE_LED_STRIP +#define WS2811_PIN PB8 + +/*** Default settings ***/ +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define CURRENT_METER_SCALE 179 + + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL) + +/*** Timer/PWM output ***/ +#define USE_SERIAL_4WAY_BLHELI_INTERFACE +#define MAX_PWM_OUTPUT_PORTS 6 +#define USE_DSHOT +#define USE_ESC_SENSOR + +/*** Optical Flow & Lidar ***/ +#define USE_RANGEFINDER +#define USE_RANGEFINDER_MSP +#define USE_OPFLOW +#define USE_OPFLOW_MSP + +/*** Misc ***/ +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD (BIT(2))