hardware config for the m9912 copter

stawel · Apr 25, 2016 · 4549a1e · 4549a1e
1 parent 7f3e2d7
commit 4549a1e
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Showing 3 changed files with 44 additions and 43 deletions.
diff --git a/OpenMicro/src/config.h b/OpenMicro/src/config.h
@@ -34,7 +34,7 @@
 // battery saver
 // do not start software if battery is too low
 // flashes 2 times repeatedly at startup
-#define STOP_LOWBATTERY
+//#define STOP_LOWBATTERY
 
 // under this voltage the software will not start 
 // if STOP_LOWBATTERY is defined above
@@ -125,8 +125,8 @@
 
 // Radio protocol selection
 // select only one
-#define RX_CG023_PROTOCOL
-//#define RX_H7_PROTOCOL
+//#define RX_CG023_PROTOCOL
+#define RX_H7_PROTOCOL
 //#define RX_BAYANG_PROTOCOL
 //#define RX_CX10BLUE_PROTOCOL
 

diff --git a/OpenMicro/src/hardware.h b/OpenMicro/src/hardware.h
@@ -18,23 +18,24 @@
 // do not set PA13 , PA14 (stm32f031) as this will break the programming interface
 // to disable led pins set number to zero
 
-#define LED_NUMBER 4
+#define LED_NUMBER 3
 
-#define LED1PIN GPIO_Pin_4
-#define LED1PORT GPIOA
+#define LED1PIN GPIO_Pin_6
+#define LED1PORT GPIOB
 
-#define LED2PIN GPIO_Pin_2
-#define LED2PORT GPIOA
+#define LED2PIN GPIO_Pin_1
+#define LED2PORT GPIOB
 
-#define LED3PIN GPIO_Pin_12
-#define LED3PORT GPIOA
+#define LED3PIN GPIO_Pin_4
+#define LED3PORT GPIOB
 
-#define LED4PIN GPIO_Pin_0
-#define LED4PORT GPIOB
+// ??
+//#define LED4PIN GPIO_Pin_0
+//#define LED4PORT GPIOA
 
 // aux leds
 
-#define AUX_LED_NUMBER 1
+#define AUX_LED_NUMBER 0
 
 #define AUX_LED1PIN GPIO_Pin_2
 #define AUX_LED1PORT GPIOB
@@ -51,17 +52,17 @@
 #define SOFTI2C_SDAPIN GPIO_Pin_7
 #define SOFTI2C_SDAPORT GPIOB
 
-#define SOFTI2C_SCLPIN GPIO_Pin_6
+#define SOFTI2C_SCLPIN GPIO_Pin_8
 #define SOFTI2C_SCLPORT GPIOB
 
-#define SOFTI2C_GYRO_ADDRESS 0x68
-//#define SOFTI2C_GYRO_ADDRESS 0x69
+//#define SOFTI2C_GYRO_ADDRESS 0x68
+#define SOFTI2C_GYRO_ADDRESS 0x69
 
 // Analog battery input pin and adc channel
 
-#define BATTERYPIN GPIO_Pin_7
+#define BATTERYPIN GPIO_Pin_2
 #define BATTERYPORT GPIOA
-#define BATTERY_ADC_CHANNEL ADC_Channel_7
+#define BATTERY_ADC_CHANNEL ADC_Channel_2
 
 
 // SPI PINS DEFINITONS ( for radio ic )
@@ -70,17 +71,17 @@
 //disable pins so they don't interfere with other pins 
 //#define DISABLE_SPI_PINS
 
-#define SPI_MOSI_PIN GPIO_Pin_3
-#define SPI_MOSI_PORT GPIOB
-
-#define SPI_MISO_PIN GPIO_Pin_15
+#define SPI_MISO_PIN GPIO_Pin_6
 #define SPI_MISO_PORT GPIOA
 
-#define SPI_CLK_PIN GPIO_Pin_4
-#define SPI_CLK_PORT GPIOB
+#define SPI_MOSI_PIN GPIO_Pin_7
+#define SPI_MOSI_PORT GPIOA
+
+#define SPI_CLK_PIN GPIO_Pin_5
+#define SPI_CLK_PORT GPIOA
 
-#define SPI_SS_PIN GPIO_Pin_5
-#define SPI_SS_PORT GPIOB
+#define SPI_SS_PIN GPIO_Pin_4
+#define SPI_SS_PORT GPIOA
 
 
 // PWM PINS DEFINITIONS 
@@ -93,15 +94,15 @@
 
 // pwm pin initialization
 // enable the pwm pins to be used here ( multiple pins ok)
-#define PWM_PA0
-#define PWM_PA1
+//#define PWM_PA0
+//#define PWM_PA1
 //#define PWM_PA2
 //#define PWM_PA3
 //#define PWM_PA5
 #define PWM_PA8
 #define PWM_PA9
-//#define PWM_PA10
-//#define PWM_PA11
+#define PWM_PA10
+#define PWM_PA11
 
 
 // Assingment of pin to motor
@@ -110,24 +111,24 @@
 // back-left motor
 // motor 0 pin
 
-#define MOTOR0_PIN_PA0
+//#define MOTOR0_PIN_PA0
 //#define MOTOR0_PIN_PA1
 //#define MOTOR0_PIN_PA2
 //#define MOTOR0_PIN_PA3
 //#define MOTOR0_PIN_PA5
 //#define MOTOR0_PIN_PA8
-//#define MOTOR0_PIN_PA9
+#define MOTOR0_PIN_PA9
 //#define MOTOR0_PIN_PA10
 //#define MOTOR0_PIN_PA11
 
 // front-left motor
 // motor 1 pin
 
 //#define MOTOR1_PIN_PA0
-#define MOTOR1_PIN_PA1
+//#define MOTOR1_PIN_PA1
 //#define MOTOR1_PIN_PA2
 //#define MOTOR1_PIN_PA3
-//#define MOTOR1_PIN_PA8
+#define MOTOR1_PIN_PA8
 //#define MOTOR1_PIN_PA9
 //#define MOTOR1_PIN_PA10
 //#define MOTOR1_PIN_PA11
@@ -139,10 +140,10 @@
 //#define MOTOR2_PIN_PA1
 //#define MOTOR2_PIN_PA2
 //#define MOTOR2_PIN_PA3
-#define MOTOR2_PIN_PA8
+//#define MOTOR2_PIN_PA8
 //#define MOTOR2_PIN_PA9
 //#define MOTOR2_PIN_PA10
-//#define MOTOR2_PIN_PA11
+#define MOTOR2_PIN_PA11
 
 // back-right motor
 // motor 3 pin
@@ -152,8 +153,8 @@
 //#define MOTOR3_PIN_PA2
 //#define MOTOR3_PIN_PA3
 //#define MOTOR3_PIN_PA8
-#define MOTOR3_PIN_PA9
-//#define MOTOR3_PIN_PA10
+//#define MOTOR3_PIN_PA9
+#define MOTOR3_PIN_PA10
 //#define MOTOR3_PIN_PA11
 
 
@@ -162,7 +163,7 @@
 // use this to rotate to the correct orientation 
 //#define SENSOR_ROTATE_90_CW
 //#define SENSOR_ROTATE_90_CCW
-//#define SENSOR_ROTATE_180
+#define SENSOR_ROTATE_180
 
 
 

diff --git a/OpenMicro/src/rx_h7_protocol.c b/OpenMicro/src/rx_h7_protocol.c
@@ -140,13 +140,13 @@ void nextchannel(void)
 int decode_h7(void) {		
 	if (rxdata[8] != calc_checksum() ) return 0;
 
-		rx[3] = 0.0045000f * (225 - rxdata[0]);
+		rx[3] = 0.00390625f * (225 - rxdata[0]);
 
-		rx[1] = ( ((int)rxdata[3]) - 112) * 0.00888888f;
+		rx[1] = ( ((int)rxdata[3]) - 112) * 0.00166666f;
 
-		rx[0] = ( ((int)rxdata[2]) - 112) * 0.00888888f; // roll
+		rx[0] = ( ((int)rxdata[2]) - 112) * 0.00166666f; // roll
 
-		rx[2] = (-((int)rxdata[1]) + 112) * 0.00888888f;
+		rx[2] = (-((int)rxdata[1]) + 112) * 0.00166666f;
 
 		//rxdata[4] L-R: default:32, (63..1)
 		//rxdata[5] F-B: default:32, (1..63)