From 3c06a8899fe04b40e147476c9daa07b8e864b689 Mon Sep 17 00:00:00 2001 From: jihlein Date: Wed, 21 Feb 2018 15:36:18 -0700 Subject: [PATCH 01/73] Rebase F3FC, Naze32Pro, Triflight, and OAV on Wired Release. --- flight/Libraries/sanitycheck.c | 1 + flight/Modules/Actuator/actuator.c | 345 +++++- flight/Modules/Actuator/triflight.c | 1032 ++++++++++++++++ flight/Modules/Actuator/triflight.h | 89 ++ flight/Modules/CharacterOSD/panel.c | 3 + flight/Modules/Logging/logging.c | 10 + .../ManualControl/transmitter_control.c | 4 + flight/Modules/OpenAeroVtol/oav.c | 323 +++++ flight/Modules/OpenAeroVtol/oav.h | 113 ++ flight/Modules/OpenAeroVtol/oavimu.c | 343 ++++++ flight/Modules/OpenAeroVtol/oavmixer.c | 1093 ++++++++++++++++ flight/Modules/OpenAeroVtol/oavpid.c | 435 +++++++ flight/Modules/OpenAeroVtol/oavtransition.c | 407 ++++++ flight/Modules/OpenAeroVtol/oavtypedefs.h | 66 + flight/Modules/System/systemmod.c | 88 +- flight/PiOS/Common/pios_hal.c | 22 + flight/PiOS/Common/pios_hmc5983.c | 6 +- flight/PiOS/inc/pios_hmc5983.h | 4 +- flight/targets/aq32/fw/Makefile | 1 + flight/targets/aq32/fw/pios_config.h | 2 + .../targets/dtfc/board-info/board_hw_defs.c | 153 ++- flight/targets/dtfc/fw/Makefile | 1 + flight/targets/dtfc/fw/pios_board.c | 16 +- flight/targets/dtfc/fw/pios_config.h | 4 + flight/targets/f3fc/bl/pios_board.c | 92 ++ flight/targets/f3fc/bl/pios_config.h | 56 + flight/targets/f3fc/board-info/board-info.mk | 33 + .../targets/f3fc/board-info/board_hw_defs.c | 956 ++++++++++++++ flight/targets/f3fc/board-info/cmsis_system.c | 389 ++++++ flight/targets/f3fc/board-info/pios_board.h | 241 ++++ flight/targets/f3fc/fw/Makefile | 279 +++++ flight/targets/f3fc/fw/mcuconf.h | 223 ++++ flight/targets/f3fc/fw/memory.ld | 10 + flight/targets/f3fc/fw/pios_board.c | 379 ++++++ flight/targets/f3fc/fw/pios_config.h | 85 ++ flight/targets/f3fc/hw/f3fc.xls | Bin 0 -> 38400 bytes flight/targets/f3fc/target-defs.mk | 10 + flight/targets/naze32pro/bl/pios_board.c | 92 ++ flight/targets/naze32pro/bl/pios_config.h | 56 + .../naze32pro/board-info/board-info.mk | 33 + .../naze32pro/board-info/board_hw_defs.c | 1096 +++++++++++++++++ .../naze32pro/board-info/cmsis_system.c | 385 ++++++ .../targets/naze32pro/board-info/pios_board.h | 244 ++++ flight/targets/naze32pro/fw/Makefile | 279 +++++ flight/targets/naze32pro/fw/mcuconf.h | 223 ++++ flight/targets/naze32pro/fw/memory.ld | 10 + flight/targets/naze32pro/fw/pios_board.c | 444 +++++++ flight/targets/naze32pro/fw/pios_config.h | 88 ++ .../targets/naze32pro/hw/Naze32Pro IO Map.JPG | Bin 0 -> 43499 bytes flight/targets/naze32pro/target-defs.mk | 10 + .../quanton/board-info/board_hw_defs.c | 940 +------------- flight/targets/quanton/fw/Makefile | 1 + flight/targets/quanton/fw/pios_board.c | 211 +--- flight/targets/quanton/fw/pios_config.h | 2 + flight/targets/seppuku/fw/Makefile | 1 + flight/targets/seppuku/fw/pios_config.h | 2 + flight/targets/sparky/fw/Makefile | 7 +- flight/targets/sparky/fw/pios_config.h | 4 + .../targets/sprf3e/board-info/board_hw_defs.c | 2 +- flight/targets/sprf3e/fw/Makefile | 9 +- flight/targets/sprf3e/fw/pios_config.h | 2 + ground/gcs/src/plugins/boards_dtf/dtfc.cpp | 11 +- .../src/plugins/boards_naze/Naze.pluginspec | 11 + .../src/plugins/boards_naze/boards_naze.pro | 19 + .../plugins/boards_naze/images/naze32pro.png | Bin 0 -> 759611 bytes ground/gcs/src/plugins/boards_naze/naze.qrc | 5 + .../gcs/src/plugins/boards_naze/naze32pro.cpp | 215 ++++ .../gcs/src/plugins/boards_naze/naze32pro.h | 76 ++ .../src/plugins/boards_naze/nazeplugin.cpp | 62 + .../gcs/src/plugins/boards_naze/nazeplugin.h | 47 + .../src/plugins/boards_quantec/quanton.cpp | 78 +- .../boards_rcexplorer/RcExplorer.pluginspec | 11 + .../boards_rcexplorer/boards_rcexplorer.pro | 19 + .../src/plugins/boards_rcexplorer/f3fc.cpp | 138 +++ .../gcs/src/plugins/boards_rcexplorer/f3fc.h | 51 + .../plugins/boards_rcexplorer/images/f3fc.png | Bin 0 -> 969989 bytes .../plugins/boards_rcexplorer/rcexplorer.qrc | 5 + .../boards_rcexplorer/rcexplorerplugin.cpp | 62 + .../boards_rcexplorer/rcexplorerplugin.h | 47 + .../gcs/src/plugins/coreplugin/iboardtype.h | 3 +- ground/gcs/src/plugins/plugins.pro | 12 + .../vehicleconfigurationhelper.cpp | 1 + shared/uavobjectdefinition/hwdtfc.xml | 1 + shared/uavobjectdefinition/hwf3fc.xml | 138 +++ shared/uavobjectdefinition/hwnaze32pro.xml | 117 ++ shared/uavobjectdefinition/hwquanton.xml | 45 +- shared/uavobjectdefinition/hwshared.xml | 1 + shared/uavobjectdefinition/oavcurves.xml | 37 + .../uavobjectdefinition/oavflightprofiles.xml | 29 + shared/uavobjectdefinition/oavmixerfdbks.xml | 93 ++ .../uavobjectdefinition/oavmixervolumes.xml | 133 ++ shared/uavobjectdefinition/oavoffsets.xml | 16 + shared/uavobjectdefinition/oavsettings.xml | 70 ++ shared/uavobjectdefinition/oavstatus.xml | 22 + shared/uavobjectdefinition/shareddefs.xml | 1 + .../uavobjectdefinition/triflightsettings.xml | 61 + .../uavobjectdefinition/triflightstatus.xml | 35 + 97 files changed, 11915 insertions(+), 1212 deletions(-) create mode 100644 flight/Modules/Actuator/triflight.c create mode 100644 flight/Modules/Actuator/triflight.h create mode 100644 flight/Modules/OpenAeroVtol/oav.c create mode 100644 flight/Modules/OpenAeroVtol/oav.h create mode 100644 flight/Modules/OpenAeroVtol/oavimu.c create mode 100644 flight/Modules/OpenAeroVtol/oavmixer.c create mode 100644 flight/Modules/OpenAeroVtol/oavpid.c create mode 100644 flight/Modules/OpenAeroVtol/oavtransition.c create mode 100644 flight/Modules/OpenAeroVtol/oavtypedefs.h create mode 100644 flight/targets/f3fc/bl/pios_board.c create mode 100644 flight/targets/f3fc/bl/pios_config.h create mode 100644 flight/targets/f3fc/board-info/board-info.mk create mode 100644 flight/targets/f3fc/board-info/board_hw_defs.c create mode 100644 flight/targets/f3fc/board-info/cmsis_system.c create mode 100644 flight/targets/f3fc/board-info/pios_board.h create mode 100644 flight/targets/f3fc/fw/Makefile create mode 100644 flight/targets/f3fc/fw/mcuconf.h create mode 100644 flight/targets/f3fc/fw/memory.ld create mode 100644 flight/targets/f3fc/fw/pios_board.c create mode 100644 flight/targets/f3fc/fw/pios_config.h create mode 100644 flight/targets/f3fc/hw/f3fc.xls create mode 100644 flight/targets/f3fc/target-defs.mk create mode 100644 flight/targets/naze32pro/bl/pios_board.c create mode 100644 flight/targets/naze32pro/bl/pios_config.h create mode 100644 flight/targets/naze32pro/board-info/board-info.mk create mode 100644 flight/targets/naze32pro/board-info/board_hw_defs.c create mode 100644 flight/targets/naze32pro/board-info/cmsis_system.c create mode 100644 flight/targets/naze32pro/board-info/pios_board.h create mode 100644 flight/targets/naze32pro/fw/Makefile create mode 100644 flight/targets/naze32pro/fw/mcuconf.h create mode 100644 flight/targets/naze32pro/fw/memory.ld create mode 100644 flight/targets/naze32pro/fw/pios_board.c create mode 100644 flight/targets/naze32pro/fw/pios_config.h create mode 100644 flight/targets/naze32pro/hw/Naze32Pro IO Map.JPG create mode 100644 flight/targets/naze32pro/target-defs.mk create mode 100644 ground/gcs/src/plugins/boards_naze/Naze.pluginspec create mode 100644 ground/gcs/src/plugins/boards_naze/boards_naze.pro create mode 100644 ground/gcs/src/plugins/boards_naze/images/naze32pro.png create mode 100644 ground/gcs/src/plugins/boards_naze/naze.qrc create mode 100644 ground/gcs/src/plugins/boards_naze/naze32pro.cpp create mode 100644 ground/gcs/src/plugins/boards_naze/naze32pro.h create mode 100644 ground/gcs/src/plugins/boards_naze/nazeplugin.cpp create mode 100644 ground/gcs/src/plugins/boards_naze/nazeplugin.h create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/RcExplorer.pluginspec create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/boards_rcexplorer.pro create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/f3fc.h create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/images/f3fc.png create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/rcexplorer.qrc create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.cpp create mode 100644 ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.h create mode 100644 shared/uavobjectdefinition/hwf3fc.xml create mode 100644 shared/uavobjectdefinition/hwnaze32pro.xml create mode 100644 shared/uavobjectdefinition/oavcurves.xml create mode 100644 shared/uavobjectdefinition/oavflightprofiles.xml create mode 100644 shared/uavobjectdefinition/oavmixerfdbks.xml create mode 100644 shared/uavobjectdefinition/oavmixervolumes.xml create mode 100644 shared/uavobjectdefinition/oavoffsets.xml create mode 100644 shared/uavobjectdefinition/oavsettings.xml create mode 100644 shared/uavobjectdefinition/oavstatus.xml create mode 100644 shared/uavobjectdefinition/triflightsettings.xml create mode 100644 shared/uavobjectdefinition/triflightstatus.xml diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c index a5ebb71315..07e9e7809e 100644 --- a/flight/Libraries/sanitycheck.c +++ b/flight/Libraries/sanitycheck.c @@ -137,6 +137,7 @@ int32_t configuration_check() case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AXISLOCK: case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VIRTUALBAR: case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_FAILSAFE: + case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_TAILTUNE: // always ok break; case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_LQG: diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 2288e60268..b92effb15f 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -53,6 +53,20 @@ #include "pios_queue.h" #include "misc_math.h" +#include "triflight.h" +#include "triflightsettings.h" +#include "triflightstatus.h" + +#include "../OpenAeroVtol/oav.h" + +#include "oavcurves.h" +#include "oavflightprofiles.h" +#include "oavmixerfdbks.h" +#include "oavmixervolumes.h" +#include "oavoffsets.h" +#include "oavsettings.h" +#include "oavstatus.h" + // Private constants #define MAX_QUEUE_SIZE 2 @@ -91,6 +105,17 @@ static volatile bool manual_control_cmd_updated = true; static volatile bool actuator_settings_updated = true; static volatile bool mixer_settings_updated = true; +#ifdef OPENAEROVTOL +static volatile bool oav_curves_updated = true; +static volatile bool oav_flight_profiles_updated = true; +static volatile bool oav_mixer_fdbks_updated = true; +static volatile bool oav_mixer_volumes_updated = true; +static volatile bool oav_offsets_updated = true; +static volatile bool oav_settings_updated = true; +#endif + +static volatile bool triflight_settings_updated = true; + static MixerSettingsMixer1TypeOptions types_mixer[MAX_MIX_ACTUATORS]; /* In the mixer, a row consists of values for one output actuator. @@ -101,12 +126,31 @@ static float motor_mixer[MAX_MIX_ACTUATORS * MIXERSETTINGS_MIXER1VECTOR_NUMELEM] /* These are various settings objects used throughout the actuator code */ static ActuatorSettingsData actuatorSettings; +static FlightStatusData flightStatus; +static MixerSettingsData mixerSettings; static SystemSettingsAirframeTypeOptions airframe_type; static float curve2[MIXERSETTINGS_THROTTLECURVE2_NUMELEM]; static MixerSettingsCurve2SourceOptions curve2_src; +#ifdef OPENAEROVTOL +static OAVCurvesData OAVCurves; +static OAVFlightProfilesData OAVFlightProfiles; +static OAVMixerFdbksData OAVMixerFdbks; +static OAVMixerVolumesData OAVMixerVolumes; +static OAVOffsetsData OAVOffsets; +static OAVSettingsData OAVSettings; +static OAVStatusData OAVStatus; +#endif + +static TriflightSettingsData triflightSettings; +static TriflightStatusData triflightStatus; + +static bool armed = false; +static bool spin_while_armed = false; +static bool stabilize_now = false; + // Private functions static void actuator_task(void* parameters); @@ -233,6 +277,50 @@ int32_t ActuatorInitialize() } MixerSettingsConnectCallbackCtx(UAVObjCbSetFlag, &mixer_settings_updated); +#ifdef OPENAEROVTOL + // Register for notifications of changes to OAVCurves + if (OAVCurvesInitialize() == -1) { + return -1; + } + OAVCurvesConnectCallbackCtx(UAVObjCbSetFlag, &oav_curves_updated); + + // Register for notifications of changes to OAVFlightProfiles + if (OAVFlightProfilesInitialize() == -1) { + return -1; + } + OAVFlightProfilesConnectCallbackCtx(UAVObjCbSetFlag, &oav_flight_profiles_updated); + + // Register for notifications of changes to OAVMixerFdbks + if (OAVMixerFdbksInitialize() == -1) { + return -1; + } + OAVMixerFdbksConnectCallbackCtx(UAVObjCbSetFlag, &oav_mixer_fdbks_updated); + + // Register for notifications of changes to OAVMixerVolumes + if (OAVMixerVolumesInitialize() == -1) { + return -1; + } + OAVMixerVolumesConnectCallbackCtx(UAVObjCbSetFlag, &oav_mixer_volumes_updated); + + // Register for notifications of changes to OAVOffsets + if (OAVOffsetsInitialize() == -1) { + return -1; + } + OAVOffsetsConnectCallbackCtx(UAVObjCbSetFlag, &oav_offsets_updated); + + // Register for notifications of changes to OAVSettings + if (OAVSettingsInitialize() == -1) { + return -1; + } + OAVSettingsConnectCallbackCtx(UAVObjCbSetFlag, &oav_settings_updated); +#endif + + // Register for notifications of changes to TriFlightSettings + if (TriflightSettingsInitialize() == -1) { + return -1; + } + TriflightSettingsConnectCallbackCtx(UAVObjCbSetFlag, &triflight_settings_updated); + // Listen for ActuatorDesired updates (Primary input to this module) if (ActuatorDesiredInitialize() == -1) { return -1; @@ -246,6 +334,16 @@ int32_t ActuatorInitialize() return -1; } +#ifdef OPENAEROVTOL + if (OAVStatusInitialize() == -1) { + return -1; + } +#endif + + if (TriflightStatusInitialize() == -1) { + return -1; + } + #if defined(MIXERSTATUS_DIAGNOSTICS) // UAVO only used for inspecting the internal status of the mixer during debug if (MixerStatusInitialize() == -1) { @@ -338,8 +436,6 @@ static void compute_one_mixer(int mixnum, static void compute_mixer() { - MixerSettingsData mixerSettings; - MixerSettingsGet(&mixerSettings); #if MAX_MIX_ACTUATORS > 0 @@ -594,6 +690,78 @@ static void post_process_scale_and_commit(float *motor_vect, active_command); } + if (triflightStatus.Initialized == TRIFLIGHTSTATUS_INITIALIZED_TRUE) + { + triflightStatus.UncorrectedServoCmd = command.Channel[triflightStatus.ServoChannel]; + + command.Channel[triflightStatus.ServoChannel] = getCorrectedServoValue(&actuatorSettings, + &triflightSettings, + &triflightStatus, + command.Channel[triflightStatus.ServoChannel]); + + // Make sure corrected servo command with in PWM range after correction is applied + if (actuatorSettings.ChannelMin[triflightStatus.ServoChannel] < actuatorSettings.ChannelMax[triflightStatus.ServoChannel]) + command.Channel[triflightStatus.ServoChannel] = bound_min_max(command.Channel[triflightStatus.ServoChannel], + actuatorSettings.ChannelMin[triflightStatus.ServoChannel], + actuatorSettings.ChannelMax[triflightStatus.ServoChannel]); + else + command.Channel[triflightStatus.ServoChannel] = bound_min_max(command.Channel[triflightStatus.ServoChannel], + actuatorSettings.ChannelMax[triflightStatus.ServoChannel], + actuatorSettings.ChannelMin[triflightStatus.ServoChannel]); + + triflightStatus.CorrectedServoCmd = command.Channel[triflightStatus.ServoChannel]; + + if ((triflightSettings.EnableVirtualServo == TRIFLIGHTSETTINGS_ENABLEVIRTUALSERVO_ENABLE) || + (triflightSettings.ServoFdbkPin == TRIFLIGHTSETTINGS_SERVOFDBKPIN_NONE)) + virtualServoStep(&actuatorSettings, + &triflightSettings, + &triflightStatus, + dT, + command.Channel[triflightStatus.ServoChannel]); + else +// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) + feedbackServoStep(&triflightSettings, &triflightStatus, dT); +// HJI #else +// HJI triflightStatus.ServoAngle = 90.0f; +// HJI #endif + + // Compute tail motor correction + triflightStatus.MotorCorrection = triGetMotorCorrection(&actuatorSettings, + &triflightSettings, + &triflightStatus, + command.Channel[triflightStatus.ServoChannel]); + + if (armed) { + // Add in tail motor correction + command.Channel[triflightStatus.RearMotorChannel] += triflightStatus.MotorCorrection; + + // Make sure corrected motor command with in PWM range after correction is applied + command.Channel[triflightStatus.RearMotorChannel] = bound_min_max(command.Channel[triflightStatus.RearMotorChannel], + actuatorSettings.ChannelMin[triflightStatus.RearMotorChannel], + actuatorSettings.ChannelMax[triflightStatus.RearMotorChannel]); + } + + virtualTailMotorStep(&actuatorSettings, + &triflightSettings, + &triflightStatus, + command.Channel[triflightStatus.RearMotorChannel], + dT); + + dynamicYaw(&triflightSettings, &triflightStatus); + +// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) + triTailTuneStep(&actuatorSettings, + &flightStatus, + &triflightSettings, + &triflightStatus, + &command.Channel[triflightStatus.ServoChannel], + armed, + dT); +// HJI #endif + + TriflightStatusSet(&triflightStatus); + } + // Store update time command.UpdateTime = 1000.0f*dT; @@ -629,8 +797,6 @@ static void normalize_input_data(uint32_t this_systime, float throttle_val = 0; ActuatorDesiredData desired; - static FlightStatusData flightStatus; - ActuatorDesiredGet(&desired); if (flight_status_updated) { @@ -638,6 +804,11 @@ static void normalize_input_data(uint32_t this_systime, flight_status_updated = false; } + if (triflightStatus.Initialized == TRIFLIGHTSTATUS_INITIALIZED_TRUE) { + desired.Yaw *= triflightStatus.DynamicYawGain; + desired.Yaw = bound_sym(desired.Yaw, 1.0f); + } + if (manual_control_cmd_updated) { // just pull out the throttle_val... and accessory0-2 and // fill direct into the vect @@ -741,11 +912,18 @@ static void actuator_task(void* parameters) */ if (actuator_settings_updated) { actuator_settings_update(); + triflight_settings_updated = true; + } + + if (flight_status_updated) { + FlightStatusGet(&flightStatus); + flight_status_updated = false; } if (mixer_settings_updated) { mixer_settings_updated = false; SystemSettingsAirframeTypeGet(&airframe_type); + triflight_settings_updated = true; compute_mixer(); @@ -753,6 +931,126 @@ static void actuator_task(void* parameters) MixerSettingsCurve2SourceGet(&curve2_src); } +#ifdef OPENAEROVTOL + if (oav_curves_updated) { + OAVCurvesGet(&OAVCurves); + + oav_curves_updated = false; + } + + if (oav_flight_profiles_updated) { + OAVFlightProfilesGet(&OAVFlightProfiles); + + UpdateLimits(); + + oav_flight_profiles_updated = false; + } + + if (oav_mixer_fdbks_updated) { + OAVMixerFdbksGet(&OAVMixerFdbks); + + oav_mixer_fdbks_updated = false; + } + + if (oav_mixer_volumes_updated) { + OAVMixerVolumesGet(&OAVMixerVolumes); + + oav_mixer_volumes_updated = false; + } + + if (oav_offsets_updated) { + OAVOffsetsGet(&OAVOffsets); + + oav_offsets_updated = false; + } + + if (oav_settings_updated) { + OAVSettingsGet(&OAVSettings); + OAVStatusGet(&OAVStatus); + + if (OAVSettings.EnableOAV == OAVSETTINGS_ENABLEOAV_ENABLE) + OAVStatus.Initialized = OAVSTATUS_INITIALIZED_TRUE; + else + OAVStatus.Initialized = OAVSTATUS_INITIALIZED_FALSE; + + OAVStatusSet(&OAVStatus); + + oav_settings_updated = false; + } + +#endif + +#define is_yaw_servo(b) (mixerSettings.Mixer ## b ## Type == MIXERSETTINGS_MIXER ## b ## TYPE_SERVO) +#define is_rear_motor(b) ((mixerSettings.Mixer ## b ## Type == MIXERSETTINGS_MIXER ## b ## TYPE_MOTOR) && \ + (mixerSettings.Mixer ## b ## Vector[MIXERSETTINGS_MIXER ## b ## VECTOR_ROLL] == 0)) + + if (triflight_settings_updated) { + triflight_settings_updated = false; + + MixerSettingsGet(&mixerSettings); + + TriflightSettingsGet(&triflightSettings); + + if ((triflightSettings.EnableTriFlight == TRIFLIGHTSETTINGS_ENABLETRIFLIGHT_ENABLE) && + (airframe_type == SYSTEMSETTINGS_AIRFRAMETYPE_TRI)) + { + // Find which output is yaw servo and which output is rear motor +#if MAX_MIX_ACTUATORS > 0 + if is_yaw_servo(1) triflightStatus.ServoChannel = 0; + if is_rear_motor(1) triflightStatus.RearMotorChannel = 0; +#endif +#if MAX_MIX_ACTUATORS > 1 + if is_yaw_servo(2) triflightStatus.ServoChannel = 1; + if is_rear_motor(2) triflightStatus.RearMotorChannel = 1; +#endif +#if MAX_MIX_ACTUATORS > 2 + if is_yaw_servo(3) triflightStatus.ServoChannel = 2; + if is_rear_motor(3) triflightStatus.RearMotorChannel = 2; +#endif +#if MAX_MIX_ACTUATORS > 3 + if is_yaw_servo(4) triflightStatus.ServoChannel = 3; + if is_rear_motor(4) triflightStatus.RearMotorChannel = 3; +#endif +#if MAX_MIX_ACTUATORS > 4 + if is_yaw_servo(5) triflightStatus.ServoChannel = 4; + if is_rear_motor(5) triflightStatus.RearMotorChannel = 4; +#endif +#if MAX_MIX_ACTUATORS > 5 + if is_yaw_servo(6) triflightStatus.ServoChannel = 5; + if is_rear_motor(6) triflightStatus.RearMotorChannel = 5; +#endif +#if MAX_MIX_ACTUATORS > 6 + if is_yaw_servo(7) triflightStatus.ServoChannel = 6; + if is_rear_motor(7) triflightStatus.RearMotorChannel = 6; +#endif +#if MAX_MIX_ACTUATORS > 7 + if is_yaw_servo(8) triflightStatus.ServoChannel = 7; + if is_rear_motor(8) triflightStatus.RearMotorChannel = 7; +#endif +#if MAX_MIX_ACTUATORS > 8 + if is_yaw_servo(9) triflightStatus.ServoChannel = 8; + if is_rear_motor(9) triflightStatus.RearMotorChannel = 8; +#endif +#if MAX_MIX_ACTUATORS > 9 + if is_yaw_servo(10) triflightStatus.ServoChannel = 9; + if is_rear_motor(10) triflightStatus.RearMotorChannel = 9; +#endif + + // Call TriFlight Initialization + triflightInit(&actuatorSettings, &triflightSettings, &triflightStatus); + + // Set TriFlight Initialized + triflightStatus.Initialized = TRIFLIGHTSTATUS_INITIALIZED_TRUE; + } + else + { + // Set TriFlight Uninitialized + triflightStatus.Initialized = TRIFLIGHTSTATUS_INITIALIZED_FALSE; + } + + TriflightStatusSet(&triflightStatus); + } + PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR); UAVObjEvent ev; @@ -816,7 +1114,42 @@ static void actuator_task(void* parameters) float motor_vect[MAX_MIX_ACTUATORS]; - bool armed, spin_while_armed, stabilize_now; +#ifdef OPENAEROVTOL + ManualControlCommandData manual_control_command; + + if ((airframe_type == SYSTEMSETTINGS_AIRFRAMETYPE_CUSTOM) && (OAVStatus.Initialized == OAVSTATUS_INITIALIZED_TRUE)) + { + ManualControlCommandGet(&manual_control_command); + OAVStatusGet(&OAVStatus); + + ScaleInputs(&manual_control_command, &OAVSettings, &OAVStatus); + ProfileTransition(&OAVSettings, &OAVStatus); + IMUUpdate(&OAVSettings, &OAVStatus, dT); + SensorPID(&OAVFlightProfiles, &OAVSettings, &OAVStatus, dT); + CalculatePID(&OAVFlightProfiles, &OAVStatus); + ProcessMixer(&OAVCurves, &OAVMixerFdbks, &OAVMixerVolumes, &OAVOffsets, &OAVSettings, &OAVStatus, &mixerSettings); + + OAVStatusSet(&OAVStatus); + + for (int ct = 0; ct < MAX_MIX_ACTUATORS; ct++) { + motor_vect[ct] = (float)OAVStatus.P1Value[ct] / 1250.0f; + + if (types_mixer[ct] == MIXERSETTINGS_MIXER1TYPE_MOTOR) + motor_vect[ct] = (motor_vect[ct] + 1.0f) * 0.5f; + } + + armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED; + + spin_while_armed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE; + + ActuatorDesiredData desired; + ActuatorDesiredGet(&desired); + + stabilize_now = armed && (desired.Thrust > 0.0f); + } + else +#endif + { /* Receive manual control and desired UAV objects. Perform * arming / hangtime checks; form a vector with desired @@ -832,6 +1165,8 @@ static void actuator_task(void* parameters) MIXERSETTINGS_MIXER1VECTOR_NUMELEM, 1); + } + /* At arming time, knock all 3d actuators into 3D mode. * Note we never "take them out" of 3d mode. */ diff --git a/flight/Modules/Actuator/triflight.c b/flight/Modules/Actuator/triflight.c new file mode 100644 index 0000000000..fb9c1d762b --- /dev/null +++ b/flight/Modules/Actuator/triflight.c @@ -0,0 +1,1032 @@ +/** + ****************************************************************************** + * @addtogroup TriflightModule Triflight Module + * @{ + * + * @file triflight.c + * @author dRonin, http://dRonin.org/, Copyright (C) 2015-2016 + * @brief Trifight module. Specialty mixing for tricopters. + * + * This module computes corrections for the tricopter's yaw servo and rear + * motor, based on the yaw servo performance and commanded/actual angle. + * + * Based on algorithms and code developed here: + * http://rcexplorer.se/forums/topic/debugging-the-tricopter-mini-racer/ + * + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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 + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include "pios_config.h" + +#include "openpilot.h" +#include "triflight.h" +#include "misc_math.h" +#include "physical_constants.h" + +#include "pios_board.h" + +#define TRI_TAIL_SERVO_ANGLE_MID 90.0f +#define TRI_TAIL_SERVO_ANGLE_MAX 50.0f +#define TRI_YAW_FORCE_CURVE_SIZE 100 + +static float motor_acceleration = 0.0f; +static float tail_motor_pitch_zero_angle; +static float tail_servo_max_yaw_force = 0.0f; +static float throttle_range = 0.0f; +static float yaw_force_curve[TRI_YAW_FORCE_CURVE_SIZE]; + +extern char *triflight_blink_string; + +/** + * + * + */ +float getPitchCorrectionAtTailAngle(float angle, float thrust_factor) +{ + return 1.0f / (sinf(angle) - cosf(angle) / thrust_factor); +} + +/** + * + * + */ +void triflightInit(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus) +{ + float min_angle = TRI_TAIL_SERVO_ANGLE_MID - triflightSettings->ServoMaxAngle; + float max_angle = TRI_TAIL_SERVO_ANGLE_MID + triflightSettings->ServoMaxAngle; + + float max_neg_force = 0.0f; + float max_pos_force = 0.0f; + + float angle = TRI_TAIL_SERVO_ANGLE_MID - TRI_TAIL_SERVO_ANGLE_MAX; + + for (uint8_t i = 0; i < TRI_YAW_FORCE_CURVE_SIZE; i++) + { + float angle_rad = DEG2RAD * angle; + + yaw_force_curve[i] = (-triflightSettings->MotorThrustFactor * cosf(angle_rad) - sinf(angle_rad)) * + getPitchCorrectionAtTailAngle(angle_rad, triflightSettings->MotorThrustFactor); + + // Only calculate the top forces in the configured angle range + if ((angle >= min_angle) && (angle <= max_angle)) + { + max_neg_force = fminf(yaw_force_curve[i], max_neg_force); + max_pos_force = fmaxf(yaw_force_curve[i], max_pos_force); + } + + angle++; + } + + tail_servo_max_yaw_force = fminf(fabsf(max_neg_force), fabsf(max_pos_force)); + + tail_motor_pitch_zero_angle = 2.0f * (atanf(((sqrtf(triflightSettings->MotorThrustFactor * + triflightSettings->MotorThrustFactor + 1) + 1) / + triflightSettings->MotorThrustFactor))) * RAD2DEG; + + throttle_range = actuatorSettings->ChannelMax[triflightStatus->RearMotorChannel] - + actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]; + + if (throttle_range <= 0.0f) + motor_acceleration = 0.0f; + else + motor_acceleration = throttle_range / triflightSettings->MotorAcceleration / throttle_range; + + triflightStatus->DynamicYawGain = 1.0f; +} + +/** + * + * + */ +float getAngleFromYawCurveAtForce(float force) +{ + if (force < yaw_force_curve[0]) // No force that low + { + return TRI_TAIL_SERVO_ANGLE_MID - TRI_TAIL_SERVO_ANGLE_MAX; + } + else if (!(force < yaw_force_curve[TRI_YAW_FORCE_CURVE_SIZE - 1])) // No force that high + { + return TRI_TAIL_SERVO_ANGLE_MID + TRI_TAIL_SERVO_ANGLE_MAX; + } + + // Binary search: yaw_force_curve[lower] <= force, yaw_force_curve[higher] > force + uint8_t lower = 0; + uint8_t higher = TRI_YAW_FORCE_CURVE_SIZE - 1; + + while (higher > lower + 1) + { + uint8_t mid = (lower + higher) / 2; + + if (yaw_force_curve[mid] > force) + { + higher = mid; + } + else + { + lower = mid; + } + } + + // Interpolating + return TRI_TAIL_SERVO_ANGLE_MID - TRI_TAIL_SERVO_ANGLE_MAX + (float)lower + (force - yaw_force_curve[lower]) / (yaw_force_curve[higher] - yaw_force_curve[lower]); +} + +/** + * + * + */ +float getServoValueAtAngle(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float angle) +{ + bool pwm_min_lt_pwm_max; + bool pwm_in_lt_pwm_neutral; + + float angle_delta; + float angle_range; + float pwm_range; + float initial_pwm; + + pwm_min_lt_pwm_max = actuatorSettings->ChannelMin[triflightStatus->ServoChannel] < actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; + + pwm_in_lt_pwm_neutral = angle < TRI_TAIL_SERVO_ANGLE_MID; + + if ((pwm_in_lt_pwm_neutral && pwm_min_lt_pwm_max) || (!pwm_in_lt_pwm_neutral && !pwm_min_lt_pwm_max)) + { + angle_delta = angle - (TRI_TAIL_SERVO_ANGLE_MID + triflightSettings->ServoMaxAngle); + angle_range = -triflightSettings->ServoMaxAngle; + pwm_range = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel] - actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + initial_pwm = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + } + else + { + angle_delta = angle - TRI_TAIL_SERVO_ANGLE_MID; + angle_range = -triflightSettings->ServoMaxAngle; + pwm_range = actuatorSettings->ChannelMax[triflightStatus->ServoChannel] - actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + initial_pwm = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + } + + return angle_delta / angle_range * pwm_range + initial_pwm; +} + +/** + * + * + */ +float getCorrectedServoValue(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float uncorrected_servo_value) +{ + // First find the yaw force at given servo value from a linear curve + bool pwm_min_lt_pwm_max; + bool pwm_in_lt_pwm_neutral; + + float pwm_delta; + float pwm_range; + + pwm_min_lt_pwm_max = actuatorSettings->ChannelMin[triflightStatus->ServoChannel] < actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; + + pwm_in_lt_pwm_neutral = uncorrected_servo_value < actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + + if ((pwm_in_lt_pwm_neutral && pwm_min_lt_pwm_max) || (!pwm_in_lt_pwm_neutral && !pwm_min_lt_pwm_max)) + { + pwm_delta = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel] - uncorrected_servo_value; + pwm_range = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel] - actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + } + else + { + pwm_delta = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel] - uncorrected_servo_value; + pwm_range = actuatorSettings->ChannelMax[triflightStatus->ServoChannel] - actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + } + + float linear_yaw_force_at_servo_value = pwm_delta / pwm_range * tail_servo_max_yaw_force; + + // Then find the corrected angle + float corrected_angle = getAngleFromYawCurveAtForce(linear_yaw_force_at_servo_value); + + // Then return the corrected PWM value + return getServoValueAtAngle(actuatorSettings, triflightSettings, triflightStatus, corrected_angle); +} + +typedef struct filterStatePt1_s { + float state; + float RC; +} filterStatePt1_t; + +/** + * + * + */ +float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dT) { + + // Pre calculate and store RC + if (!filter->RC) { + filter->RC = 1.0f / ( 2.0f * (float)PI * f_cut ); + } + + filter->state = filter->state + dT / (filter->RC + dT) * (input - filter->state); + + return filter->state; +} + +// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) +/** + * + * + */ +static filterStatePt1_t servoFdbkFilter; + +void feedbackServoStep(TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float dT) +{ + bool adc_min_lt_adc_max; + bool adc_in_lt_adc_mid; + + float adc_servo_fdbk; + + float adc_delta; + float adc_range; + float angle_range; + float initial_angle; + + // Feedback servo + float adc_servo_value = (float)PIOS_ADC_GetChannelRaw(triflightSettings->ServoFdbkPin); + + if (adc_servo_value == -1) + { + triflightStatus->ServoAngle = 90.0f; + return; + } + + adc_servo_fdbk = filterApplyPt1(adc_servo_value, &servoFdbkFilter, 70.0f, dT); + + triflightStatus->ADCServoFdbk = adc_servo_fdbk; + + adc_min_lt_adc_max = triflightSettings->AdcServoFdbkMin < triflightSettings->AdcServoFdbkMax; + + adc_in_lt_adc_mid = adc_servo_fdbk < triflightSettings->AdcServoFdbkMid; + + if ((adc_in_lt_adc_mid && adc_min_lt_adc_max) || (!adc_in_lt_adc_mid && !adc_min_lt_adc_max)) + { + adc_delta = adc_servo_fdbk - triflightSettings->AdcServoFdbkMin; + adc_range = triflightSettings->AdcServoFdbkMid - triflightSettings->AdcServoFdbkMin; + angle_range = triflightSettings->ServoMaxAngle; + initial_angle = TRI_TAIL_SERVO_ANGLE_MID + triflightSettings->ServoMaxAngle; + } + else + { + adc_delta = adc_servo_fdbk - triflightSettings->AdcServoFdbkMid; + adc_range = triflightSettings->AdcServoFdbkMax - triflightSettings->AdcServoFdbkMid; + angle_range = triflightSettings->ServoMaxAngle; + initial_angle = TRI_TAIL_SERVO_ANGLE_MID; + } + + triflightStatus->ServoAngle = initial_angle - adc_delta / adc_range * angle_range; + + return; +} +// HJI #endif + + /** + * + * + */ +float getServoAngle(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + uint16_t servo_value) +{ + bool pwm_min_lt_pwm_max; + bool pwm_in_lt_pwm_neutral; + + float pwm_delta; + float pwm_range; + float angle_range; + float initial_angle; + + pwm_min_lt_pwm_max = actuatorSettings->ChannelMin[triflightStatus->ServoChannel] < actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; + + pwm_in_lt_pwm_neutral = servo_value < actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + + if ((pwm_in_lt_pwm_neutral && pwm_min_lt_pwm_max) || (!pwm_in_lt_pwm_neutral && !pwm_min_lt_pwm_max)) + { + pwm_delta = servo_value - actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + pwm_range = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel] - actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + angle_range = triflightSettings->ServoMaxAngle; + initial_angle = TRI_TAIL_SERVO_ANGLE_MID + triflightSettings->ServoMaxAngle; + } + else + { + pwm_delta = servo_value - actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + pwm_range = actuatorSettings->ChannelMax[triflightStatus->ServoChannel] - actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + angle_range = triflightSettings->ServoMaxAngle; + initial_angle = TRI_TAIL_SERVO_ANGLE_MID; + } + + return initial_angle - pwm_delta / pwm_range * angle_range; +} + +/** + * + * + */ +void virtualServoStep(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float dT, + uint16_t servo_value) +{ + float angle_set_point = getServoAngle(actuatorSettings, triflightSettings, triflightStatus, servo_value); + + float dA = dT * triflightSettings->ServoSpeed; // Max change of an angle since last check + + if (fabsf(triflightStatus->ServoAngle - angle_set_point) < dA ) + { + // At set-point after this moment + triflightStatus->ServoAngle = angle_set_point; + } + else if (triflightStatus->ServoAngle < angle_set_point) + { + triflightStatus->ServoAngle += dA; + } + else // current_angle > angle_set_point + { + triflightStatus->ServoAngle -= dA; + } +} + +/** + * + * + */ +float getPitchCorrectionMaxPhaseShift(float servo_angle, + float servo_setpoint_angle, + float motor_acceleration_delay_angle, + float motor_deceleration_delay_angle, + float motor_direction_change_angle) +{ + float max_phase_shift = 0.0f; + + if (((servo_angle > servo_setpoint_angle) && (servo_angle >= (motor_direction_change_angle + motor_acceleration_delay_angle))) || + ((servo_angle < servo_setpoint_angle) && (servo_angle <= (motor_direction_change_angle - motor_acceleration_delay_angle)))) + { + // Motor is braking + max_phase_shift = fabsf(servo_angle - motor_direction_change_angle) >= motor_deceleration_delay_angle ? + motor_deceleration_delay_angle: + fabsf(servo_angle - motor_direction_change_angle); + } + else + { + // Motor is accelerating + max_phase_shift = motor_acceleration_delay_angle; + } + + return max_phase_shift; +} + +/** + * + * + */ +float triGetMotorCorrection(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + uint16_t servo_value) +{ + // Adjust tail motor speed based on servo angle. Check how much to adjust speed from pitch force curve based on servo angle. + float correction = (throttle_range * getPitchCorrectionAtTailAngle(DEG2RAD * triflightStatus->ServoAngle, triflightSettings->MotorThrustFactor)) - throttle_range; + + // Multiply the correction to get more authority + correction *= triflightSettings->YawBoost; + + return correction; +} + +/** + * + * + */ +#define MIDPOINT (0.5f) + +void dynamicYaw(TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus) +{ + float gain; + + // Select the yaw gain based on tail motor speed + if (triflightStatus->VirtualTailMotor < MIDPOINT) + { + // Below midpoint, gain is increasing the output. + // e.g. 1.50 increases the yaw output at min throttle by 150 % (1.5x) + // e.g. 2.50 increases the yaw output at min throttle by 250 % (2.5x) + + gain = triflightSettings->DynamicYawMinThrottle - 1.0f; + } + else + { + // Above midpoint, gain is decreasing the output. + // e.g. 0.75 reduces the yaw output at max throttle by 25 % (0.75x) + // e.g. 0.20 reduces the yaw output at max throttle by 80 % (0.2x) + + gain = 1.0f - triflightSettings->DynamicYawMaxThrottle; + } + + float distance_from_mid = (triflightStatus->VirtualTailMotor - MIDPOINT); + + triflightStatus->DynamicYawGain = (1.0f - distance_from_mid * gain / MIDPOINT); +} + +/** + * + * + */ +static filterStatePt1_t motor_filter; + +void virtualTailMotorStep(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float setpoint, + float dT) +{ + static float current = 0.0f; + + float dS = dT * motor_acceleration; // Max change of speed since last check + + float normalized_setpoint; + + if (setpoint < actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]) + setpoint = actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]; + + if (throttle_range <= 0.0f) + normalized_setpoint = 0.0f; + else + normalized_setpoint = (setpoint - actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]) / throttle_range; + + if (fabsf(current - normalized_setpoint) < dS) + { + // At set-point after this moment + current = normalized_setpoint; + } + + else if (current < normalized_setpoint) + { + current += dS; + } + else + { + current -= dS; + } + + // Use a PT1 low-pass filter to add "slowness" to the virtual motor feedback. + // Cut-off to delay: + // 2 Hz -> 25 ms + // 5 Hz -> 14 ms + // 10 Hz -> 9 ms + + triflightStatus->VirtualTailMotor = filterApplyPt1(current, &motor_filter, 5.0f, dT); +} + +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////// + +// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) + +#include "gyros.h" +#include "manualcontrolcommand.h" + +#define TAIL_THRUST_FACTOR_MIN (1.0f) +#define TAIL_THRUST_FACTOR_MAX (40.0f) + +typedef enum { + TT_IDLE = 0, + TT_WAIT, + TT_ACTIVE, + TT_WAIT_FOR_DISARM, + TT_DONE, + TT_FAIL, +} tailTuneState_e; + +typedef enum { + TT_MODE_NONE = 0, + TT_MODE_THRUST_TORQUE, + TT_MODE_SERVO_SETUP, +} tailtuneMode_e; + +typedef enum { + SS_IDLE = 0, + SS_CALIB, +} servoSetupState_e; + +typedef enum { + SS_C_IDLE = 0, + SS_C_CALIB_MIN_MID_MAX, + SS_C_CALIB_SPEED, +} servoSetupCalibState_e; + +typedef enum { + SS_C_MIN = 0, + SS_C_MID, + SS_C_MAX, +} servoSetupCalibSubState_e; + +typedef struct tailTune_s { + tailtuneMode_e mode; + + struct thrustTorque_t + { + tailTuneState_e state; + + uint32_t startBeepDelay_us; + uint32_t timestamp_us; + + uint32_t lastAdjTime_us; + struct servoAvgAngle_t + { + float sum; + float num_of; + } servoAvgAngle; + }tt; + + struct servoSetup_t +{ + servoSetupState_e state; + + float servoVal; + uint16_t *pLimitToAdjust; + + struct servoCalib_t + { + bool done; + bool waitingServoToStop; + + servoSetupCalibState_e state; + servoSetupCalibSubState_e subState; + + uint32_t timestamp_us; + + struct average_t + { + float result; + float sum; + float num_of; + } avg; + }cal; + }ss; +} tailTune_t; + +static tailTune_t tailTune = {.mode = TT_MODE_NONE}; + +/** + * @} + * @} + */ +static filterStatePt1_t yaw_rate_filter; + +static void tailTuneModeThrustTorque(TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + struct thrustTorque_t *pTT, + bool armed, + float dT) +{ + ManualControlCommandData cmd; + ManualControlCommandGet(&cmd); + + GyrosData gyrosData; + GyrosGet(&gyrosData); + + float filtered_yaw_rate; + + filtered_yaw_rate = filterApplyPt1(gyrosData.z, &yaw_rate_filter, 66.0f, dT); + + bool is_throttle_high = cmd.Throttle > 0.1f; + + switch(pTT->state) + { + case TT_IDLE: + // Calibration has been requested, only start when throttle is up + if (is_throttle_high && armed) + { + triflight_blink_string = "M"; // -- throttle high + pTT->startBeepDelay_us = 1000000; // 1 second + pTT->timestamp_us = PIOS_DELAY_GetuS(); + pTT->lastAdjTime_us = PIOS_DELAY_GetuS(); + pTT->state = TT_WAIT; + pTT->servoAvgAngle.sum = 0; + pTT->servoAvgAngle.num_of = 0; + } + + break; + + case TT_WAIT: + if (is_throttle_high && armed) + { + // Wait for 5 seconds before activating the tuning. + // This is so that pilot has time to take off if the tail tune mode was activated on ground. + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 5000000) // 5 seconds + { + // Longer beep when starting + triflight_blink_string = "T"; // - start + pTT->state = TT_ACTIVE; + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + else if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= pTT->startBeepDelay_us) + { + // Beep every second until start + triflight_blink_string = "I"; // .. beep every second until start + pTT->startBeepDelay_us += 1000000; // 1 second + } + } + else + { + pTT->state = TT_IDLE; + } + + break; + + case TT_ACTIVE: + if (is_throttle_high && + (fabsf(cmd.Roll) <= 0.05f) && + (fabsf(cmd.Pitch) <= 0.05f) && + (fabsf(cmd.Yaw) <= 0.05f) && + (fabsf(filtered_yaw_rate) <= 20.0f)) + { + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 250000) // 0.25 seconds + { + // RC commands have been within deadbands for 250 ms + if (PIOS_DELAY_GetuSSince(pTT->lastAdjTime_us) >= 20000) // 0.04 seconds + { + pTT->lastAdjTime_us = PIOS_DELAY_GetuS(); + + pTT->servoAvgAngle.sum += triflightStatus->ServoAngle; + pTT->servoAvgAngle.num_of++; + + if (((uint16_t)pTT->servoAvgAngle.num_of & 0x64) == 0x64) // once every 100 samples + { + triflight_blink_string = "E"; // . 100 samples saved, should repeat 5 times + } + + if (pTT->servoAvgAngle.num_of >= 500) // 500 samples * 0.04 seconds = 20 seconds + { + pTT->state = TT_WAIT_FOR_DISARM; + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + } + } + } + else + { + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + + break; + + case TT_WAIT_FOR_DISARM: + if (!armed) { + float average_servo_angle = pTT->servoAvgAngle.sum / pTT->servoAvgAngle.num_of; + + if((average_servo_angle > 90.5f) && (average_servo_angle < 120.0f)) { + average_servo_angle -= 90.0f; + average_servo_angle *= DEG2RAD; + + triflightSettings->MotorThrustFactor = cosf(average_servo_angle) / sinf(average_servo_angle); + + TriflightSettingsSet(triflightSettings); + UAVObjSave(TriflightSettingsHandle(), 0); + + pTT->state = TT_DONE; + } + else { + pTT->state = TT_FAIL; + } + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + else { + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + { + triflight_blink_string = "O"; // --- wait for disarmed + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + } + + break; + + case TT_DONE: + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + { + triflight_blink_string = "5"; // ..... done success + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + + break; + + case TT_FAIL: + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + { + triflight_blink_string = "0"; // ----- done fail + pTT->timestamp_us = PIOS_DELAY_GetuS(); + } + + break; + } +} + +/** + * @} + * @} + */ +static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + struct servoSetup_t *pSS, + float *pServoVal, + float dT) +{ + static uint32_t sample_delta; + + bool adc_min_lt_adc_max; + + ManualControlCommandData cmd; + ManualControlCommandGet(&cmd); + + if ((cmd.Roll < 0.05f) && (cmd.Roll > -0.05f) && (cmd.Pitch > 0.5f) && (pSS->state == SS_IDLE)) { + pSS->state = SS_CALIB; + pSS->cal.state = SS_C_IDLE; + triflight_blink_string = "T"; // - start + } + + switch (pSS->state) + { + case SS_IDLE: + break; + + case SS_CALIB: + // State transition + if ((pSS->cal.done == true) || (pSS->cal.state == SS_C_IDLE)) + { + if (pSS->cal.state == SS_C_IDLE) + { + pSS->cal.state = SS_C_CALIB_MIN_MID_MAX; + pSS->cal.subState = SS_C_MIN; + pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + sample_delta = 0; + } + else if (pSS->cal.state == SS_C_CALIB_SPEED) + { + pSS->state = SS_IDLE; + pSS->cal.subState = SS_C_IDLE; + } + else + { + if (pSS->cal.state == SS_C_CALIB_MIN_MID_MAX) + { + switch (pSS->cal.subState) + { + case SS_C_MIN: + triflightSettings->AdcServoFdbkMin = pSS->cal.avg.result; + + pSS->cal.subState = SS_C_MID; + pSS->servoVal = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + sample_delta = 0; + break; + + case SS_C_MID: + triflightSettings->AdcServoFdbkMid = pSS->cal.avg.result; + + if (fabs(triflightSettings->AdcServoFdbkMin - triflightSettings->AdcServoFdbkMid) < 100) + { + // Not enough difference between min and mid feedback values. + // Most likely the feedback signal is not connected. + + pSS->state = SS_IDLE; + pSS->cal.subState = SS_C_IDLE; + + triflight_blink_string = "0"; // ----- done fail + } + else + { + pSS->cal.subState = SS_C_MAX; + pSS->servoVal = actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; + sample_delta = 0; + } + break; + + case SS_C_MAX: + triflightSettings->AdcServoFdbkMax = pSS->cal.avg.result; + + pSS->cal.state = SS_C_CALIB_SPEED; + pSS->cal.subState = SS_C_MIN; + + pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + pSS->cal.waitingServoToStop = false; + break; + } + } + } + + pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); + pSS->cal.avg.sum = 0.0f; + pSS->cal.avg.num_of = 0.0f; + pSS->cal.done = false; + } + + switch (pSS->cal.state) + { + case SS_C_IDLE: + break; + + case SS_C_CALIB_MIN_MID_MAX: + if (PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 500000) // 0.5 seconds + { + if ((PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 500000 + sample_delta) && (sample_delta < 1e6)) + { + pSS->cal.avg.sum += triflightStatus->ADCServoFdbk; + pSS->cal.avg.num_of++; + sample_delta += 10000; // 0.01 seconds + } + + if (sample_delta >= 1e6) // 1 second + { + pSS->cal.avg.result = pSS->cal.avg.sum / pSS->cal.avg.num_of; + pSS->cal.done = true; + } + } + break; + + + case SS_C_CALIB_SPEED: + switch (pSS->cal.subState) + { + case SS_C_MIN: + // Wait for the servo to reach min position + adc_min_lt_adc_max = triflightSettings->AdcServoFdbkMin < triflightSettings->AdcServoFdbkMax; + + if (((triflightStatus->ADCServoFdbk < (triflightSettings->AdcServoFdbkMin + 10.0f)) && adc_min_lt_adc_max) || + ((triflightStatus->ADCServoFdbk > (triflightSettings->AdcServoFdbkMin - 10.0f)) && !adc_min_lt_adc_max)) + { + if (!pSS->cal.waitingServoToStop) + { + pSS->cal.avg.sum += PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us); + pSS->cal.avg.num_of++; + + if (pSS->cal.avg.num_of >= 5) + { + float avgTime = (float)pSS->cal.avg.sum / (float)pSS->cal.avg.num_of / 1e6f; + float avgServoSpeed = (2.0f * triflightSettings->ServoMaxAngle) / avgTime; + triflightSettings->ServoSpeed = avgServoSpeed; + + pSS->cal.done = true; + pSS->servoVal = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + + ActuatorSettingsSet(actuatorSettings); + UAVObjSave(ActuatorSettingsHandle(), 0); + + TriflightSettingsSet(triflightSettings); + UAVObjSave(TriflightSettingsHandle(), 0); + + triflight_blink_string = "5"; // ..... done success + } + + pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); + pSS->cal.waitingServoToStop = true; + } + // Wait for the servo to fully stop before starting speed measuring + else if (PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 200000) + { + pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); + pSS->cal.subState = SS_C_MAX; + pSS->cal.waitingServoToStop = false; + pSS->servoVal = actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; + } + } + break; + + case SS_C_MAX: + // Wait for the servo to reach max position + adc_min_lt_adc_max = triflightSettings->AdcServoFdbkMin < triflightSettings->AdcServoFdbkMax; + + if (((triflightStatus->ADCServoFdbk > (triflightSettings->AdcServoFdbkMax - 10.0f)) && adc_min_lt_adc_max) || + ((triflightStatus->ADCServoFdbk < (triflightSettings->AdcServoFdbkMax + 10.0f)) && !adc_min_lt_adc_max)) + { + if (!pSS->cal.waitingServoToStop) + { + pSS->cal.avg.sum += PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us); + pSS->cal.avg.num_of++; + pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); + pSS->cal.waitingServoToStop = true; + } + else if (PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 200000) + { + pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); + pSS->cal.subState = SS_C_MIN; + pSS->cal.waitingServoToStop = false; + pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; + } + } + break; + + case SS_C_MID: + // Should not come here + break; + } + } + break; + } + + *pServoVal = pSS->servoVal; +} + + /** + * @} + * @} + */ +void triTailTuneStep(ActuatorSettingsData *actuatorSettings, + FlightStatusData *flightStatus, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float *pServoVal, + bool armed, + float dT) +{ + ManualControlCommandData cmd; + ManualControlCommandGet(&cmd); + + if (flightStatus->FlightMode == FLIGHTSTATUS_FLIGHTMODE_TAILTUNE) + { + if (tailTune.mode == TT_MODE_NONE) + { + if (armed) + { + tailTune.mode = TT_MODE_THRUST_TORQUE; + tailTune.tt.state = TT_IDLE; + } + else + { + tailTune.mode = TT_MODE_SERVO_SETUP; + tailTune.ss.servoVal = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; + } + } + } + else + { + tailTune.mode = TT_MODE_NONE; + triflight_blink_string = NULL; + return; + } + + switch (tailTune.mode) + { + case TT_MODE_NONE: + break; + + case TT_MODE_THRUST_TORQUE: + tailTuneModeThrustTorque(triflightSettings, + triflightStatus, + &tailTune.tt, + armed, + dT); + break; + + case TT_MODE_SERVO_SETUP: + tailTuneModeServoSetup(actuatorSettings, + triflightSettings, + triflightStatus, + &tailTune.ss, + pServoVal, + dT); + break; + } +} + +// HJI #endif + +/** + * @} + * @} + */ diff --git a/flight/Modules/Actuator/triflight.h b/flight/Modules/Actuator/triflight.h new file mode 100644 index 0000000000..50d0b9fa16 --- /dev/null +++ b/flight/Modules/Actuator/triflight.h @@ -0,0 +1,89 @@ +/** + ****************************************************************************** + * @addtogroup TriflightModule Triflight Module + * @{ + * + * @file triflight.c + * @author dRonin, http://dRonin.org/, Copyright (C) 2015-2016 + * @brief Trifight module. Specialty mixing for tricopters. + * + * This module computes corrections for the tricopter's yaw servo and rear + * motor, based on the yaw servo performance and commanded/actual angle. + * + * Based on algorithms and code developed here: + * http://rcexplorer.se/forums/topic/debugging-the-tricopter-mini-racer/ + * + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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 + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include "pios_config.h" + +#include "actuatorsettings.h" +#include "flightstatus.h" +#include "triflightsettings.h" +#include "triflightstatus.h" + +void triflightInit(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus); + +float getCorrectedServoValue(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float uncorrected_servo_value); + +void feedbackServoStep(TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float dT); + +void virtualServoStep(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float dT, + uint16_t servo_value); + +float triGetMotorCorrection(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + uint16_t servo_value); + +void triTailTuneStep(ActuatorSettingsData *actuatorSettings, + FlightStatusData *flightStatus, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float *pServoVal, + bool armed, + float dT); + +void virtualTailMotorStep(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus, + float setpoint, + float dT); + +void dynamicYaw(TriflightSettingsData *triflightSettings, + TriflightStatusData *triflightStatus); +/** + * @} + * @} + */ diff --git a/flight/Modules/CharacterOSD/panel.c b/flight/Modules/CharacterOSD/panel.c index 010315c4a7..ef956030ea 100644 --- a/flight/Modules/CharacterOSD/panel.c +++ b/flight/Modules/CharacterOSD/panel.c @@ -223,6 +223,9 @@ static void FLIGHTMODE_update(charosd_state_t state, uint8_t x, uint8_t y) case FLIGHTSTATUS_FLIGHTMODE_LQGLEVELING: mode = "LQGA"; break; + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: + mode = "TUNE"; + break; } draw_rect(state, x, y, 6, 3, 0, 0); diff --git a/flight/Modules/Logging/logging.c b/flight/Modules/Logging/logging.c index 1e2945c209..9244fe368b 100644 --- a/flight/Modules/Logging/logging.c +++ b/flight/Modules/Logging/logging.c @@ -68,6 +68,8 @@ #include "waypointactive.h" #include "rtkfestimate.h" #include "lqgsolution.h" +#include "triflightsettings.h" +#include "triflightstatus.h" #include "pios_bl_helper.h" #include "pios_streamfs_priv.h" @@ -614,6 +616,10 @@ static void register_default_profile() UAVObjConnectCallbackThrottled(MagnetometerHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); } + if (TriflightStatusHandle()) { + UAVObjConnectCallbackThrottled(TriflightStatusHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); + } + UAVObjConnectCallbackThrottled(ManualControlCommandHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); UAVObjConnectCallbackThrottled(StabilizationDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period); @@ -655,6 +661,10 @@ static void register_default_profile() if (LQGSolutionHandle()) { UAVObjConnectCallbackThrottled(LQGSolutionHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 100 * min_period); } + + if (TriflightSettingsHandle()) { + UAVObjConnectCallbackThrottled(TriflightSettingsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 500 * min_period); + } } diff --git a/flight/Modules/ManualControl/transmitter_control.c b/flight/Modules/ManualControl/transmitter_control.c index d9f3c0360a..5d01073184 100644 --- a/flight/Modules/ManualControl/transmitter_control.c +++ b/flight/Modules/ManualControl/transmitter_control.c @@ -566,6 +566,7 @@ int32_t transmitter_control_select(bool reset_controller) update_stabilization_desired(&cmd, &settings); break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: + case FLIGHTSTAUUS_FLIGHTMODE_TAILTUNE: update_stabilization_desired(&cmd, &settings); break; case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: @@ -1145,6 +1146,9 @@ static void update_stabilization_desired(ManualControlCommandData * manual_contr reprojection = settings->Stabilization3Reprojection; thrust_mode = settings->Stabilization3Thrust; break; + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: + stab_modes = RATE_SETTINGS; + break; #ifdef TARGET_MAY_HAVE_BARO case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: stab_modes = ATTITUDE_SETTINGS; diff --git a/flight/Modules/OpenAeroVtol/oav.c b/flight/Modules/OpenAeroVtol/oav.c new file mode 100644 index 0000000000..0af623a84a --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oav.c @@ -0,0 +1,323 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "physical_constants.h" + +#include "oavtypedefs.h" + +#include "accels.h" +#include "gyros.h" +#include "manualcontrolcommand.h" +#include "manualcontrolsettings.h" +#include "oav.h" +#include "oavflightprofiles.h" +#include "oavstatus.h" + +///////////////////////////////////////////////////////////////////// + +#if defined (PIOS_INCLUDE_BMI160) +float LPF_lookup[8] = {52.58f, 26.46f, 13.38f, 7.09f, 4.16f, 3.09f, 2.83f, 1.00f}; // 1600 Hz +#elif defined (SPARKY1) || defined (DTFC) +float LPF_lookup[8] = {16.43f, 8.27f, 4.18f, 2.22f, 1.30f, 1.00f, 1.00f, 1.00f}; // 500 Hz +#else +float LPF_lookup[8] = {32.86f, 16.54f, 8.36f, 4.43f, 2.60f, 1.93f, 1.77f, 1.00f}; // 1000 Hz +#endif + +int16_t accel_adc[NUMBEROFAXIS]; +int16_t accel_adc_p1[NUMBEROFAXIS]; +int16_t accel_adc_p2[NUMBEROFAXIS]; + +float accel_smooth[NUMBEROFAXIS]; + +float accel_vertf; + +int16_t gyro_adc[NUMBEROFAXIS]; +int16_t gyro_adc_p1[NUMBEROFAXIS]; +int16_t gyro_adc_p2[NUMBEROFAXIS]; +int16_t gyro_adc_alt[NUMBEROFAXIS]; + +int32_t raw_i_constrain[FLIGHTMODES][NUMBEROFAXIS + 1]; +int32_t raw_i_limits[FLIGHTMODES][NUMBEROFAXIS + 1]; + +int16_t rc_inputs[8]; +int16_t monopolar_throttle; + +///////////////////////////////////////////////////////////////////// + +float scaleChannel(int n, int16_t value, ManualControlSettingsData *settings) +{ + int16_t min = settings->ChannelMin[n]; + int16_t max = settings->ChannelMax[n]; + int16_t neutral = settings->ChannelNeutral[n]; + + float valueScaled; + + // Scale + if ((max > min && value >= neutral) || (min > max && value <= neutral)) + { + if (max != neutral) + valueScaled = (float)(value - neutral) / (float)(max - neutral); + else + valueScaled = 0; + } + else + { + if (min != neutral) + valueScaled = (float)(value - neutral) / (float)(neutral - min); + else + valueScaled = 0; + } + + // Bound + if (valueScaled > 1.0f) valueScaled = 1.0f; + else + if (valueScaled < -1.0f) valueScaled = -1.0f; + + return valueScaled; +} + +///////////////////////////////////////////////////////////////////// + +void ScaleInputs(ManualControlCommandData *ManualControlCommand, OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus) +{ + uint8_t i, j; + + int16_t temp1, temp2; + + ManualControlSettingsData ManualControlSettings; + ManualControlSettingsGet(&ManualControlSettings); + + if (ManualControlCommand->Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE) { + + for (i = 0; i < MAXRCCHANNELS; i++) { + if (i < 5) // Skip collective input + j = i; + else + j = i + 1; + + if (ManualControlCommand->Channel[j] != 65535) + rc_inputs[i] = (int16_t)(scaleChannel(j, ManualControlCommand->Channel[j], &ManualControlSettings) * 1000.0f); + } + } + else { + rc_inputs[THROTTLE] = (int16_t)-1000; + rc_inputs[AILERON] = (int16_t)0; + rc_inputs[ELEVATOR] = (int16_t)0; + rc_inputs[RUDDER] = (int16_t)0; + rc_inputs[GEAR] = (int16_t)-1000; + rc_inputs[AUX1] = (int16_t)-1000; + rc_inputs[AUX2] = (int16_t)-1000; + rc_inputs[AUX3] = (int16_t)-1000; + } + + if (rc_inputs[THROTTLE] < 0) + rc_inputs[THROTTLE] = 0; + + monopolar_throttle = 2 * rc_inputs[THROTTLE]; + + rc_inputs[THROTTLE] = monopolar_throttle - 1000; + + rc_inputs[ELEVATOR] *= -1; // Convert Dronin elevator phase to OAV elevator phase. + + GyrosData Gyros; + GyrosGet(&Gyros); + + //float gyro_scale = PIOS_MPU_GetGyroScale(); + + gyro_adc_p2[ROLL] = (int16_t)(Gyros.x * 16.4f) >> 4; // Assumes gyro +/- 2000 DPS + gyro_adc_p2[PITCH] = (int16_t)(Gyros.y * 16.4f) >> 4; // Assumes gyro +/- 2000 DPS + gyro_adc_p2[YAW] = -(int16_t)(Gyros.z * 16.4f) >> 4; // Assumes gyro +/- 2000 DPS + + gyro_adc_p1[ROLL] = -gyro_adc_p2[YAW]; + gyro_adc_p1[PITCH] = gyro_adc_p2[PITCH]; + gyro_adc_p1[YAW] = gyro_adc_p2[ROLL]; + + for (i = 0; i < NUMBEROFAXIS; i++) + { + // Only need to do this if the orientations different + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT) + { + // Merge the two gyros per transition percentage + gyro_adc_alt[i] = scale32(gyro_adc_p1[i], (100 - OAVStatus->OAVTransition)) + scale32(gyro_adc_p2[i], OAVStatus->OAVTransition); // Sum the two values + + // If the P1 reference is MODEL, always use the same gyros as P2 + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_MODEL) + { + //Use P2 orientation + gyro_adc[i] = gyro_adc_p2[i]; + } + // Otherwise use the merged orientation (EARTH reference) + else + { + // Use merged orientation + gyro_adc[i] = gyro_adc_alt[i]; + } + } + // Single-orientation models + else + { + gyro_adc[i] = gyro_adc_p2[i]; + + // Copy to alternate set of gyro values + gyro_adc_alt[i] = gyro_adc[i]; + } + } + + AccelsData Accels; + AccelsGet(&Accels); + + //float accel_scale = PIOS_MPU_GetAccelScale(); + + accel_adc_p2[ROLL] = -(int16_t)(Accels.y * 8192.0f / GRAVITY) >> 6; // Assumes accel +/- 4G Note X/Y axis swap + accel_adc_p2[PITCH] = (int16_t)(Accels.x * 8192.0f / GRAVITY) >> 6; // Assumes accel +/- 4G Note X/Y axis swap + accel_adc_p2[YAW] = (int16_t)(Accels.z * 8192.0f / GRAVITY) >> 6; // Assumes accel +/- 4G + + accel_adc_p1[ROLL] = accel_adc_p2[ROLL]; + accel_adc_p1[PITCH] = accel_adc_p2[YAW]; + accel_adc_p1[YAW] = -accel_adc_p2[PITCH]; + + for (i = 0; i < NUMBEROFAXIS; i++) + { + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT) + { + accel_adc[i] = scale32(accel_adc_p1[i], (100 - OAVStatus->OAVTransition)) + scale32(accel_adc_p2[i], OAVStatus->OAVTransition); + } + else + { + accel_adc[i] = accel_adc_p2[i]; + } + } + + // Only need to do this if the orientations differ + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT) + { + temp1 = (int16_t)(accel_smooth[YAW] - 128.0f); + temp2 = (int16_t)(accel_smooth[YAW] - 128.0f); + + accel_vertf = (float)(scale32(temp1, (100 - OAVStatus->OAVTransition)) + scale32(temp2, OAVStatus->OAVTransition)); + } + // Just use the P2 value + else + { + // Calculate the correct Z-axis data based on the orientation + accel_vertf = (float)((int16_t)(accel_smooth[YAW] - 128.0f)); + } + + OAVStatus->OAVGyros[ROLL] = gyro_adc[ROLL]; + OAVStatus->OAVGyros[PITCH] = gyro_adc[PITCH]; + OAVStatus->OAVGyros[YAW] = gyro_adc[YAW]; + + OAVStatus->OAVAccels[ROLL] = accel_adc[ROLL]; + OAVStatus->OAVAccels[PITCH] = accel_adc[PITCH]; + OAVStatus->OAVAccels[YAW] = accel_adc[YAW]; +} + +///////////////////////////////////////////////////////////////////// + +void UpdateLimits(void) +{ + uint8_t i, j; + int32_t temp32, gain32; + + OAVFlightProfilesData OAVFlightProfiles; + OAVFlightProfilesGet(&OAVFlightProfiles); + + int8_t limits[FLIGHTMODES][NUMBEROFAXIS + 1] = + { + {OAVFlightProfiles.RollILimit[P1], OAVFlightProfiles.PitchILimit[P1], OAVFlightProfiles.YawILimit[P1], OAVFlightProfiles.AZedILimit[P1]}, + {OAVFlightProfiles.RollILimit[P2], OAVFlightProfiles.PitchILimit[P2], OAVFlightProfiles.YawILimit[P2], OAVFlightProfiles.AZedILimit[P2]} + }; + + int8_t gains[FLIGHTMODES][NUMBEROFAXIS + 1] = + { + {OAVFlightProfiles.RollI[P1], OAVFlightProfiles.PitchI[P1], OAVFlightProfiles.YawI[P1], OAVFlightProfiles.AZedI[P1]}, + {OAVFlightProfiles.RollI[P2], OAVFlightProfiles.PitchI[P2], OAVFlightProfiles.YawI[P2], OAVFlightProfiles.AZedI[P2]} + }; + + // Update I_term input constraints for all profiles + for (j = 0; j < FLIGHTMODES; j++) + { + // Limits calculation is different for gyros and accs + for (i = 0; i < (NUMBEROFAXIS); i++) + { + temp32 = limits[j][i]; // Promote limit % + + // I-term output (throw). Convert from % to actual count + // A value of 80,000 results in +/- 1250 or full throw at the output stage + // This is because the maximum signal value is +/-1250 after division by 64. 1250 * 64 = 80,000 + raw_i_limits[j][i] = temp32 * (int32_t)640; // 80,000 / 125% = 640 + + // I-term source limits. These have to be different due to the I-term gain setting + // I-term = (gyro * gain) / 32, so the gyro count for a particular gain and limit is + // Gyro = (I-term * 32) / gain :) + if (gains[j][i] != 0) + { + gain32 = gains[j][i]; // Promote gain value + raw_i_constrain[j][i] = (raw_i_limits[j][i] << 5) / gain32; + } + else + { + raw_i_constrain[j][i] = 0; + } + } + + // Accs + temp32 = limits[j][ZED]; // Promote limit % + // I-term output (throw). Convert from % to actual count + // A value of 80,000 results in +/- 1250 or full throw at the output stage + // This is because the maximum signal value is +/-1250 after division by 64. 1250 * 64 = 80,000 + raw_i_limits[j][ZED] = temp32 * (int32_t)640; // 80,000 / 125% = 640 + + // I-term source limits. These have to be different due to the I-term gain setting + // I-term = (gyro * gain) / 4, so the gyro count for a particular gain and limit is + // Gyro = (I-term * 4) / gain :) + if (gains[j][ZED] != 0) + { + gain32 = gains[j][ZED]; // Promote gain value + raw_i_constrain[j][ZED] = (raw_i_limits[j][ZED] << 2) / gain32; + } + else + { + raw_i_constrain[j][ZED] = 0; + } + } +} + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/OpenAeroVtol/oav.h b/flight/Modules/OpenAeroVtol/oav.h new file mode 100644 index 0000000000..d6e078102b --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oav.h @@ -0,0 +1,113 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#ifndef OAV_H +#define OAV_H + +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "oavtypedefs.h" + +#include "manualcontrolcommand.h" +#include "mixersettings.h" +#include "oavcurves.h" +#include "oavflightprofiles.h" +#include "oavmixerfdbks.h" +#include "oavmixervolumes.h" +#include "oavoffsets.h" +#include "oavsettings.h" +#include "oavstatus.h" + +///////////////////////////////////////////////////////////////////// + +extern float LPF_lookup[8]; + +extern float accel_smooth[NUMBEROFAXIS]; + +extern int16_t accel_adc[NUMBEROFAXIS]; +extern int16_t accel_adc_p1[NUMBEROFAXIS]; +extern int16_t accel_adc_pa[NUMBEROFAXIS]; + +extern float accel_vertf; + +extern int16_t gyro_adc[NUMBEROFAXIS]; +extern int16_t gyro_adc_p1[NUMBEROFAXIS]; +extern int16_t gyro_adc_p2[NUMBEROFAXIS]; +extern int16_t gyro_adc_alt[NUMBEROFAXIS]; + +extern int16_t pid_gyros[FLIGHTMODES][NUMBEROFAXIS]; +extern int16_t pid_accels[FLIGHTMODES][NUMBEROFAXIS]; + +extern int32_t integral_gyro[FLIGHTMODES][NUMBEROFAXIS]; +extern float integral_accel_vertf[FLIGHTMODES]; + +extern int32_t raw_i_constrain[FLIGHTMODES][NUMBEROFAXIS + 1]; +extern int32_t raw_i_limits[FLIGHTMODES][NUMBEROFAXIS + 1]; + +extern int16_t rc_inputs[8]; +extern int16_t monopolar_throttle; + +///////////////////////////////////////////////////////////////////// + +void CalculatePID(OAVFlightProfilesData *OAVFlightProfiles, OAVStatusData *OAVStatus); + +void IMUUpdate(OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, float intervalf); + +void ProcessMixer(OAVCurvesData *OAVCurves, OAVMixerFdbksData *OAVMixerFdbks, OAVMixerVolumesData *OAVMixerVolumes, + OAVOffsetsData *OAVOffsets, OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, + MixerSettingsData *MixerSettings); + +void ProfileTransition(OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus); + +void ResetIMU(void); + +void ScaleInputs(ManualControlCommandData *ManualControlCommand, OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus); + +void SensorPID(OAVFlightProfilesData *OAVFlightProfiles, OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, float dT); + +void UpdateLimits(void); + +int16_t scale32(int16_t value16, int16_t multiplier16); + +///////////////////////////////////////////////////////////////////// + +#endif + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/OpenAeroVtol/oavimu.c b/flight/Modules/OpenAeroVtol/oavimu.c new file mode 100644 index 0000000000..94389d1622 --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oavimu.c @@ -0,0 +1,343 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +///////////////////////////////////////////////////////////////////// +// imu.c +// +// IMU code ported from KK2V1_1V12S1Beginner code +// by Rolf Bakke and Steveis +// +// Ported to OpenAeroVTOL by David Thompson (C)2014 +// +///////////////////////////////////////////////////////////////////// + +///////////////////////////////////////////////////////////////////// +// Includes +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "oavtypedefs.h" + +#include "oav.h" +#include "oavsettings.h" + +///////////////////////////////////////////////////////////////////// +// IMU Prototypes +///////////////////////////////////////////////////////////////////// + +void IMUUpdate(OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, float intervalf); +void Rotate3dVector(float intervalf); +void ExtractEulerAngles(void); +void RotateVector(float angle); +void ResetIMU(void); + +float small_sine(float angle); +float small_cos(float angle); +float thetascale(float gyro, float intervalf); +float ext2(float Vector); + +///////////////////////////////////////////////////////////////////// +// Defines +///////////////////////////////////////////////////////////////////// + +#define ACCSENSITIVITY 128.0f // Calculate factor for Acc to report directly in g + // For +/-4g FS, accelerometer sensitivity (+/-512 / +/-4g) = 1024/8 = 128 + +#define GYROSENSRADIANS 0.017045f // Calculate factor for Gyros to report directly in rad/s + // For +/-2000 deg/s FS, gyro sensitivity for 12 bits (+/-2048) = (4000/4096) = 0.97656 deg/s/lsb + // 0.97656 * Pi/180 = 0.017044 rad/s/lsb + +#define SMALLANGLEFACTOR 0.66f // Empirically calculated to produce exactly 20 at 20 degrees. Was 0.66 + + // Acc magnitude values - based on MultiWii 2.3 values +#define acc_1_15G_SQ 21668.0f // (1.15 * ACCSENSITIVITY) * (1.15 * ACCSENSITIVITY) +#define acc_0_85G_SQ 11837.0f // (0.85 * ACCSENSITIVITY) * (0.85 * ACCSENSITIVITY) + +#define acc_1_6G_SQ 41943.0f // (1.60 * ACCSENSITIVITY) * (1.60 * ACCSENSITIVITY) +#define acc_0_4G_SQ 2621.0f // (0.40 * ACCSENSITIVITY) * (0.40 * ACCSENSITIVITY) + +#define maxdeltaangle 0.2618f // Limit possible instantaneous change in angle to +/-15 degrees (720 deg/s) + +#define ZACCLPF 64.0f // In HS mode, 256.0 would be about 0.4Hz + + +//************************************************************ +// Globals +//************************************************************ + +float VectorA, VectorB; + +float VectorX = 0; // Initialise the vector to point straight up +float VectorY = 0; +float VectorZ = 1; + +float VectorNewA, VectorNewB; +float GyroPitchVC, GyroRollVC, GyroYawVC; +float AccAnglePitch, AccAngleRoll, EulerAngleRoll, EulerAnglePitch; + +int16_t angle[2]; // Attitude in degrees - pitch and roll + +//************************************************************ +// Code +// +// Assume that all gyro (gyroADC[]) and acc signals (accADC[]) are +// calibrated and have the appropriate zeros removed. At rest, only the +// Z acc has a value, usually around +128, for the 1g earth gravity vector +// +// Notes: +// 1. KK code loads the MPU6050's ACCEL_XOUT data into AccY and ACCEL_YOUT into AccX (swapping X/Y axis) +// 2. In KK code GyroPitch gets GYRO_XOUT, GyroRoll gets GYRO_YOUT. GyroYaw gets GYRO_ZOUT. +// This means that AccX(ACCEL_YOUT) and GyroPitch are the pitch components, and AccY(ACCEL_XOUT) and GyroRoll are the roll components +// In other words, AccX(actually ACCEL_YOUT) and GYRO_XOUT are cludged to work together, which looks right, but by convention is wrong. +// By IMU convention, rotation around a gyro's X axis, for example, will cause the acc's Y axis to change. +// 3. Of course, OpenAero code does exactly the same cludge, lol. But in this case, pitch and roll *gyro* data are swapped. +// The result is the same, pairing opposing (X/Y/Z) axis together to the same (R/P/Y) axis name. +// +// Actual hardware KK2 code OpenAero2 code +// ACCEL_XOUT = AccY* = accADC[ROLL] +// ACCEL_YOUT = AccX* = accADC[PITCH] +// ACCEL_ZOUT = AccZ = accADC[YAW/Z] +// GYRO_XOUT = GyroPitch = gyroADC[PITCH]* +// GYRO_YOUT = GyroRoll = gyroADC[ROLL]* +// GYRO_ZOUT = GyroYaw = gyroADC[YAW] +// +// * = swapped axis +// +//************************************************************ +// + +void IMUUpdate(OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, float intervalf) +{ + float tempf, accADCf; + int8_t axis; + uint32_t roll_sq, pitch_sq, yaw_sq; + uint32_t AccMag = 0; + + ///////////////////////////////////////////////////////////// + // Acc LPF + ///////////////////////////////////////////////////////////// + + for (axis = 0; axis < NUMBEROFAXIS; axis++) + { + accADCf = accel_adc[axis]; // Promote + + // Acc LPF + if (OAVSettings->AccelLPF != OAVSETTINGS_ACCELLPF_NOFILTER) + { + // Lookup LPF value + tempf = LPF_lookup[OAVSettings->AccelLPF]; + + accel_smooth[axis] = ((accel_smooth[axis] * (tempf - 1.0f)) - accADCf) / tempf; + } + else + { + // Use raw accADC[axis] as source for acc values when filter off + accel_smooth[axis] = -accADCf; + } + } + + // Add correction data to gyro inputs based on difference between Euler angles and acc angles + AccAngleRoll = accel_smooth[ROLL] * SMALLANGLEFACTOR; // KK2 - AccYfilter + AccAnglePitch = accel_smooth[PITCH] * SMALLANGLEFACTOR; + + // Alter the gyro sources to the IMU as required. + // Using gyroADCalt[] always assures that the right gyros are associated with the IMU + GyroRollVC = gyro_adc_alt[ROLL]; + GyroPitchVC = gyro_adc_alt[PITCH]; + GyroYawVC = gyro_adc_alt[YAW]; + + // Calculate acceleration magnitude. + roll_sq = (accel_adc[ROLL] * accel_adc[ROLL]); + pitch_sq = (accel_adc[PITCH] * accel_adc[PITCH]); + yaw_sq = (accel_adc[YAW] * accel_adc[YAW]); + AccMag = roll_sq + pitch_sq + yaw_sq; + + // Add acc correction if inside local acceleration bounds and not inverted according to VectorZ + // NB: new dual autolevel code needs acc correction at least temporarily when switching profiles. + // This is actually a kind of Complementary Filter + + // New test code - only adjust when in acc mag limits and when upright or dual AL code + if (((AccMag > acc_0_85G_SQ) && (AccMag < acc_1_15G_SQ) && (VectorZ > 0.5f) && (OAVSettings->P1Reference == OAVSETTINGS_P1REFERENCE_NO_ORIENT)) || // Same as always when "Same" + ((AccMag > acc_0_4G_SQ) && (AccMag < acc_1_6G_SQ) && (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT))) + { + // Default Config.CF_factor is 6 (1 - 10 = 10% to 100%, 6 = 60%) + tempf = (EulerAngleRoll - AccAngleRoll) / 10.0f; + tempf = tempf * (12 - OAVSettings->CFFactor); + GyroRollVC = GyroRollVC + tempf; + + tempf = (EulerAnglePitch - AccAnglePitch) / 10.0f; + tempf = tempf * (12 - OAVSettings->CFFactor); + GyroPitchVC = GyroPitchVC + tempf; + } + + // Rotate up-direction 3D vector with gyro inputs + Rotate3dVector(intervalf); + ExtractEulerAngles(); + + // Upscale to 0.01 degrees resolution and copy to angle[] for display + OAVStatus->OAVAngles[ROLL] = (int16_t)(EulerAngleRoll * -100); + OAVStatus->OAVAngles[PITCH] = (int16_t)(EulerAnglePitch * -100); +} + +void Rotate3dVector(float intervalf) +{ + float theta; + + // Rotate around X axis (pitch) + theta = thetascale(GyroPitchVC, intervalf); + VectorA = VectorY; + VectorB = VectorZ; + RotateVector(theta); + VectorY = VectorNewA; + VectorZ = VectorNewB; + + // Rotate around Y axis (roll) + theta = thetascale (GyroRollVC, intervalf); + VectorA = VectorX; + VectorB = VectorZ; + RotateVector(theta); + VectorX = VectorNewA; + VectorZ = VectorNewB; + + // Rotate around Z axis (yaw) + theta = thetascale(GyroYawVC, intervalf); + VectorA = VectorX; + VectorB = VectorY; + RotateVector(theta); + VectorX = VectorNewA; + VectorY = VectorNewB; +} + +void RotateVector(float angle) +{ + VectorNewA = VectorA * small_cos(angle) - VectorB * small_sine(angle); + VectorNewB = VectorA * small_sine(angle) + VectorB * small_cos(angle); +} + +float thetascale(float gyro, float intervalf) +{ + float theta; + + // intervalf = time in seconds since last measurement + // GYROSENSRADIANS = conversion from raw gyro data to rad/s + // theta = actual number of radians moved + + theta = (gyro * GYROSENSRADIANS * intervalf); + + // The sin() and cos() functions don't appreciate large + // input values. Limit the input values to +/-15 degrees. + + if (theta > maxdeltaangle) + { + theta = maxdeltaangle; + } + + if (theta < -maxdeltaangle) + { + theta = -maxdeltaangle; + } + + return theta; +} + +// Small angle approximations of Sine, Cosine +// NB: These *only* work for small input values. +// Larger values will produce fatal results +float small_sine(float angle) +{ + // sin(angle) = angle + return angle; +} + +float small_cos(float angle) +{ + // cos(angle) = (1 - (angle^2 / 2)) + float temp; + + temp = (angle * angle) / 2; + temp = 1 - temp; + + return temp; +} + +void ExtractEulerAngles(void) +{ + EulerAngleRoll = ext2(VectorX); + EulerAnglePitch = ext2(VectorY); +} + +float ext2(float Vector) +{ + float temp; + + // Rough translation to Euler angles + temp = Vector * 90; + + // Change 0-90-0 to 0-90-180 so that + // swap happens at 100% inverted + if (VectorZ < 0) + { + // CW rotations + if (temp > 0) + { + temp = 180 - temp; + } + // CCW rotations + else + { + temp = -180 - temp; + } + } + + return (temp); +} + +void ResetIMU(void) +{ + // Initialise the vector to point straight up + VectorX = 0; + VectorY = 0; + VectorZ = 1; + + // Initialise internal vectors and attitude + VectorA = 0; + VectorB = 0; + EulerAngleRoll = 0; + EulerAnglePitch = 0; +} diff --git a/flight/Modules/OpenAeroVtol/oavmixer.c b/flight/Modules/OpenAeroVtol/oavmixer.c new file mode 100644 index 0000000000..1821b53e36 --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oavmixer.c @@ -0,0 +1,1093 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "oavtypedefs.h" + +#include "manualcontrolcommand.h" +#include "mixersettings.h" +#include "oav.h" +#include "oavcurves.h" +#include "oavmixerfdbks.h" +#include "oavmixervolumes.h" +#include "oavoffsets.h" +#include "oavsettings.h" +#include "oavstatus.h" + +///////////////////////////////////////////////////////////////////// + +int16_t processCurve(uint8_t curve, uint8_t type, int16_t inputValue, OAVCurvesData *OAVCurves, OAVOffsetsData * OAVOffsets); +int16_t scale32(int16_t value16, int16_t multiplier16); +static MixerSettingsMixer1TypeOptions get_mix_type(MixerSettingsData *mixerSettings, int idx); + +// Throttle volume curves +// Why 101 steps? Well, both 0% and 100% transition values are valid... + +const int8_t SIN[101] = + { 0, 2, 3, 5, 6, 8, 10, 11, 13, 14, + 16, 17, 19, 20, 22, 23, 25, 26, 28, 29, + 31, 32, 34, 35, 37, 38, 40, 41, 43, 44, + 45, 47, 48, 50, 51, 52, 54, 55, 56, 58, + 59, 60, 61, 63, 64, 65, 66, 67, 68, 70, + 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, + 81, 82, 83, 84, 84, 85, 86, 87, 88, 88, + 89, 90, 90, 91, 92, 92, 93, 94, 94, 95, + 95, 96, 96, 96, 97, 97, 98, 98, 98, 99, + 99, 99, 99, 99, 100, 100, 100, 100, 100, 100, + 100}; + +const int8_t SQRTSIN[101] = + { 0, 13, 18, 22, 25, 28, 31, 33, 35, 38, + 40, 41, 43, 45, 47, 48, 50, 51, 53, 54, + 56, 57, 58, 59, 61, 62, 63, 64, 65, 66, + 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, + 77, 77, 78, 79, 80, 81, 81, 82, 83, 83, + 84, 85, 85, 86, 87, 87, 88, 88, 89, 89, + 90, 90, 91, 91, 92, 92, 93, 93, 94, 94, + 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, + 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, + 99, 99, 100, 100, 100, 100, 100, 100, 100, 100, + 100}; + +///////////////////////////////////////////////////////////////////// + +void ProcessMixer(OAVCurvesData *OAVCurves, + OAVMixerFdbksData *OAVMixerFdbks, + OAVMixerVolumesData *OAVMixerVolumes, + OAVOffsetsData *OAVOffsets, + OAVSettingsData *OAVSettings, + OAVStatusData *OAVStatus, + MixerSettingsData *MixerSettings) +{ + uint8_t i = 0; + int16_t p1_solution = 0; + int16_t p2_solution = 0; + + int16_t temp1 = 0; + int16_t temp2 = 0; + int16_t temp3 = 0; + int16_t step1 = 0; + + int16_t mono_throttle = 0; + + int32_t e32temp1 = 0; + int32_t e32temp2 = 0; + int32_t e32temp3 = 0; + int32_t e32step1 = 0; + + // Curve outputs + int16_t p1_throttle = 0; // P1 Throttle curve + int16_t p2_throttle = 0; // P2 Throttle curve + int16_t p1_collective = 0; // P1 Collective curve + int16_t p2_collective = 0; // P2 Collective curve + + int16_t curve_c = 0; // Generic Curve C + int16_t curve_d = 0; // Generic Curve D + + int8_t p1_accel_roll_volume_source = 0; + int8_t p1_gyro_roll_volume_source = 0; + int8_t p1_gyro_yaw_volume_source = 0; + + // Process curves + p1_throttle = processCurve(P1THRCURVE, MONOPOLAR, monopolar_throttle, OAVCurves, OAVOffsets); + p2_throttle = processCurve(P2THRCURVE, MONOPOLAR, monopolar_throttle, OAVCurves, OAVOffsets); + p1_collective = processCurve(P1COLLCURVE, BIPOLAR, rc_inputs[THROTTLE], OAVCurves, OAVOffsets); + p2_collective = processCurve(P2COLLCURVE, BIPOLAR, rc_inputs[THROTTLE], OAVCurves, OAVOffsets); + + int16_t curve_source[NUMBEROFCURVESOURCES] = + {rc_inputs[THROTTLE], rc_inputs[AILERON], rc_inputs[ELEVATOR], rc_inputs[RUDDER], rc_inputs[GEAR], + rc_inputs[AUX1], rc_inputs[AUX2], rc_inputs[AUX3], pid_gyros[P2][ROLL], pid_gyros[P2][PITCH], + pid_gyros[P2][YAW], temp1, temp2, pid_accels[P2][ROLL], pid_accels[P2][PITCH], 0}; + + // Only process generic curves if they have a source selected + if (OAVCurves->CurveSource[GENCURVEC] != OAVCURVES_CURVESOURCE_NOSOURCE) + curve_c = processCurve(GENCURVEC, BIPOLAR, curve_source[OAVCurves->CurveSource[GENCURVEC]], OAVCurves, OAVOffsets); + else + curve_c = 0; + + if (OAVCurves->CurveSource[GENCURVED] != OAVCURVES_CURVESOURCE_NOSOURCE) + curve_d = processCurve(GENCURVED, BIPOLAR, curve_source[OAVCurves->CurveSource[GENCURVED]], OAVCurves, OAVOffsets); + else + curve_d = 0; + + // Copy the universal mixer inputs to an array for easy indexing - acc data is from acc_smooth, increased to reasonable rates + temp1 = (int16_t)accel_smooth[ROLL] << 3; + temp2 = (int16_t)accel_smooth[PITCH] << 3; + + // THROTTLE, CURVE A, CURVE B, COLLECTIVE, THROTTLE, AILERON, ELEVATOR, RUDDER, GEAR, AUX1, + // AUX2, AUX3, ROLLGYRO, PITCHGYO, YAWGYRO, ACCSMOOTH, PITCHSMOOTH, ROLLACC, PITCHACC, AccZ, + // NONE + int16_t source_select_p1[NUMBEROFSOURCES] = + {p1_throttle, p1_collective, curve_c, curve_d, rc_inputs[THROTTLE], rc_inputs[AILERON], + rc_inputs[ELEVATOR], rc_inputs[RUDDER], rc_inputs[GEAR], rc_inputs[AUX1], rc_inputs[AUX2], + rc_inputs[AUX3], pid_gyros[P1][ROLL], pid_gyros[P1][PITCH], pid_gyros[P1][YAW], temp1, + temp2, pid_accels[P1][ROLL], pid_accels[P1][PITCH], pid_accels[P1][YAW], 0}; + + int16_t source_select_p2[NUMBEROFSOURCES] = + {p2_throttle, p2_collective, curve_c, curve_d, rc_inputs[THROTTLE], rc_inputs[AILERON], + rc_inputs[ELEVATOR], rc_inputs[RUDDER], rc_inputs[GEAR], rc_inputs[AUX1], rc_inputs[AUX2], + rc_inputs[AUX3], pid_gyros[P2][ROLL], pid_gyros[P2][PITCH], pid_gyros[P2][YAW], temp1, + temp2, pid_accels[P2][ROLL], pid_accels[P2][PITCH], pid_accels[P2][YAW], 0}; + + ///////////////////////////////////////////////////////////////// + // Main mix loop - sensors, RC inputs and other channels + ///////////////////////////////////////////////////////////////// + + for (i = 0; i < MIXOUTPUTS; i++) + { + ///////////////////////////////////////////////////////////// + // Zero each channel value to start + ///////////////////////////////////////////////////////////// + + p1_solution = 0; + p2_solution = 0; + + ///////////////////////////////////////////////////////////// + // Mix in gyros + ///////////////////////////////////////////////////////////// + + // If the user wants earth reference for tail-sitter hover, swap the related stick sources. + // The secret is understanding WHICH STICK is controlling movement on the AXIS in the selected REFERENCE + // Only need to do this if the orientations differ + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT) + { + // EARTH-Referenced tail-sitter + if (OAVSettings->P1Reference == OAVSETTINGS_P1REFERENCE_EARTH) + { + p1_accel_roll_volume_source = OAVMixerVolumes->P1AileronVolume[i]; + p1_gyro_roll_volume_source = OAVMixerVolumes->P1AileronVolume[i]; // These are always the same + p1_gyro_yaw_volume_source = OAVMixerVolumes->P1RudderVolume[i]; // These are always the same + } + // MODEL-Referenced tail-sitter + else + { + p1_accel_roll_volume_source = OAVMixerVolumes->P1RudderVolume[i]; + p1_gyro_roll_volume_source = OAVMixerVolumes->P1AileronVolume[i]; + p1_gyro_yaw_volume_source = OAVMixerVolumes->P1RudderVolume[i]; + } + } + // Normal case + else + { + p1_accel_roll_volume_source = OAVMixerVolumes->P1AileronVolume[i]; + p1_gyro_roll_volume_source = OAVMixerVolumes->P1AileronVolume[i]; + p1_gyro_yaw_volume_source = OAVMixerVolumes->P1RudderVolume[i]; + } + + // P1 gyros + if (OAVStatus->OAVTransition < 100) + { + switch (OAVMixerFdbks->P1RollGyro[i]) + { + case OAVMIXERFDBKS_P1ROLLGYRO_OFF: + break; + case OAVMIXERFDBKS_P1ROLLGYRO_ON: + if (p1_gyro_roll_volume_source < 0 ) + { + p1_solution = p1_solution + pid_gyros[P1][ROLL]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution - pid_gyros[P1][ROLL]; + } + break; + case OAVMIXERFDBKS_P1ROLLGYRO_SCALEX5: + p1_solution = p1_solution - scale32(pid_gyros[P1][ROLL], p1_gyro_roll_volume_source * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P1PitchGyro[i]) + { + case OAVMIXERFDBKS_P1PITCHGYRO_OFF: + break; + case OAVMIXERFDBKS_P1PITCHGYRO_ON: + if (OAVMixerVolumes->P1ElevatorVolume[i] < 0 ) + { + p1_solution = p1_solution - pid_gyros[P1][PITCH]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution + pid_gyros[P1][PITCH]; + } + break; + case OAVMIXERFDBKS_P1PITCHGYRO_SCALEX5: + p1_solution = p1_solution + scale32(pid_gyros[P1][PITCH], OAVMixerVolumes->P1ElevatorVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P1YawGyro[i]) + { + case OAVMIXERFDBKS_P1YAWGYRO_OFF: + break; + case OAVMIXERFDBKS_P1YAWGYRO_ON: + if (p1_gyro_yaw_volume_source < 0 ) + { + p1_solution = p1_solution - pid_gyros[P1][YAW]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution + pid_gyros[P1][YAW]; + } + break; + case OAVMIXERFDBKS_P1YAWGYRO_SCALEX5: + p1_solution = p1_solution + scale32(pid_gyros[P1][YAW], p1_gyro_yaw_volume_source * 5); + break; + default: + break; + } + } + + // P2 gyros + if (OAVStatus->OAVTransition > 0) + { + switch (OAVMixerFdbks->P2RollGyro[i]) + { + case OAVMIXERFDBKS_P2ROLLGYRO_OFF: + break; + case OAVMIXERFDBKS_P2ROLLGYRO_ON: + if (OAVMixerVolumes->P2AileronVolume[i] < 0 ) + { + p2_solution = p2_solution + pid_gyros[P2][ROLL]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution - pid_gyros[P2][ROLL]; + } + break; + case OAVMIXERFDBKS_P2ROLLGYRO_SCALEX5: + p2_solution = p2_solution - scale32(pid_gyros[P2][ROLL], OAVMixerVolumes->P2AileronVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P2PitchGyro[i]) + { + case OAVMIXERFDBKS_P2PITCHGYRO_OFF: + break; + case OAVMIXERFDBKS_P2PITCHGYRO_ON: + if (OAVMixerVolumes->P2ElevatorVolume[i] < 0 ) + { + p2_solution = p2_solution - pid_gyros[P2][PITCH]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution + pid_gyros[P2][PITCH]; + } + break; + case OAVMIXERFDBKS_P2PITCHGYRO_SCALEX5: + p2_solution = p2_solution + scale32(pid_gyros[P2][PITCH], OAVMixerVolumes->P2ElevatorVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P2YawGyro[i]) + { + case OAVMIXERFDBKS_P2YAWGYRO_OFF: + break; + case OAVMIXERFDBKS_P2YAWGYRO_ON: + if (OAVMixerVolumes->P2RudderVolume[i] < 0 ) + { + p2_solution = p2_solution - pid_gyros[P2][YAW]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution + pid_gyros[P2][YAW]; + } + break; + case OAVMIXERFDBKS_P2YAWGYRO_SCALEX5: + p2_solution = p2_solution + scale32(pid_gyros[P2][YAW], OAVMixerVolumes->P2RudderVolume[i] * 5); + break; + default: + break; + } + } + + // + // Mix in accelerometers + // + // P1 + if (OAVStatus->OAVTransition < 100) + { + switch (OAVMixerFdbks->P1RollAL[i]) + { + case OAVMIXERFDBKS_P1ROLLAL_OFF: + break; + case OAVMIXERFDBKS_P1ROLLAL_ON: + if (p1_accel_roll_volume_source < 0 ) + { + p1_solution = p1_solution + pid_accels[P1][ROLL]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution - pid_accels[P1][ROLL]; // or simply add + } + break; + case OAVMIXERFDBKS_P1ROLLAL_SCALEX5: + p1_solution = p1_solution - scale32(pid_accels[P1][ROLL], p1_accel_roll_volume_source * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P1PitchAL[i]) + { + case OAVMIXERFDBKS_P1PITCHAL_OFF: + break; + case OAVMIXERFDBKS_P1PITCHAL_ON: + if (OAVMixerVolumes->P1ElevatorVolume[i] < 0 ) + { + p1_solution = p1_solution - pid_accels[P1][PITCH]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution + pid_accels[P1][PITCH]; + } + break; + case OAVMIXERFDBKS_P1PITCHAL_SCALEX5: + p1_solution = p1_solution + scale32(pid_accels[P1][PITCH], OAVMixerVolumes->P1ElevatorVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P1AltDamp[i]) + { + case OAVMIXERFDBKS_P1ALTDAMP_OFF: + break; + case OAVMIXERFDBKS_P1ALTDAMP_ON: + if (OAVMixerVolumes->P1ThrottleVolume[i] < 0 ) + { + p1_solution = p1_solution + pid_accels[P1][YAW]; // Reverse if volume negative + } + else + { + p1_solution = p1_solution - pid_accels[P1][YAW]; + } + break; + case OAVMIXERFDBKS_P1ALTDAMP_SCALEX5: + p1_solution = p1_solution - scale32(pid_accels[P1][YAW], OAVMixerVolumes->P1ThrottleVolume[i] * 5); + break; + default: + break; + } + } + + // P2 + if (OAVStatus->OAVTransition > 0) + { + switch (OAVMixerFdbks->P2RollAL[i]) + { + case OAVMIXERFDBKS_P2ROLLAL_OFF: + break; + case OAVMIXERFDBKS_P2ROLLAL_ON: + if (OAVMixerVolumes->P2AileronVolume[i] < 0 ) + { + p2_solution = p2_solution + pid_accels[P2][ROLL]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution - pid_accels[P2][ROLL]; // or simply add + } + break; + case OAVMIXERFDBKS_P2ROLLAL_SCALEX5: + p2_solution = p2_solution - scale32(pid_accels[P2][ROLL], OAVMixerVolumes->P2AileronVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P2PitchAL[i]) + { + case OAVMIXERFDBKS_P2PITCHAL_OFF: + break; + case OAVMIXERFDBKS_P2PITCHAL_ON: + if (OAVMixerVolumes->P2ElevatorVolume[i] < 0 ) + { + p2_solution = p2_solution - pid_accels[P2][PITCH]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution + pid_accels[P2][PITCH]; + } + break; + case OAVMIXERFDBKS_P2PITCHAL_SCALEX5: + p2_solution = p2_solution + scale32(pid_accels[P2][PITCH], OAVMixerVolumes->P2ElevatorVolume[i] * 5); + break; + default: + break; + } + + switch (OAVMixerFdbks->P2AltDamp[i]) + { + case OAVMIXERFDBKS_P2ALTDAMP_OFF: + break; + case OAVMIXERFDBKS_P2ALTDAMP_ON: + if (OAVMixerVolumes->P2ThrottleVolume[i] < 0 ) + { + p2_solution = p2_solution + pid_accels[P2][YAW]; // Reverse if volume negative + } + else + { + p2_solution = p2_solution - pid_accels[P2][YAW]; + } + break; + case OAVMIXERFDBKS_P2ALTDAMP_SCALEX5: + p2_solution = p2_solution - scale32(pid_accels[P2][YAW], OAVMixerVolumes->P2ThrottleVolume[i] * 5); + break; + default: + break; + } + } + + // + // Process mixers + // + + // Mix in other outputs here (P1) + if (OAVStatus->OAVTransition < 100) + { + // Mix in dedicated RC sources - aileron, elevator and rudder + if (OAVMixerVolumes->P1AileronVolume[i] != 0) // Mix in dedicated aileron + { + temp2 = scale32(rc_inputs[AILERON], OAVMixerVolumes->P1AileronVolume[i]); + p1_solution = p1_solution + temp2; + } + if (OAVMixerVolumes->P1ElevatorVolume[i] != 0) // Mix in dedicated elevator + { + temp2 = scale32(rc_inputs[ELEVATOR], OAVMixerVolumes->P1ElevatorVolume[i]); + p1_solution = p1_solution + temp2; + } + if (OAVMixerVolumes->P1RudderVolume[i] != 0) // Mix in dedicated rudder + { + temp2 = scale32(rc_inputs[RUDDER], OAVMixerVolumes->P1RudderVolume[i]); + p1_solution = p1_solution + temp2; + } + + // Other sources + if ((OAVMixerVolumes->P1SourceAVolume[i] != 0) && + (OAVMixerVolumes->P1SourceA[i] != OAVMIXERVOLUMES_P1SOURCEA_NOSOURCE)) // Mix in first extra source + { + temp2 = source_select_p1[OAVMixerVolumes->P1SourceA[i]]; + temp2 = scale32(temp2, OAVMixerVolumes->P1SourceAVolume[i]); + p1_solution = p1_solution + temp2; + } + if ((OAVMixerVolumes->P1SourceBVolume != 0) && + (OAVMixerVolumes->P1SourceB[i] != OAVMIXERVOLUMES_P1SOURCEB_NOSOURCE)) // Mix in second extra source + { + temp2 = source_select_p1[OAVMixerVolumes->P1SourceB[i]]; + temp2 = scale32(temp2, OAVMixerVolumes->P1SourceBVolume[i]); + p1_solution = p1_solution + temp2; + } + } + + // Mix in other outputs here (P2) + if (OAVStatus->OAVTransition > 0) + { + // Mix in dedicated RC sources - aileron, elevator and rudder + if (OAVMixerVolumes->P2AileronVolume[i] != 0) // Mix in dedicated aileron + { + temp2 = scale32(rc_inputs[AILERON], OAVMixerVolumes->P2AileronVolume[i]); + p2_solution = p2_solution + temp2; + } + if (OAVMixerVolumes->P2ElevatorVolume[i] != 0) // Mix in dedicated elevator + { + temp2 = scale32(rc_inputs[ELEVATOR], OAVMixerVolumes->P2ElevatorVolume[i]); + p2_solution = p2_solution + temp2; + } + if (OAVMixerVolumes->P2RudderVolume[i] != 0) // Mix in dedicated rudder + { + temp2 = scale32(rc_inputs[RUDDER], OAVMixerVolumes->P2RudderVolume[i]); + p2_solution = p2_solution + temp2; + } + + // Other sources + if ((OAVMixerVolumes->P2SourceAVolume[i] != 0) && + (OAVMixerVolumes->P2SourceA[i] != OAVMIXERVOLUMES_P2SOURCEA_NOSOURCE)) // Mix in first extra source + { + temp2 = source_select_p2[OAVMixerVolumes->P2SourceA[i]]; + temp2 = scale32(temp2, OAVMixerVolumes->P2SourceAVolume[i]); + p2_solution = p2_solution + temp2; + } + if ((OAVMixerVolumes->P2SourceBVolume[i] != 0) && + (OAVMixerVolumes->P2SourceB[i] != OAVMIXERVOLUMES_P2SOURCEA_NOSOURCE)) // Mix in second extra source + { + temp2 = source_select_p2[OAVMixerVolumes->P2SourceB[i]]; + temp2 = scale32(temp2, OAVMixerVolumes->P2SourceBVolume[i]); + p2_solution = p2_solution + temp2; + } + } + + // Save solution for this channel. Note that this contains cross-mixed data from the *last* cycle + OAVStatus->P1Value[i] = p1_solution; + OAVStatus->P2Value[i] = p2_solution; + + } // Mixer loop: for (i = 0; i < MIX_OUTPUTS; i++) + + // + // Mixer transition code + // + + // Recalculate P1 values based on transition stage + for (i = 0; i < MIXOUTPUTS; i++) + { + // Speed up the easy ones :) + if (OAVStatus->OAVTransition == 0) + { + temp1 = OAVStatus->P1Value[i]; + } + else if (OAVStatus->OAVTransition >= 100) + { + temp1 = OAVStatus->P2Value[i]; + } + else + { + // Get source channel value + temp1 = OAVStatus->P1Value[i]; + temp1 = scale32(temp1, (100 - OAVStatus->OAVTransition)); + + // Get destination channel value + temp2 = OAVStatus->P2Value[i]; + temp2 = scale32(temp2, OAVStatus->OAVTransition); + + // Sum the mixers + temp1 = temp1 + temp2; + } + // Save transitioned solution into P1 + OAVStatus->P1Value[i] = temp1; + } + + // + // P1/P2 throttle curve handling + // Work out the resultant Monopolar throttle value based on + // p1_throttle, p2_throttle and the transition number + // + + // Only process if there is a difference + if (p1_throttle != p2_throttle) + { + // Speed up the easy ones :) + if (OAVStatus->OAVTransition == 0) + { + e32temp3 = p1_throttle; + } + else if (OAVStatus->OAVTransition >= 100) + { + e32temp3 = p2_throttle; + } + else + { + // Calculate step difference in 1/100ths and round + e32temp1 = (p2_throttle - p1_throttle); + e32temp1 = e32temp1 << 16; // Multiply by 65536 so divide gives reasonable step values + e32step1 = e32temp1 / (int32_t)100; + + // Set start (P1) point + e32temp2 = p1_throttle; // Promote to 32 bits + e32temp2 = e32temp2 << 16; + + // Multiply [transition] steps (0 to 100) + e32temp3 = e32temp2 + (e32step1 * OAVStatus->OAVTransition); + + // Round, then rescale to normal value + e32temp3 = e32temp3 + (int32_t)32768; + e32temp3 = e32temp3 >> 16; + } + } + + // No curve + else + { + // Just use the value of p1_throttle as there is no curve + e32temp3 = p1_throttle; // Promote to 16 bits + } + + // Copy to monopolar throttle + mono_throttle = (int16_t)e32temp3; + + // + // Groovy transition curve handling. Must be after the transition. + // Uses the transition value, but is not part of the transition + // mixer. Linear or Sine curve. Reverse Sine done automatically + // + + for (i = 0; i < MIXOUTPUTS; i++) + { + // Ignore if both throttle volumes are 0% (no throttle) + if (!((OAVMixerVolumes->P1ThrottleVolume[i] == 0) && (OAVMixerVolumes->P2ThrottleVolume[i] == 0))) + { + // Only process if there is a curve + if (OAVMixerVolumes->P1ThrottleVolume[i] != OAVMixerVolumes->P2ThrottleVolume[i]) + { + // Calculate step difference in 1/100ths and round + temp1 = (OAVMixerVolumes->P2ThrottleVolume[i] - OAVMixerVolumes->P1ThrottleVolume[i]); + temp1 = temp1 << 7; // Multiply by 128 so divide gives reasonable step values + step1 = temp1 / 100; + + // Set start (P1) point + temp2 = OAVMixerVolumes->P1ThrottleVolume[i]; // Promote to 16 bits + temp2 = temp2 << 7; + + // Linear vs. Sinusoidal calculation + if (OAVMixerVolumes->ThrottleCurve[i] == OAVMIXERVOLUMES_THROTTLECURVE_LINEAR) + { + // Multiply [transition] steps (0 to 100) + temp3 = temp2 + (step1 * OAVStatus->OAVTransition); + } + + // SINE + else if (OAVMixerVolumes->ThrottleCurve[i] == OAVMIXERVOLUMES_THROTTLECURVE_SINE) + { + // Choose between SINE and COSINE + // If P2 less than P1, COSINE (reverse SINE) is the one we want + if (step1 < 0) + { + // Multiply SIN[100 - transition] steps (0 to 100) + temp3 = 100 - SIN[100 - (int8_t)OAVStatus->OAVTransition]; + } + // If P2 greater than P1, SINE is the one we want + else + { + // Multiply SIN[transition] steps (0 to 100) + + temp3 = SIN[(int8_t)OAVStatus->OAVTransition]; + } + + // Get SINE% (temp2) of difference in volumes (step1) + // step1 is already in 100ths of the difference * 128 + // temp1 is the start volume * 128 + temp3 = temp2 + (step1 * temp3); + } + // SQRT SINE + else + { + // Choose between SQRT SINE and SQRT COSINE + // If P2 less than P1, COSINE (reverse SINE) is the one we want + if (step1 < 0) + { + // Multiply SQRTSIN[100 - transition] steps (0 to 100) + temp3 = 100 - SQRTSIN[100 - (int8_t)OAVStatus->OAVTransition]; + } + // If P2 greater than P1, SINE is the one we want + else + { + // Multiply SQRTSIN[transition] steps (0 to 100) + temp3 = SQRTSIN[(int8_t)OAVStatus->OAVTransition]; + } + + // Get SINE% (temp2) of difference in volumes (step1) + // step1 is already in 100ths of the difference * 128 + // temp1 is the start volume * 128 + temp3 = temp2 + (step1 * temp3); + } + + // Round, then rescale to normal value + temp3 = temp3 + 64; + temp3 = temp3 >> 7; + } + + // No curve + else + { + // Just use the value of P1 volume as there is no curve + temp3 = OAVMixerVolumes->P1ThrottleVolume[i]; // Promote to 16 bits + } + + // Calculate actual throttle value to the curve + temp3 = scale32(mono_throttle, temp3); + + // At this point, the throttle values are 0 to 2000 + // Re-scale throttle values back to neutral-centered system values (+/-1250) + temp3 = (int16_t)((float)(temp3 - THROTTLEMIN) * 1.25f); + + // Add offset to channel value + OAVStatus->P1Value[i] += temp3; + + } // No throttle + + // No throttles, so clamp to THROTTLEMIN if flagged as a motor + else if (get_mix_type(MixerSettings, i) == MIXERSETTINGS_MIXER1TYPE_MOTOR) + { + OAVStatus->P1Value[i] = -THROTTLEOFFSET; // THROTTLEOFFSET = 1250 + } + } + + // + // Per-channel 7-point offset needs to be after the transition + // loop as it is non-linear, unlike the transition. + // + + for (i = 0; i < MIXOUTPUTS; i++) + { + // The input to the curves will be the transition number, altered to appear as -1000 to 1000. + temp1 = (OAVStatus->OAVTransition - 50) * 20; // 0 - 100 -> -1000 to 1000 + + // Process as 7-point offset curve. All are BIPOLAR types. + // Temporarily add NUMBEROFCURVES to the curve number to identify + // them to Process_curve() as being offsets, not the other curves. + temp2 = processCurve(i + NUMBEROFCURVES, BIPOLAR, temp1, OAVCurves, OAVOffsets); + + // Add offset to channel value + OAVStatus->P1Value[i] += temp2; + } +} // ProcessMixer() + +///////////////////////////////////////////////////////////////////// + +// 32 bit multiply/scale +// Returns immediately if multiplier is 100, 0 or -100 + +int16_t scale32(int16_t value16, int16_t multiplier16) +{ + int32_t temp32 = 0; + + // No change if 100% (no scaling) + if (multiplier16 == 100) + { + return value16; + } + + // Reverse if -100% + else if (multiplier16 == -100) + { + return -value16; + } + + // Zero if 0% + else if (multiplier16 == 0) + { + return 0; + } + + // Only do the multiply and scaling if necessary + else + { + temp32 = value16 * multiplier16; + + // Divide by 100 and round to get scaled value + if (temp32 >= 0) + temp32 = (temp32 + (int32_t)50) / (int32_t)100; // Constants need to be cast up to 32 bits + else + temp32 = (temp32 - (int32_t)50) / (int32_t)100; // Constants need to be cast up to 32 bits + + value16 = (int16_t)temp32; + } + + return value16; +} + +///////////////////////////////////////////////////////////////////// + +// Scale curve percentages to relative position (Bipolar internal units) +// Input values are -100 to 100. Output values are -1000 to 1000. + +float scaleThrottleCurvePercentBipolar(float value) +{ + return value * 10.0f; +} + +///////////////////////////////////////////////////////////////////// + +// Scale curve percentages to relative position (Monopolar internal units) +// Note that a curve percentage is a percentage of the input value. +// Input values are 0 to 100% of full throttle. Output values are 0 to 2000 (full throttle). + +float scaleThrottleCurvePercentMono(float value) +{ + return value * 20.0f; +} + +///////////////////////////////////////////////////////////////////// + +// Process curves. Maximum input values are +/-1000 for Bipolar curves and 0-2000 for monopolar curves. +// Curve number > NUMBEROFCURVES are the offset curves. +// Seven points 0%, 17%, 33%, 50%, 67%, 83%, 100% (Monopolar) +// Seven points -100%, 67%, -33%, 0%, 33%, 67%, 100% (Bipolar) + +int16_t processCurve(uint8_t curve, uint8_t type, int16_t inputValue, OAVCurvesData *OAVCurves, OAVOffsetsData *OAVOffsets) +{ + int8_t interval = 0; + + float b, m, x1, x2, y, y1, y2; + + if (type == BIPOLAR) + { + // Limit input value to +/-100% (+/-1000) + if (inputValue < -1000) + { + inputValue = -1000; + } + if (inputValue > 1000) + { + inputValue = 1000; + } + } + else // Monopolar + { + // Limit input value to 0 to 100% (0 to 2000) + if (inputValue < 0) + { + inputValue = 0; + } + if (inputValue > 2000) + { + inputValue = 2000; + } + } + + if (type == BIPOLAR) + { + // Work out which interval we are in + if (inputValue <= -670) + { + interval = 0; + x1 = -1000.0f; + x2 = -670.0f; + } + else if (inputValue <= -330) + { + interval = 1; + x1 = -670.0f; + x2 = -330.0f; + } + else if (inputValue <= 0) + { + interval = 2; + x1 = -330.0f; + x2 = -0.0f; + } + else if (inputValue <= 330) + { + interval = 3; + x1 = 0.0f; + x2 = 330.0f; + } + else if (inputValue <= 670) + { + interval = 4; + x1 = 330.0f; + x2 = 670.0f; + } + else if (inputValue <= 1000) + { + interval = 5; + x1 = 670.0f; + x2 = 1000.0f; + } + } + else // Monopolar + { + // Work out which interval we are in + if (inputValue <= 340) + { + interval = 0; + x1 = 0.0f; + x2 = 340.0f; + } + else if (inputValue <= 660) + { + interval = 1; + x1 = 340.0f; + x2 = 660.0f; + } + else if (inputValue <= 1000) + { + interval = 2; + x1 = 660.0f; + x2 = 1000.0f; + } + else if (inputValue <= 1340) + { + interval = 3; + x1 = 1000.0f; + x2 = 1340.0f; + } + else if (inputValue <= 1660) + { + interval = 4; + x1 = 1340.0f; + x2 = 1660.0f; + } + else if (inputValue <= 2000) + { + interval = 5; + x1 = 1660.0f; + x2 = 2000.0f; + } + } + + // Find y1/y2 points of interval + // Normal curves + if (curve < NUMBEROFCURVES) + { + switch(interval) + { + case 0: + y1 = OAVCurves->CurvePoint1[curve]; + y2 = OAVCurves->CurvePoint2[curve]; + break; + case 1: + y1 = OAVCurves->CurvePoint2[curve]; + y2 = OAVCurves->CurvePoint3[curve]; + break; + case 2: + y1 = OAVCurves->CurvePoint3[curve]; + y2 = OAVCurves->CurvePoint4[curve]; + break; + case 3: + y1 = OAVCurves->CurvePoint4[curve]; + y2 = OAVCurves->CurvePoint5[curve]; + break; + case 4: + y1 = OAVCurves->CurvePoint5[curve]; + y2 = OAVCurves->CurvePoint6[curve]; + break; + case 5: + y1 = OAVCurves->CurvePoint6[curve]; + y2 = OAVCurves->CurvePoint7[curve]; + break; + default: + break; + } + } + // Offsets + else + { + // Correct curve number + curve = curve - NUMBEROFCURVES; + + switch(interval) + { + case 0: + y1 = OAVOffsets->OffsetPoint1[curve]; + y2 = OAVOffsets->OffsetPoint2[curve]; + break; + case 1: + y1 = OAVOffsets->OffsetPoint2[curve]; + y2 = OAVOffsets->OffsetPoint3[curve];; + break; + case 2: + y1 = OAVOffsets->OffsetPoint3[curve]; + y2 = OAVOffsets->OffsetPoint4[curve]; + break; + case 3: + y1 = OAVOffsets->OffsetPoint4[curve]; + y2 = OAVOffsets->OffsetPoint5[curve]; + break; + case 4: + y1 = OAVOffsets->OffsetPoint5[curve]; + y2 = OAVOffsets->OffsetPoint6[curve]; + break; + case 5: + y1 = OAVOffsets->OffsetPoint6[curve]; + y2 = OAVOffsets->OffsetPoint7[curve]; + break; + default: + break; + } + } + + // Work out distance to cover + // Convert percentages to positions + if (type == BIPOLAR) + { + y1 = scaleThrottleCurvePercentBipolar(y1); + y2 = scaleThrottleCurvePercentBipolar(y2); + } + else + { + y1 = scaleThrottleCurvePercentMono(y1); + y2 = scaleThrottleCurvePercentMono(y2); + } + + m = (y2 - y1) / (x2 - x1); + b = y2 - m * x2; + + y = (float)inputValue * m + b; + + return (int16_t)y; +} + +///////////////////////////////////////////////////////////////////// + +static MixerSettingsMixer1TypeOptions get_mix_type(MixerSettingsData *mixerSettings, int idx) +{ + switch (idx) { + case 0: + return mixerSettings->Mixer1Type; + break; + case 1: + return mixerSettings->Mixer2Type; + break; + case 2: + return mixerSettings->Mixer3Type; + break; + case 3: + return mixerSettings->Mixer4Type; + break; + case 4: + return mixerSettings->Mixer5Type; + break; + case 5: + return mixerSettings->Mixer6Type; + break; + case 6: + return mixerSettings->Mixer7Type; + break; + case 7: + return mixerSettings->Mixer8Type; + break; + case 8: + return mixerSettings->Mixer9Type; + break; + case 9: + return mixerSettings->Mixer10Type; + break; + default: + // We can never get here unless there are mixer channels not handled in the above. Fail out. + PIOS_Assert(0); + } +} + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/OpenAeroVtol/oavpid.c b/flight/Modules/OpenAeroVtol/oavpid.c new file mode 100644 index 0000000000..e8250c2e9d --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oavpid.c @@ -0,0 +1,435 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "oavtypedefs.h" + +#include "oav.h" +#include "oavflightprofiles.h" +#include "oavsettings.h" +#include "oavstatus.h" + +///////////////////////////////////////////////////////////////////// + +#define PID_SCALE 6 // Empirical amount to reduce the PID values by to make them most useful + +#if defined (PIOS_INCLUDE_BMI160) +#define STANDARDLOOP 1600.0f // Nominal Loop Rate 1600 Hz +#elif defined (SPARKY1) || defined (DTFC) +#define STANDARDLOOP 500.0f // Nominal Loop Rate 1000 Hz +#else +#define STANDARDLOOP 1000.0f // Nominal Loop Rate 500 Hz +#endif + +//************************************************************ +// Notes +//************************************************************ +// +// Servo output range is 2500 to 5000, centered on 3750. +// RC and PID values are added to this then rescaled at the output stage to 1000 to 2000. +// As such, the maximum usable value that the PID section can output is +/-1250. +// So working backwards, prior to rescaling (/64) the max values are +/-80,000. +// Prior to this, PID_Gyro_I_actual has been divided by 32 so the values are now +/- 2,560,000 +// However the I-term gain can be up to 127 which means the values are now limited to +/-20,157 for full scale authority. +// For reference, a constant gyro value of 50 would go full scale in about 1 second at max gain of 127 if incremented at 400Hz. +// This seems about right for heading hold usage. +// +// Gyros are configured to read +/-2000 deg/sec at full scale, or 16.4 deg/sec for each LSB value. +// I divide that by 16 to give 0.976 deg/sec for each digit the gyros show. So "50" is about 48.8 degrees per second. +// 360 deg/sec would give a reading of 368 on the sensor calibration screen. Full stick is about 1000 or so. +// So with no division of stick value by "Axis rate", full stick would equate to (1000/368 * 360) = 978 deg/sec. +// With axis rate set to 2, the stick amount is quartered (250) or 244 deg/sec. A value of 3 would result in 122 deg/sec. +// +// Stick rates: /64 (15.25), /32 (30.5), /16 (61*), /8 (122), /4 (244), /2 (488), /1 (976) + +///////////////////////////////////////////////////////////////////// +// Prototypes +///////////////////////////////////////////////////////////////////// + +void Sensor_PID(OAVStatusData *OAVStatus); +void Calculate_PID(void); + +///////////////////////////////////////////////////////////////////// +// Code +///////////////////////////////////////////////////////////////////// + +// PID globals for each [Profile] and [axis] + +float gyro_smooth[NUMBEROFAXIS]; // Filtered gyro data +float integral_accel_vertf[FLIGHTMODES]; // Integrated Acc Z +int32_t integral_gyro[FLIGHTMODES][NUMBEROFAXIS]; // PID I-terms (gyro) for each axis +int16_t pid_accels[FLIGHTMODES][NUMBEROFAXIS]; +int16_t pid_gyros[FLIGHTMODES][NUMBEROFAXIS]; + +// Run each loop to average gyro data and also accVert data +void SensorPID(OAVFlightProfilesData *OAVFlightProfiles, OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus, float dT) +{ + float factor = 0.0f; + float gyro_adcf = 0.0f; + float tempf1 = 0.0f; + int8_t i = 0; + int8_t axis = 0; + int16_t stick_P1 = 0; + int16_t stick_P2 = 0; + int32_t P1_temp = 0; + int32_t P2_temp = 0; + + // Cross-reference table for actual RCinput elements + // Note that axes are reversed here with respect to their gyros + // So why is AILERON different? Well on the KK hardware the sensors are arranged such that + // RIGHT roll = +ve gyro, UP pitch = +ve gyro and LEFT yaw = +ve gyro. + // However the way we have organised stick polarity, RIGHT roll and yaw are +ve, and DOWN elevator is too. + // When combining with the gyro signals, the sticks have to be in the opposite polarity as the gyros. + // As described above, pitch and yaw are already opposed, but roll needs to be reversed. + + int16_t rc_inputs_axis[NUMBEROFAXIS] = {-rc_inputs[AILERON], rc_inputs[ELEVATOR], rc_inputs[RUDDER]}; + + int8_t stick_rates[FLIGHTMODES][NUMBEROFAXIS] = + { + {OAVFlightProfiles->RollIRate[P1], OAVFlightProfiles->PitchIRate[P1], OAVFlightProfiles->YawIRate[P1]}, + {OAVFlightProfiles->RollIRate[P2], OAVFlightProfiles->PitchIRate[P2], OAVFlightProfiles->YawIRate[P2]} + }; + + for (axis = 0; axis <= YAW; axis ++) + { + ///////////////////////////////////////////////////////////// + // Work out stick rate divider. 0 is slowest, 7 is fastest. + // /64 (15.25), /32 (30.5), /16 (61*), /8 (122), /4 (244), /2 (488), /1 (976), *2 (1952) + ///////////////////////////////////////////////////////////// + + if (stick_rates[P1][axis] <= 6) + { + stick_P1 = rc_inputs_axis[axis] >> (4 - (stick_rates[P1][axis] - 2)); + } + else + { + stick_P1 = rc_inputs_axis[axis] << ((stick_rates[P1][axis]) - 6); + } + + if (stick_rates[P2][axis] <= 6) + { + stick_P2 = rc_inputs_axis[axis] >> (4 - (stick_rates[P2][axis] - 2)); + } + else + { + stick_P2 = rc_inputs_axis[axis] << ((stick_rates[P2][axis]) - 6); + } + + ///////////////////////////////////////////////////////////// + // Gyro LPF + ///////////////////////////////////////////////////////////// + + gyro_adcf = gyro_adc[axis]; // Promote + + if (OAVSettings->GyroLPF != OAVSETTINGS_GYROLPF_NOFILTER) + { + // Lookup LPF value + tempf1 = LPF_lookup[OAVSettings->GyroLPF]; + + // Gyro LPF + gyro_smooth[axis] = ((gyro_smooth[axis] * (tempf1 - 1.0f)) + gyro_adcf) / tempf1; + } + else + { + // Use raw gyro_adc[axis] as source for gyro values when filter is off + gyro_smooth[axis] = gyro_adcf; + } + + // Demote back to int16_t + gyro_adc[axis] = (int16_t)gyro_smooth[axis]; + + ///////////////////////////////////////////////////////////// + // Magically correlate the I-term value with the loop rate. + // This keeps the I-term and stick input constant over varying + // loop rates + ///////////////////////////////////////////////////////////// + + P1_temp = gyro_adc[axis] + stick_P1; // This is the error term + P2_temp = gyro_adc[axis] + stick_P2; // This is the error term + + // Work out multiplication factor compared to standard loop time + factor = dT * STANDARDLOOP; + + // Adjust gyro and stick values based on factor + tempf1 = P1_temp; // Promote int32_t to float + tempf1 = tempf1 * factor; + P1_temp = (int32_t)tempf1; // Demote to int32_t + + tempf1 = P2_temp; + tempf1 = tempf1 * factor; + P2_temp = (int32_t)tempf1; + + ///////////////////////////////////////////////////////////// + // Increment gyro I-terms + ///////////////////////////////////////////////////////////// + + // Calculate I-term from gyro and stick data + // These may look similar, but they are constrained quite differently. + integral_gyro[P1][axis] += P1_temp; + integral_gyro[P2][axis] += P2_temp; + + ///////////////////////////////////////////////////////////// + // Limit the I-terms to the user-set limits + ///////////////////////////////////////////////////////////// + + for (i = P1; i <= P2; i++) + { + if (integral_gyro[i][axis] > raw_i_constrain[i][axis]) + { + integral_gyro[i][axis] = raw_i_constrain[i][axis]; + } + + if (integral_gyro[i][axis] < -raw_i_constrain[i][axis]) + { + integral_gyro[i][axis] = -raw_i_constrain[i][axis]; + } + } + + } // for (axis = 0; axis <= YAW; axis ++) + + ///////////////////////////////////////////////////////////////// + // Calculate the Z-acc I-term + // accel_vertf is already smoothed by acc_smooth, but needs DC + // offsets removed to minimize drift. + // Also, shrink the integral by a small fraction to temper + // remaining offsets. + ///////////////////////////////////////////////////////////////// + + integral_accel_vertf[P1] += accel_vertf; + integral_accel_vertf[P2] += accel_vertf; + + tempf1 = OAVSettings->AccelVertFilter; // Promote acc_vertfilter (0 to 127) + tempf1 = tempf1 / 10000.0f; + tempf1 = 1.0f - tempf1; + + integral_accel_vertf[P1] = integral_accel_vertf[P1] * tempf1; // Decimator. Shrink integrals by user-set amount + integral_accel_vertf[P2] = integral_accel_vertf[P2] * tempf1; + + ///////////////////////////////////////////////////////////////// + // Limit the Z-acc I-terms to the user-set limits + ///////////////////////////////////////////////////////////////// + for (i = P1; i <= P2; i++) + { + tempf1 = raw_i_constrain[i][ZED]; // Promote + + if (integral_accel_vertf[i] > tempf1) + { + integral_accel_vertf[i] = tempf1; + } + + if (integral_accel_vertf[i] < -tempf1) + { + integral_accel_vertf[i] = -tempf1; + } + } +} + +///////////////////////////////////////////////////////////////////// + +// Run just before PWM output, using averaged data +void CalculatePID(OAVFlightProfilesData *OAVFlightProfiles, OAVStatusData *OAVStatus) +{ + int32_t PID_gyro_temp1 = 0; // P1 + int32_t PID_gyro_temp2 = 0; // P2 + int32_t PID_acc_temp1 = 0; // P + int32_t PID_acc_temp2 = 0; // I + int32_t PID_Gyro_I_actual1 = 0; // Actual unbound i-terms P1 + int32_t PID_Gyro_I_actual2 = 0; // P2 + int8_t axis = 0; + + int8_t i = 0; + + + // Check for throttle reset + if (monopolar_throttle < 50) // THROTTLEIDLE = 50 + { + // Reset I-terms at throttle cut. Using memset saves code space + memset(&integral_gyro[P1][ROLL], 0, sizeof(int32_t) * 6); + integral_accel_vertf[P1] = 0.0f; + integral_accel_vertf[P2] = 0.0f; + } + + // Initialise arrays with gain values. + int8_t P_gain[FLIGHTMODES][NUMBEROFAXIS] = + { + {OAVFlightProfiles->RollP[P1], OAVFlightProfiles->PitchP[P1], OAVFlightProfiles->YawP[P1]}, + {OAVFlightProfiles->RollP[P2], OAVFlightProfiles->PitchP[P2], OAVFlightProfiles->YawP[P2]} + }; + + int8_t I_gain[FLIGHTMODES][NUMBEROFAXIS+1] = + { + {OAVFlightProfiles->RollI[P1], OAVFlightProfiles->PitchI[P1], OAVFlightProfiles->YawI[P1], OAVFlightProfiles->AZedI[P1]}, + {OAVFlightProfiles->RollI[P2], OAVFlightProfiles->PitchI[P2], OAVFlightProfiles->YawI[P2], OAVFlightProfiles->AZedI[P2]} + }; + + int8_t L_gain[FLIGHTMODES][NUMBEROFAXIS] = + { + {OAVFlightProfiles->RollAutoLvl[P1], OAVFlightProfiles->PitchAutoLvl[P1], OAVFlightProfiles->AZedP[P1]}, + {OAVFlightProfiles->RollAutoLvl[P2], OAVFlightProfiles->PitchAutoLvl[P2], OAVFlightProfiles->AZedP[P2]} + }; + + // Only for roll and pitch acc trim + int16_t L_trim[FLIGHTMODES][2] = + { + {OAVFlightProfiles->RollTrim[P1], OAVFlightProfiles->PitchTrim[P1]}, + {OAVFlightProfiles->RollTrim[P2], OAVFlightProfiles->PitchTrim[P2]} + }; + + ///////////////////////////////////////////////////////////////// + // PID loop + ///////////////////////////////////////////////////////////////// + + for (axis = 0; axis <= YAW; axis ++) + { + ///////////////////////////////////////////////////////////// + // Add in gyro Yaw trim + ///////////////////////////////////////////////////////////// + + if (axis == YAW) + { + PID_gyro_temp1 = (int32_t)(OAVFlightProfiles->YawTrim[P1] << 6); + PID_gyro_temp2 = (int32_t)(OAVFlightProfiles->YawTrim[P2] << 6); + } + // Reset PID_gyro variables to that data does not accumulate cross-axis + else + { + PID_gyro_temp1 = 0; + PID_gyro_temp2 = 0; + } + + ///////////////////////////////////////////////////////////// + // Calculate PID gains + ///////////////////////////////////////////////////////////// + + // Gyro P-term // Profile P1 + PID_gyro_temp1 += gyro_adc[axis] * P_gain[P1][axis]; // Multiply P-term (Max gain of 127) + PID_gyro_temp1 = PID_gyro_temp1 * (int32_t)3; // Multiply by 3 + + // Gyro I-term + PID_Gyro_I_actual1 = integral_gyro[P1][axis] * I_gain[P1][axis]; // Multiply I-term (Max gain of 127) + PID_Gyro_I_actual1 = PID_Gyro_I_actual1 >> 5; // Divide by 32 + + // Gyro P-term + PID_gyro_temp2 += gyro_adc[axis] * P_gain[P2][axis]; // Profile P2 + PID_gyro_temp2 = PID_gyro_temp2 * (int32_t)3; + + // Gyro I-term + PID_Gyro_I_actual2 = integral_gyro[P2][axis] * I_gain[P2][axis]; + PID_Gyro_I_actual2 = PID_Gyro_I_actual2 >> 5; + + ///////////////////////////////////////////////////////////// + // I-term output limits + ///////////////////////////////////////////////////////////// + + // P1 limits + if (PID_Gyro_I_actual1 > raw_i_limits[P1][axis]) + { + PID_Gyro_I_actual1 = raw_i_limits[P1][axis]; + } + else if (PID_Gyro_I_actual1 < -raw_i_limits[P1][axis]) + { + PID_Gyro_I_actual1 = -raw_i_limits[P1][axis]; + } + + // P2 limits + if (PID_Gyro_I_actual2 > raw_i_limits[P2][axis]) + { + PID_Gyro_I_actual2 = raw_i_limits[P2][axis]; + } + else if (PID_Gyro_I_actual2 < -raw_i_limits[P2][axis]) + { + PID_Gyro_I_actual2 = -raw_i_limits[P2][axis]; + } + + ///////////////////////////////////////////////////////////// + // Sum Gyro P, I and D terms and rescale + ///////////////////////////////////////////////////////////// + + pid_gyros[P1][axis] = (int16_t)((PID_gyro_temp1 + PID_Gyro_I_actual1) >> PID_SCALE); // Currently PID_SCALE = 6 so /64 + pid_gyros[P2][axis] = (int16_t)((PID_gyro_temp2 + PID_Gyro_I_actual2) >> PID_SCALE); + + ///////////////////////////////////////////////////////////// + // Calculate error from angle data and trim (roll and pitch only) + ///////////////////////////////////////////////////////////// + + if (axis < YAW) + { + // Do for P1 and P2 + for (i = P1; i <= P2; i++) + { + PID_acc_temp1 = OAVStatus->OAVAngles[axis] - L_trim[i][axis]; // Offset angle with trim + PID_acc_temp1 *= L_gain[i][axis]; // P-term of accelerometer (Max gain of 127) + pid_accels[i][axis] = (int16_t)(PID_acc_temp1 >> 8); // Reduce and convert to integer + } + } + + } // PID loop (axis) + + ///////////////////////////////////////////////////////////////// + // Calculate an Acc-Z PI value + ///////////////////////////////////////////////////////////////// + + // Do for P1 and P2 + for (i = P1; i <= P2; i++) + { + // P-term + PID_acc_temp1 = (int32_t)-accel_vertf; // Zeroed acc_smooth signal. Negate to oppose G + PID_acc_temp1 *= L_gain[i][YAW]; // Multiply P-term (Max gain of 127) + PID_acc_temp1 = PID_acc_temp1 * (int32_t)3; // Multiply by 3 + + // I-term + PID_acc_temp2 = (int32_t)-integral_accel_vertf[i]; // Get and copy integrated Z-acc value. Negate to oppose G + PID_acc_temp2 *= I_gain[i][ZED]; // Multiply I-term (Max gain of 127) + PID_acc_temp2 = PID_acc_temp2 >> 2; // Divide by 4 + + if (PID_acc_temp2 > raw_i_limits[i][ZED]) // Limit I-term outputs to user-set percentage + { + PID_acc_temp2 = raw_i_limits[i][ZED]; + } + if (PID_acc_temp2 < -raw_i_limits[i][ZED]) + { + PID_acc_temp2 = -raw_i_limits[i][ZED]; + } + + // Formulate PI value and scale + pid_accels[i][YAW] = (int16_t)((PID_acc_temp1 + PID_acc_temp2) >> PID_SCALE); // Copy to global values + } +} + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/OpenAeroVtol/oavtransition.c b/flight/Modules/OpenAeroVtol/oavtransition.c new file mode 100644 index 0000000000..fe181cba2d --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oavtransition.c @@ -0,0 +1,407 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#include "pios_config.h" +#include "openpilot.h" + +#include "oavtypedefs.h" + +#include "oav.h" +#include "oavsettings.h" + +///////////////////////////////////////////////////////////////////// + +#if defined (PIOS_INCLUDE_BMI160) +#define TRANSITION_COUNT 16 +#elif defined (SPARKY1) || defined (DTFC) +#define TRANSITION_COUNT 5 +#else +#define TRANSITION_COUNT 10 +#endif + +///////////////////////////////////////////////////////////////////// + +int8_t old_flight_profile = 3; +int8_t old_transition = 0; +int8_t old_transition_mode = 0; +uint8_t old_transition_state = TRANS_P1; +int16_t transition_counter = 0; +uint8_t transition_direction = P2; +uint8_t transition_state = TRANS_P1; +uint16_t transition_timeout = 0; + +// Transition matrix +// Usage: transition_state = transition_matrix[flight_profile][old_flight_profile] +// flight_profile is where you've been asked to go, and old_flight_profile is where you were. +// transition_state is where you end up :) + +const int8_t transition_matrix[3][3] = + { + {TRANSITIONING, TRANS_P1n_to_P1_start, TRANS_P2_to_P1_start}, + {TRANS_P1_to_P1n_start, TRANSITIONING, TRANS_P2_to_P1n_start}, + {TRANS_P1_to_P2_start, TRANS_P1n_to_P2_start, TRANSITIONING} + }; + +///////////////////////////////////////////////////////////////////// + +void UpdateTransition(uint8_t channel, OAVStatusData *OAVStatus) +{ + int16_t temp = 0; + + // Offset RC input to (approx) -250 to 2250 + temp = rc_inputs[channel] + 1000; + + // Trim lower end to zero (0 to 2250) + if (temp < 0) temp = 0; + + // Convert 0 to 2250 to 0 to 125. Divide by 20 + // Round to avoid truncation errors + OAVStatus->OAVTransition = (temp + 10) / 20; + + // transition now has a range of 0 to 101 for 0 to 2000 input + // Limit extent of transition value 0 to 100 (101 steps) + if (OAVStatus->OAVTransition > 100) + OAVStatus->OAVTransition = 100; +} + +///////////////////////////////////////////////////////////////////// + +void ProfileTransition(OAVSettingsData *OAVSettings, OAVStatusData *OAVStatus) +{ + // Flags + bool transition_updated = false; + + // Locals + int8_t flight_profile; + uint16_t transition_time = 0; + + ///////////////////////////////////////////////////////////////// + // Flight profile / transition state selection + // + // When transitioning, the flight profile is a moving blend of + // Flight profiles P1 to P2. The transition speed is controlled + // by the Config.TransitionSpeed setting. + // The transition will hold at P1n position if directed to. + ///////////////////////////////////////////////////////////////// + + // P2 transition point hard-coded to 50% above center + if (rc_inputs[OAVSettings->ProfileChannel] > 500) + { + flight_profile = 2; // Flight mode 2 (P2) + } + // P1.n transition point hard-coded to 50% below center + else if (rc_inputs[OAVSettings->ProfileChannel] > -500) + { + flight_profile = 1; // Flight mode 1 (P1.n) + } + // Otherwise the default is P1 + else + { + flight_profile = 0; // Flight mode 0 (P1) + } + + // Reset update request each loop + transition_updated = false; + + ///////////////////////////////////////////////////////////////// + // Transition state setup/reset + // + // Set up the correct state for the current setting. + // Check for initial startup - the only time that old_flight_profile should be "3". + // Also, re-initialise if the transition setting is changed + ///////////////////////////////////////////////////////////////// + + if ((old_flight_profile == 3) || (old_transition_mode != OAVSettings->OutboundTransition)) + { + switch(flight_profile) + { + case 0: + transition_state = TRANS_P1; + transition_counter = OAVSettings->TransitionLow; + break; + case 1: + transition_state = TRANS_P1n; + transition_counter = OAVSettings->TransitionMid; // Set transition point to the user-selected point + break; + case 2: + transition_state = TRANS_P2; + transition_counter = OAVSettings->TransitionHigh; + break; + default: + break; + } + old_flight_profile = flight_profile; + old_transition_mode = OAVSettings->OutboundTransition; + } + + ///////////////////////////////////////////////////////////////// + // Transition state handling + ///////////////////////////////////////////////////////////////// + + // Update timed transition when changing flight modes + if (flight_profile != old_flight_profile) + { + // Flag that update is required if mode changed + transition_updated = true; + } + + // Work out transition number when manually transitioning + // Convert number to percentage (0 to 100%) + if (OAVSettings->OutboundTransition == 0) + { + // Update the transition variable based on the selected RC channel + UpdateTransition(OAVSettings->ProfileChannel, OAVStatus); + } + else + { + // transition_counter counts from 0 to 100 (101 steps) + OAVStatus->OAVTransition = transition_counter; + } + + // Update transition state change when control value or flight mode changes + if (transition_updated) + { + // Update transition state from matrix + transition_state = transition_matrix[flight_profile][old_flight_profile]; + } + + // Always in the TRANSITIONING state when OutboundTransition is 0 + // This prevents state changes when controlled by a channel + if (OAVSettings->OutboundTransition == 0) + { + transition_state = TRANSITIONING; + } + + // Calculate transition time from user's setting based on the direction of travel + if (transition_direction == P2) + { + transition_time = OAVSettings->OutboundTransition * TRANSITION_COUNT; // Outbound transition speed + } + else + { + transition_time = OAVSettings->InboundTransition * TRANSITION_COUNT; // Inbound transition speed + } + + // Update state, values and transition_counter at required intervals + if (((OAVSettings->OutboundTransition != 0) && (transition_timeout > transition_time)) || transition_updated) + { + transition_timeout = 0; + transition_updated = false; + + // Fixed, end-point states + if (transition_state == TRANS_P1) + { + transition_counter = OAVSettings->TransitionLow; + } + else if (transition_state == TRANS_P1n) + { + transition_counter = OAVSettings->TransitionMid; + } + else if (transition_state == TRANS_P2) + { + transition_counter = OAVSettings->TransitionHigh; + } + + // Handle timed transition towards P1 + if ((transition_state == TRANS_P1n_to_P1_start) || (transition_state == TRANS_P2_to_P1_start)) + { + if (transition_counter > OAVSettings->TransitionLow) + { + transition_counter--; + + // Check end point + if (transition_counter <= OAVSettings->TransitionLow) + { + transition_counter = OAVSettings->TransitionLow; + transition_state = TRANS_P1; + } + } + else + { + transition_counter++; + + // Check end point + if (transition_counter >= OAVSettings->TransitionLow) + { + transition_counter = OAVSettings->TransitionLow; + transition_state = TRANS_P1; + } + } + + transition_direction = P1; + } + + // Handle timed transition between P1 and P1.n + if (transition_state == TRANS_P1_to_P1n_start) + { + if (transition_counter > OAVSettings->TransitionMid) + { + transition_counter--; + + // Check end point + if (transition_counter <= OAVSettings->TransitionMid) + { + transition_counter = OAVSettings->TransitionMid; + transition_state = TRANS_P1n; + } + } + else + { + transition_counter++; + + // Check end point + if (transition_counter >= OAVSettings->TransitionMid) + { + transition_counter = OAVSettings->TransitionMid; + transition_state = TRANS_P1n; + } + } + + transition_direction = P2; + } + + // Handle timed transition between P2 and P1.n + if (transition_state == TRANS_P2_to_P1n_start) + { + if (transition_counter > OAVSettings->TransitionMid) + { + transition_counter--; + + // Check end point + if (transition_counter <= OAVSettings->TransitionMid) + { + transition_counter = OAVSettings->TransitionMid; + transition_state = TRANS_P1n; + } + } + else + { + transition_counter++; + + // Check end point + if (transition_counter >= OAVSettings->TransitionMid) + { + transition_counter = OAVSettings->TransitionMid; + transition_state = TRANS_P1n; + } + } + + transition_direction = P1; + } + + // Handle timed transition towards P2 + if ((transition_state == TRANS_P1n_to_P2_start) || (transition_state == TRANS_P1_to_P2_start)) + { + if (transition_counter > OAVSettings->TransitionHigh) + { + transition_counter--; + + // Check end point + if (transition_counter <= OAVSettings->TransitionHigh) + { + transition_counter = OAVSettings->TransitionHigh; + transition_state = TRANS_P2; + } + } + else + { + transition_counter++; + + // Check end point + if (transition_counter >= OAVSettings->TransitionHigh) + { + transition_counter = OAVSettings->TransitionHigh; + transition_state = TRANS_P2; + } + } + + transition_direction = P2; + } + + } // Update transition_counter + + transition_timeout++; + + // Zero the I-terms of the opposite state so as to ensure a bump-less OAVStatus->OAVTransition + if ((transition_state == TRANS_P1) || (OAVStatus->OAVTransition == OAVSettings->TransitionLow)) + { + // Clear P2 I-term while fully in P1 + memset(&integral_gyro[P2][ROLL], 0, sizeof(int32_t) * NUMBEROFAXIS); + integral_accel_vertf[P2] = 0.0; + } + else if ((transition_state == TRANS_P2) || (OAVStatus->OAVTransition == OAVSettings->TransitionHigh)) + { + // Clear P1 I-term while fully in P2 + memset(&integral_gyro[P1][ROLL], 0, sizeof(int32_t) * NUMBEROFAXIS); + integral_accel_vertf[P1] = 0.0; + } + + ///////////////////////////////////////////////////////////////// + // Reset the IMU when using two orientations and just leaving + // P1 or P2 + ///////////////////////////////////////////////////////////////// + + if (OAVSettings->P1Reference != OAVSETTINGS_P1REFERENCE_NO_ORIENT) + { + // If Config.FlightSel has changed (switch based) and TransitionSpeed not set to zero, the transition state will change. + if ((OAVSettings->OutboundTransition != 0) && (transition_state != old_transition_state) && + ((old_transition_state == TRANS_P1) || (old_transition_state == TRANS_P2))) + { + ResetIMU(); + } + + // If TransitionSpeed = 0, the state is always TRANSITIONING so we can't use the old/new state changes. + // If user is using a knob or TX-slowed switch, TransitionSpeed will be 0. + else if ((OAVSettings->OutboundTransition == 0) && // Manual transition mode and... + (((old_transition == OAVSettings->TransitionLow) && (OAVStatus->OAVTransition > OAVSettings->TransitionLow)) || // Was in P1 or P2 + ((old_transition == OAVSettings->TransitionHigh) && (OAVStatus->OAVTransition < OAVSettings->TransitionHigh)))) // Is not somewhere in-between. + { + ResetIMU(); + } + } + + // Save current flight mode + old_flight_profile = flight_profile; + + // Save old transition state; + old_transition_state = transition_state; + + // Save last transition value + old_transition = OAVStatus->OAVTransition; +} + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/OpenAeroVtol/oavtypedefs.h b/flight/Modules/OpenAeroVtol/oavtypedefs.h new file mode 100644 index 0000000000..0f51d34281 --- /dev/null +++ b/flight/Modules/OpenAeroVtol/oavtypedefs.h @@ -0,0 +1,66 @@ +///////////////////////////////////////////////////////////////////// +/* + Modified for inclusion in Dronin, J. Ihlein Feb 2017 + + Copyright (c) 2016, David Thompson + All rights reserved. + + OpenAero-VTOL (OAV) firmware is intended for use in radio controlled model aircraft. It provides flight + control and stabilization as needed by Vertical Takeoff and Landing (VTOL) aircraft when used in + combination with commercially available KK2 Flight Controller hardware. It is provided at no cost and no + contractual obligation is created by its use. + + Redistribution and use in source and binary forms, with or without modification, are permitted provided + that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this list of conditions and + the following disclaimer. + 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions + and the following disclaimer in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL + THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF + THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + See the GNU general Public License for more details at: + + +*/ +///////////////////////////////////////////////////////////////////// + +#ifndef OAVTYPEDEF_H +#define OAVTYPEDEF_H + +#define FLIGHTMODES 2 // Number of flight profiles +#define MAXRCCHANNELS 8 // Maximum input channels from RX +#define MIXOUTPUTS 10 +#define NOISETHRESH 5 // Max RX noise threshold +#define NUMBEROFAXIS 3 // Number of axis (Roll, Pitch, Yaw) +#define NUMBEROFCURVES 6 // Number of curves available +#define NUMBEROFCURVESOURCES 16 // Number of curve c and d input sources +#define NUMBEROFSOURCES 21 // Number of universal input sources +#define THROTTLEMIN 1000 // Minimum throttle input offset value. 3750-1000 = 2750 or 1.1ms. +#define THROTTLEOFFSET 1250 // Mixer offset needed to reduce the output center to MOTORMIN + +///////////////////////////////////////////////////////////////////// + +enum CURVES {P1THRCURVE = 0, P2THRCURVE, P1COLLCURVE, P2COLLCURVE, GENCURVEC, GENCURVED}; +enum PROFILES {P1 = 0, P2}; +enum PSYCH {MONOPOLAR = 0, BIPOLAR}; +enum RCCHANNELS {THROTTLE = 0, AILERON, ELEVATOR, RUDDER, GEAR, AUX1, AUX2, AUX3, NOCHAN}; +enum RPYARRAYINDEX {ROLL = 0, PITCH, YAW, ZED}; +enum TRANSITSTATE {TRANS_P1 = 0, TRANS_P1_to_P1n_start, TRANS_P1n_to_P1_start, TRANS_P1_to_P2_start, TRANS_P1n, TRANSITIONING, + TRANS_P2_to_P1_start, TRANS_P1n_to_P2_start, TRANS_P2_to_P1n_start, TRANS_P2}; + +///////////////////////////////////////////////////////////////////// + +#endif + +///////////////////////////////////////////////////////////////////// \ No newline at end of file diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 15acbcdd37..e8ec6de464 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -159,6 +159,7 @@ static inline void updateRfm22bStats(); static inline void updateWDGstats(); #endif +char *triflight_blink_string = NULL; /** * Create the module task. * \returns 0 on success or -1 if initialization failed @@ -477,52 +478,67 @@ static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len candidate_prio = indicate_error(&candidate_blink); } - if (candidate_prio > blink_prio) { - // Preempt! - blink_state = 0; - blink_string = candidate_blink; - blink_prio = candidate_prio; + FlightStatusData flightStatus; + FlightStatusGet(&flightStatus); - if (blink_prio == ANNUNCIATORSETTINGS_ANNUNCIATEANYTIME_HAIRONFIRE) { - custom_blink_string = NULL; - } - - if (blink_string && - !strcmp(blink_string, BLINK_STRING_RADIO)) { - /* XXX do this in a more robust way */ - is_manual_control = true; - } else { - is_manual_control = false; + if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_TAILTUNE) { + if ((blink_prio == 0) && (blink_state == 0)) { + if (triflight_blink_string != NULL) { + blink_string = triflight_blink_string; + blink_prio = SHAREDDEFS_ALARMLEVELS_HAIRONFIRE; + triflight_blink_string = NULL; + } } } + else + { + if (candidate_prio > blink_prio) { + // Preempt! + blink_state = 0; + blink_string = candidate_blink; + blink_prio = candidate_prio; + + if (blink_prio == ANNUNCIATORSETTINGS_ANNUNCIATEANYTIME_HAIRONFIRE) { + custom_blink_string = NULL; + } - FlightStatusArmedGet(&armed_status); - - if (armed_status == FLIGHTSTATUS_ARMED_ARMED) { - ever_armed = true; - } else { - if ((counter & 15) == 0) { - /* Every 16 cycles through here, kick off - * a config check next cycle when disarmed. - * Works around #1776 where tasks race - * through startup... but it also just - * seems prudent to check this stuff - * every half second or so while disarmed. - * (for lost events, etc.) - */ - config_check_needed = true; + if (blink_string && + !strcmp(blink_string, BLINK_STRING_RADIO)) { + /* XXX do this in a more robust way */ + is_manual_control = true; + } else { + is_manual_control = false; + } } - } - if ((blink_prio == 0) && (blink_state == 0)) { - // Nothing else to do-- show armed status + FlightStatusArmedGet(&armed_status); + if (armed_status == FLIGHTSTATUS_ARMED_ARMED) { - blink_string = "I"; // .. pairs of blinks. + ever_armed = true; } else { - blink_string = "T"; // - single long blinks + if ((counter & 15) == 0) { + /* Every 16 cycles through here, kick off + * a config check next cycle when disarmed. + * Works around #1776 where tasks race + * through startup... but it also just + * seems prudent to check this stuff + * every half second or so while disarmed. + * (for lost events, etc.) + */ + config_check_needed = true; + } } - blink_prio = SHAREDDEFS_ALARMLEVELS_OK; + if ((blink_prio == 0) && (blink_state == 0)) { + // Nothing else to do-- show armed status + if (armed_status == FLIGHTSTATUS_ARMED_ARMED) { + blink_string = "I"; // .. pairs of blinks. + } else { + blink_string = "T"; // - single long blinks + } + + blink_prio = SHAREDDEFS_ALARMLEVELS_OK; + } } morse = morse_send(&blink_string, &blink_state); diff --git a/flight/PiOS/Common/pios_hal.c b/flight/PiOS/Common/pios_hal.c index 3105beaa54..3691202875 100644 --- a/flight/PiOS/Common/pios_hal.c +++ b/flight/PiOS/Common/pios_hal.c @@ -830,6 +830,28 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type, #endif /* PIOS_INCLUDE_TBSVTXCONFIG */ break; + case HWSHARED_PORTTYPES_PPMFRSKYSENSORHUB: // Only available on DTFC target +#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) + usart_port_params.init.USART_BaudRate = 9600; + usart_port_params.init.USART_WordLength = USART_WordLength_8b; + usart_port_params.init.USART_Parity = USART_Parity_No; + usart_port_params.init.USART_StopBits = USART_StopBits_1; + usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None; + usart_port_params.init.USART_Mode = USART_Mode_Tx; + +#if defined(STM32F30X) + // F3 has internal inverters and can switch rx/tx pins + usart_port_params.rx_invert = false; + usart_port_params.tx_invert = true; + usart_port_params.single_wire = false; +#endif // STM32F30X + + PIOS_HAL_ConfigureCom(usart_port_cfg, &usart_port_params, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, com_driver, &port_driver_id); + target = &pios_com_frsky_sensor_hub_id; + PIOS_Modules_Enable(PIOS_MODULE_UAVOFRSKYSENSORHUBBRIDGE); +#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */ + // break; // Fall thru to PPM setup + case HWSHARED_PORTTYPES_PPM: #if defined(PIOS_INCLUDE_PPM) if (ppm_cfg) { diff --git a/flight/PiOS/Common/pios_hmc5983.c b/flight/PiOS/Common/pios_hmc5983.c index 798dc6658d..dbaab71e7e 100644 --- a/flight/PiOS/Common/pios_hmc5983.c +++ b/flight/PiOS/Common/pios_hmc5983.c @@ -115,7 +115,7 @@ static int32_t PIOS_HMC5983_Validate(struct hmc5983_dev *dev) * @brief Initialize the HMC5983 magnetometer sensor. * @return none */ -int32_t PIOS_HMC5983_Init(pios_spi_t spi_id, uint32_t slave_num, const struct pios_hmc5983_cfg *cfg) +int32_t PIOS_HMC5983_SPI_Init(pios_spi_t spi_id, uint32_t slave_num, const struct pios_hmc5983_cfg *cfg) { dev = (struct hmc5983_dev *)PIOS_HMC5983_alloc(); if (dev == NULL) @@ -436,7 +436,7 @@ static int32_t PIOS_HMC5983_Write(uint8_t address, uint8_t buffer) * @brief Run self-test operation. Do not call this during operational use!! * \return 0 if success, -1 if test failed */ -int32_t PIOS_HMC5983_Test(void) +int32_t PIOS_HMC5983_SPI_Test(void) { int32_t failed = 0; uint8_t registers[3] = { 0, 0, 0 }; @@ -514,7 +514,7 @@ int32_t PIOS_HMC5983_Test(void) /** * @brief IRQ Handler */ -bool PIOS_HMC5983_IRQHandler(void) +bool PIOS_HMC5983_SPI_IRQHandler(void) { if (PIOS_HMC5983_Validate(dev) != 0) return false; diff --git a/flight/PiOS/inc/pios_hmc5983.h b/flight/PiOS/inc/pios_hmc5983.h index 41d5edb57e..264f26b25d 100644 --- a/flight/PiOS/inc/pios_hmc5983.h +++ b/flight/PiOS/inc/pios_hmc5983.h @@ -128,8 +128,8 @@ struct pios_hmc5983_cfg { }; /* Public Functions */ -extern int32_t PIOS_HMC5983_Init(pios_spi_t spi_id, uint32_t slave_num, const struct pios_hmc5983_cfg *cfg); -extern bool PIOS_HMC5983_IRQHandler(void); +extern int32_t PIOS_HMC5983_SPI_Init(pios_spi_t spi_id, uint32_t slave_num, const struct pios_hmc5983_cfg *cfg); +extern bool PIOS_HMC5983_SPI_IRQHandler(void); #if defined(PIOS_INCLUDE_HMC5983_I2C) int32_t PIOS_HMC5983_I2C_Init(pios_i2c_t i2c_id, diff --git a/flight/targets/aq32/fw/Makefile b/flight/targets/aq32/fw/Makefile index 892f2f5f74..6eddb873a6 100644 --- a/flight/targets/aq32/fw/Makefile +++ b/flight/targets/aq32/fw/Makefile @@ -62,6 +62,7 @@ OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc OPTMODULES += CharacterOSD +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/aq32/fw/pios_config.h b/flight/targets/aq32/fw/pios_config.h index 30101b5f9f..446415caa7 100644 --- a/flight/targets/aq32/fw/pios_config.h +++ b/flight/targets/aq32/fw/pios_config.h @@ -34,6 +34,8 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_FLASH_JEDEC #define PIOS_INCLUDE_I2C diff --git a/flight/targets/dtfc/board-info/board_hw_defs.c b/flight/targets/dtfc/board-info/board_hw_defs.c index 626230eae3..30f3b45fdd 100644 --- a/flight/targets/dtfc/board-info/board_hw_defs.c +++ b/flight/targets/dtfc/board-info/board_hw_defs.c @@ -541,8 +541,7 @@ static const struct pios_tim_clock_cfg tim_17_cfg = { 4: TIM2_CH3 (PA9) 5: TIM2_CH1 (PA0) 6: TIM2_CH2 (PA1) - 7: TIM3_CH3 (PB0) - 8: TIM3_CH4 (PB1) + 7: TIM3_CH1 (PA6) */ static const struct pios_tim_channel pios_tim_servoport_pins[] = { { // Ch1 @@ -641,6 +640,130 @@ static const struct pios_tim_channel pios_tim_servoport_pins[] = { .pin_source = GPIO_PinSource1, }, }, + { // Ch7 + .timer = TIM3, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, + }, +}; + +/* + * OUTPUTS + 1: TIM4_CH3 (PB8) + 2: TIM4_CH4 (PB9) + 3: TIM2_CH4 (PA10) + 4: TIM2_CH3 (PA9) + 5: TIM2_CH1 (PA0) + 6: TIM2_CH2 (PA1) + */ +static const struct pios_tim_channel pios_tim_servoport_pins_tri[] = { + { // Ch1 + .timer = TIM4, + .timer_chan = TIM_Channel_3, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource8, + }, + }, + { // Ch2 + .timer = TIM4, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, + }, + { // Ch3 + .timer = TIM2, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_10, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource10, + }, + }, + { // Ch4 + .timer = TIM2, + .timer_chan = TIM_Channel_3, + .remap = GPIO_AF_10, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, + }, + { // Ch5 + .timer = TIM2, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, + }, + { // Ch6 + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + }, }; #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) @@ -664,9 +787,22 @@ static const struct pios_servo_cfg pios_servo_cfg = { .num_channels = NELEMENTS(pios_tim_servoport_pins), }; -#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ - +static struct pios_servo_cfg pios_servo_cfg_tri = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_servoport_pins_tri, + .num_channels = NELEMENTS(pios_tim_servoport_pins_tri), +}; +#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ /* * PWM Inputs @@ -745,7 +881,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = { #define DTFC_VOLTAGE_CALIBRATION_VALUE 90.9091f // mV/V #define DTFC_CURRENT_CALIBRATION_VALUE 24.95f // mV/A -static const struct pios_internal_adc_cfg internal_adc_cfg = { +static struct pios_internal_adc_cfg internal_adc_cfg = { .dma = { .irq = { .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1 | DMA2_FLAG_GL1), @@ -765,11 +901,12 @@ static const struct pios_internal_adc_cfg internal_adc_cfg = { }, .half_flag = DMA2_IT_HT1, .full_flag = DMA2_IT_TC1, - .oversampling = 32, - .adc_pin_count = 2, + .oversampling = 4, + .adc_pin_count = 3, .adc_pins = { {GPIOA,GPIO_Pin_5,ADC_Channel_2,true}, // Current {GPIOA,GPIO_Pin_4,ADC_Channel_1,true}, // Voltage + {GPIOA,GPIO_Pin_6,ADC_Channel_3,true}, // Tricopter servo feedback }, .adc_dev_master = ADC2, }; @@ -890,7 +1027,7 @@ static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { static struct pios_mpu_cfg pios_mpu_cfg = { .exti_cfg = &pios_exti_mpu_cfg, - .default_samplerate = 1000, + .default_samplerate = 500, .orientation = PIOS_MPU_TOP_180DEG }; #endif /* PIOS_INCLUDE_MPU */ diff --git a/flight/targets/dtfc/fw/Makefile b/flight/targets/dtfc/fw/Makefile index aea6f73c76..93bd1f22f3 100644 --- a/flight/targets/dtfc/fw/Makefile +++ b/flight/targets/dtfc/fw/Makefile @@ -61,6 +61,7 @@ OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/dtfc/fw/pios_board.c b/flight/targets/dtfc/fw/pios_board.c index 1633e7052e..0648e9cbce 100644 --- a/flight/targets/dtfc/fw/pios_board.c +++ b/flight/targets/dtfc/fw/pios_board.c @@ -49,6 +49,7 @@ #include "manualcontrolsettings.h" #include "modulesettings.h" #include "flightbatterysettings.h" +#include "systemsettings.h" #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) #define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 @@ -109,6 +110,9 @@ void PIOS_Board_Init(void) HwDtfcInitialize(); ModuleSettingsInitialize(); + /* Initialize the system setting UAVOs */ + SystemSettingsInitialize(); + #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); @@ -257,9 +261,19 @@ void PIOS_Board_Init(void) pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; #endif /* PIOS_INCLUDE_GCSRCVR */ + SystemSettingsAirframeTypeOptions airframe_type; + SystemSettingsAirframeTypeGet(&airframe_type); + #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS #ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_cfg); + if (airframe_type == SYSTEMSETTINGS_AIRFRAMETYPE_TRI) { + internal_adc_cfg.adc_pin_count = 3; + PIOS_Servo_Init(&pios_servo_cfg_tri); + } + else { + internal_adc_cfg.adc_pin_count = 2; + PIOS_Servo_Init(&pios_servo_cfg); + } #endif #else PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); diff --git a/flight/targets/dtfc/fw/pios_config.h b/flight/targets/dtfc/fw/pios_config.h index 40416b790b..45911d0435 100644 --- a/flight/targets/dtfc/fw/pios_config.h +++ b/flight/targets/dtfc/fw/pios_config.h @@ -39,6 +39,8 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION @@ -82,6 +84,8 @@ #define PIOS_INCLUDE_FASTHEAP +#define DTFC + #endif /* PIOS_CONFIG_H */ /** diff --git a/flight/targets/f3fc/bl/pios_board.c b/flight/targets/f3fc/bl/pios_board.c new file mode 100644 index 0000000000..41f37d4fde --- /dev/null +++ b/flight/targets/f3fc/bl/pios_board.c @@ -0,0 +1,92 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/bl/pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific initialization for the bootloader + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ +#include "board_hw_defs.c" + +#include +#include + +uintptr_t pios_com_telem_usb_id; + +void PIOS_Board_Init() +{ + /* Delay system */ + PIOS_DELAY_Init(); + +#if defined(PIOS_INCLUDE_ANNUNC) + PIOS_ANNUNC_Init(&pios_annunc_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_FLASH) + /* Inititialize all flash drivers */ + PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg); + + /* Register the partition table */ + PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table)); +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) + uintptr_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ + +#endif /* PIOS_INCLUDE_USB */ +} + +/** + * @} + * @} + */ diff --git a/flight/targets/f3fc/bl/pios_config.h b/flight/targets/f3fc/bl/pios_config.h new file mode 100644 index 0000000000..44745ee5ea --- /dev/null +++ b/flight/targets/f3fc/bl/pios_config.h @@ -0,0 +1,56 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/bl/pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific bootloader configuration file for PiOS + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_ANNUNC +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_IAP +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_COM_MSG +#define PIOS_INCLUDE_FLASH +#define PIOS_INCLUDE_FLASH_INTERNAL + +#define BOOTLOADER_PAUSE_DELAY 2 + +#endif /* PIOS_CONFIG_H */ + +/** + * @} + * @} + */ diff --git a/flight/targets/f3fc/board-info/board-info.mk b/flight/targets/f3fc/board-info/board-info.mk new file mode 100644 index 0000000000..eeb4eadc6a --- /dev/null +++ b/flight/targets/f3fc/board-info/board-info.mk @@ -0,0 +1,33 @@ +BOARD_TYPE := 0x96 +BOARD_REVISION := 0x01 +BOOTLOADER_VERSION := 0x87 +HW_TYPE := 0x00 + +CHIP := STM32F303VCT +BOARD := STM32F30x_F3FC +MODEL := HD +MODEL_SUFFIX := + +USB_VEND := "RCE" +USB_PROD := "F3FC" + +include $(MAKE_INC_DIR)/firmware-arches.mk + +# Note: These must match the values in link_$(BOARD)_memory.ld +BL_BANK_BASE := 0x08000000 # Start of bootloader flash +BL_BANK_SIZE := 0x00004000 # Should include BD_INFO region (16kB) + +EE_BANK_BASE := 0x08004000 # @16kB +EE_BANK_SIZE := 0x00008000 # (32kb) + +# Leave the remaining 16KB and 64KB sectors for other uses +FW_BANK_BASE := 0x0800C000 # Start of firmware flash @48kB +FW_BANK_SIZE := 0x00034000 # Should include FW_DESC_SIZE (208kB) + +FW_DESC_SIZE := 0x00000064 + +EF_BANK_BASE := 0x08000000 # Start of entire flash image (usually start of bootloader as well) +EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootloader until end of firmware) + +OSCILLATOR_FREQ := 8000000 +SYSCLK_FREQ := 72000000 diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c new file mode 100644 index 0000000000..013d909739 --- /dev/null +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -0,0 +1,956 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/board-info/board_hw_defs.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2015 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Defines board specific static initializers for hardware for the + * DTFc board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include +#include + +#if defined(PIOS_INCLUDE_ANNUNC) +#include + +static const struct pios_annunc pios_annuncs[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = false, // Question: Active high or low? + }, + [PIOS_LED_ALARM] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = false, // Question: Active high or low? + }, + [PIOS_ANNUNCIATOR_BUZZER] = { + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = true, + }, +}; + +static const struct pios_annunc_cfg pios_annunc_cfg = { + .annunciators = pios_annuncs, + .num_annunciators = NELEMENTS(pios_annuncs), +}; + +const struct pios_annunc_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision) +{ + return &pios_annunc_cfg; +} + +#endif /* PIOS_INCLUDE_LED */ + +#if defined(PIOS_INCLUDE_SPI) +#include +/* + * SPI2 Interface + * - Used for MPU6000 communication + */ +static const struct pios_spi_cfg pios_spi_internal_cfg = { + .regs = SPI2, + .remap = GPIO_AF_5, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource13, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource14, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource15, + }, + .slave_count = 1, + .ssel = { + { + .gpio = GPIOB, // MPU6000 + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + }, +}; +#endif /* PIOS_INCLUDE_SPI */ + +#if defined(PIOS_INCLUDE_I2C) + +#include + +/* + * I2C Adapter + */ + +void PIOS_I2C_ev_irq_handler(void); +void PIOS_I2C_er_irq_handler(void); + +void I2C2_EV_EXTI24_IRQHandler() __attribute__ ((alias ("PIOS_I2C_ev_irq_handler"))); +void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_cfg = { + .regs = I2C2, + .remap = GPIO_AF_4, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0x00, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DigitalFilter = 0x00, + .I2C_AnalogFilter = I2C_AnalogFilter_Disable, + .I2C_Timing = 0x20400D29, // Generated from I2C_Timing_Configuration_V1.0.1.xls + // SYSCLK: 72 MHz + // Fast Mode: 400 kHz + // Rise Time: 100 nS + // Fall Time: 10 nS + // Analog Filter: Disabled + // Digital Filter: 0 + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource9, + }, + .sda = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource10, + }, + .event = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +pios_i2c_t pios_i2c_id; +void PIOS_I2C_ev_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_EV_IRQ_Handler(pios_i2c_id); +} + +void PIOS_I2C_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_id); +} + +#endif /* PIOS_INCLUDE_I2C */ + +#if defined(PIOS_INCLUDE_FLASH) +#include "pios_flashfs_logfs_priv.h" + +static const struct flashfs_logfs_cfg flashfs_internal_settings_cfg = { + .fs_magic = 0x9ae1ee11, + .arena_size = 0x00002000, /* 32 * slot size = 8K bytes = 4 sectors */ + .slot_size = 0x00000100, /* 256 bytes */ +}; + +#include "pios_flash_internal_priv.h" + +static const struct pios_flash_internal_cfg flash_internal_cfg = { +}; + +#include "pios_flash_priv.h" + +static const struct pios_flash_sector_range stm32f3_sectors[] = { + { + .base_sector = 0, + .last_sector = 127, + .sector_size = FLASH_SECTOR_2KB, + }, +}; + +uintptr_t pios_internal_flash_id; +static const struct pios_flash_chip pios_flash_chip_internal = { + .driver = &pios_internal_flash_driver, + .chip_id = &pios_internal_flash_id, + .page_size = 16, /* 128-bit rows */ + .sector_blocks = stm32f3_sectors, + .num_blocks = NELEMENTS(stm32f3_sectors), +}; + +static const struct pios_flash_partition pios_flash_partition_table[] = { + { + .label = FLASH_PARTITION_LABEL_BL, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 0, + .last_sector = 7, + .chip_offset = 0, + .size = (7 - 0 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_SETTINGS, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 8, + .last_sector = 15, + .chip_offset = (8 * FLASH_SECTOR_2KB), + .size = (15 - 8 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_AUTOTUNE, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 16, + .last_sector = 23, + .chip_offset = (16 * FLASH_SECTOR_2KB), + .size = (23 - 16 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_FW, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 24, + .last_sector = 127, + .chip_offset = (24 * FLASH_SECTOR_2KB), + .size = (127 - 24 + 1) * FLASH_SECTOR_2KB, + }, +}; + +const struct pios_flash_partition * PIOS_BOARD_HW_DEFS_GetPartitionTable (uint32_t board_revision, uint32_t * num_partitions) +{ + PIOS_Assert(num_partitions); + + *num_partitions = NELEMENTS(pios_flash_partition_table); + return pios_flash_partition_table; +} + +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USART) + +#include "pios_usart_priv.h" + +#if defined(PIOS_INCLUDE_DSM) +/* + * Spektrum/JR DSM USART + */ +#include + +static const struct pios_dsm_cfg pios_uart1_dsm_bind_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_uart2_dsm_bind_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_uart3_dsm_bind_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_DSM */ + +static const struct pios_usart_cfg pios_uart1_cfg = { + .regs = USART1, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, +}; + +static const struct pios_usart_cfg pios_uart2_cfg = { + .regs = USART2, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource2, + }, +}; + +static const struct pios_usart_cfg pios_uart3_cfg = { + .regs = USART3, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource11, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource10, + }, +}; + +#endif /* PIOS_INCLUDE_USART */ + +#if defined(PIOS_INCLUDE_COM) + +#include "pios_com_priv.h" + +#endif /* PIOS_INCLUDE_COM */ + +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +static const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div32, + .prescaler = 25 - 1, // 8MHz / 32 / 16 / 25 == 625Hz + .irq = { + .init = { + .NVIC_IRQChannel = RTC_WKUP_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_1_16_17_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const TIM_TimeBaseInitTypeDef tim_2_3_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000 * 2) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_2_cfg = { + .timer = TIM2, + .time_base_init = &tim_2_3_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_2_3_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_16_cfg = { + .timer = TIM16, + .time_base_init = &tim_1_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_UP_TIM16_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_17_cfg = { + .timer = TIM17, + .time_base_init = &tim_1_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_TRG_COM_TIM17_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +/** + * Pios servo configuration structures + */ +/* + * OUTPUTS + 1: TIM3_CH2 (PA4) + 2: TIM3_CH3 (PB0) + 3: TIM1_CH1 (PA8) + 4: TIM17_CH1 (PA7) + 5: TIM3_CH4 (PB1) + 6: TIM2_CH2 (PA1) + */ + +static const struct pios_tim_channel pios_tim_output_pins[] = { + { // Ch1 + .timer = TIM3, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource4, + }, + }, + { // Ch2 + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, + }, + { // Ch3 + .timer = TIM1, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_6, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource8, + }, + }, + { // Ch4 + .timer = TIM17, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + }, + { // Ch5 + .timer = TIM3, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + }, + { // Ch6 + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + }, +}; + +#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) +/* + * Servo outputs + */ +#include + +struct pios_servo_cfg pios_servo_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_output_pins, + .num_channels = NELEMENTS(pios_tim_output_pins), +}; + +#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ + +#if defined(PIOS_INCLUDE_PPM) +#include + +/* + * PPM INPUT + 1: TIM2_CH2 (PA1) + */ +static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = { + { + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + }, +}; + +#endif + +/* + * PPM Input + */ +#if defined(PIOS_INCLUDE_PPM) +#include +static const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + .TIM_Channel = TIM_Channel_2, + }, + .channels = pios_tim_rcvrport_ppm, + .num_channels = 1, +}; +#endif // PIOS_INCLUDE_PPM + +#if defined(PIOS_INCLUDE_ADC) +#include "pios_adc_priv.h" +#include "pios_internal_adc_priv.h" + +/** + * ADC0 : PB2 ADC2_IN12 Current + * ADC1 : PA5 ADC2_IN2 Battery Voltage + * ADC2 : PA6 ADC2_IN3 RSSI/Servo Feedback + */ +static struct pios_internal_adc_cfg internal_adc_cfg = { + .dma = { + .irq = { + .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1 | DMA2_FLAG_GL1), + .init = { + .NVIC_IRQChannel = DMA2_Channel1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .channel = DMA2_Channel1, + .init = { + .DMA_Priority = DMA_Priority_High, + }, + } + }, + .half_flag = DMA2_IT_HT1, + .full_flag = DMA2_IT_TC1, + + .oversampling = 4, + + .adc_pins = { + {GPIOB, GPIO_Pin_2, ADC_Channel_12, true}, + {GPIOA, GPIO_Pin_5, ADC_Channel_2, true}, + {GPIOA, GPIO_Pin_6, ADC_Channel_3, true}, + }, + + .adc_pin_count = 3, + .adc_dev_master = ADC2, + .adc_dev_slave = NULL, +}; + +#endif /* PIOS_INCLUDE_ADC */ + +#if defined(PIOS_INCLUDE_GCSRCVR) +#include "pios_gcsrcvr_priv.h" +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" +#endif /* PIOS_INCLUDE_RCVR */ + +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" + +static const struct pios_usb_cfg pios_usb_main_cfg = { + .irq = { + .init = { + .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .vsense = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + } +}; + +const struct pios_usb_cfg * PIOS_BOARD_HW_DEFS_GetUsbCfg (uint32_t board_revision) +{ + return &pios_usb_main_cfg; +} + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" +#include "pios_usbhook.h" + +#endif /* PIOS_INCLUDE_USB */ + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include + +#endif /* PIOS_INCLUDE_COM_MSG */ + +#if defined(PIOS_INCLUDE_USB_HID) +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID */ + +#if defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { + .ctrl_if = 1, + .ctrl_tx_ep = 2, + + .data_if = 2, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; +#endif /* PIOS_INCLUDE_USB_CDC */ + +/** + * Configuration for the MPU6000 chip + */ +#if defined(PIOS_INCLUDE_MPU) +#include "pios_mpu.h" +static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { + .vector = PIOS_MPU_IRQHandler, + .line = EXTI_Line15, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI15_10_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line15, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static const struct pios_mpu_cfg pios_mpu_cfg = { + .exti_cfg = &pios_exti_mpu_cfg, + .default_samplerate = 500, + .orientation = PIOS_MPU_BOTTOM_90DEG +}; +#endif /* PIOS_INCLUDE_MPU */ + +/** + * @} + * @} + */ diff --git a/flight/targets/f3fc/board-info/cmsis_system.c b/flight/targets/f3fc/board-info/cmsis_system.c new file mode 100644 index 0000000000..78a755c776 --- /dev/null +++ b/flight/targets/f3fc/board-info/cmsis_system.c @@ -0,0 +1,389 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * @file f3fc/board-info/cmsis_cystem.c + * @author MCD Application Team + * @version V1.0.0 + * @date 04-September-2012 + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * This file contains the system clock configuration for STM32F30x devices, + * and is generated by the clock configuration tool + * stm32f30x_Clock_Configuration_V1.0.0.xls + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * and Divider factors, AHB/APBx prescalers and Flash settings), + * depending on the configuration made in the clock xls tool. + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f30x.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f30x.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define + * in "stm32f30x.h" file. When HSE is used as system clock source, directly or + * through PLL, and you are using different crystal you have to adapt the HSE + * value to your own configuration. + * + * 5. This file configures the system clock as follows: + *============================================================================= + *----------------------------------------------------------------------------- + * System Clock source | PLL (HSE) + *----------------------------------------------------------------------------- + * SYSCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * HCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * AHB Prescaler | 1 + *----------------------------------------------------------------------------- + * APB2 Prescaler | 1 + *----------------------------------------------------------------------------- + * APB1 Prescaler | 2 + *----------------------------------------------------------------------------- + * HSE Frequency(Hz) | 8000000 + *---------------------------------------------------------------------------- + * PLLMUL | 9 + *----------------------------------------------------------------------------- + * PREDIV | 1 + *----------------------------------------------------------------------------- + * USB Clock | DISABLE + *----------------------------------------------------------------------------- + * Flash Latency(WS) | 2 + *----------------------------------------------------------------------------- + * Prefetch Buffer | ON + *----------------------------------------------------------------------------- + *============================================================================= + ****************************************************************************** + * @attention + * + *

© COPYRIGHT 2012 STMicroelectronics

+ * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f30x_system + * @{ + */ + +/** @addtogroup STM32F30x_System_Private_Includes + * @{ + */ + +#include "stm32f30x.h" + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Defines + * @{ + */ +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Variables + * @{ + */ + + uint32_t SystemCoreClock = 72000000; + + __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + + /* Reset the RCC clock configuration to the default reset state ------------*/ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset CFGR register */ + RCC->CFGR &= 0xF87FC00C; + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + + /* Reset PREDIV1[3:0] bits */ + RCC->CFGR2 &= (uint32_t)0xFFFFFFF0; + + /* Reset USARTSW[1:0], I2CSW and TIMs bits */ + RCC->CFGR3 &= (uint32_t)0xFF00FCCC; + + /* Disable all interrupts */ + RCC->CIR = 0x00000000; + + /* Configure the System clock source, PLL Multiplier and Divider factors, + AHB/APBx prescalers and Flash settings ----------------------------------*/ + SetSysClock(); + +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + { + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + break; + default: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock source, PLL Multiplier and Divider factors, + * AHB/APBx prescalers and Flash settings + * @note This function should be called only once the RCC clock configuration + * is reset to the default reset state (done in SystemInit() function). + * @param None + * @retval None + */ +static void SetSysClock(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + +/******************************************************************************/ +/* PLL (clocked by HSE) used as System clock source */ +/******************************************************************************/ + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer and set Flash Latency */ + FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK / 2 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + + /* PLL configuration */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9); + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + + /* Go to infinite loop */ + while (1) + { + } + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/flight/targets/f3fc/board-info/pios_board.h b/flight/targets/f3fc/board-info/pios_board.h new file mode 100644 index 0000000000..5f99f33a8c --- /dev/null +++ b/flight/targets/f3fc/board-info/pios_board.h @@ -0,0 +1,241 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/board-info/pios_board.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board header file for DTFc board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef STM32F30X_F3FC_H_ +#define STM32F30X_F3FC_H_ + +#include + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define DEBUG_LEVEL 0 +#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }} +#else +#define DEBUG_PRINTF(level, ...) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +//------------------------ +// Timers and Channels Used +//------------------------ +/* +Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 +------+-----------+-----------+-----------+---------- +TIM1 | | | | +TIM2 | | | | +TIM3 | | | | +TIM4 | | | | +TIM5 | | | | +TIM6 | | | | +TIM7 | | | | +TIM8 | | | | +------+-----------+-----------+-----------+---------- +*/ + +//------------------------ +// DMA 1 Channels Used +//------------------------ +/* Channel 1 - */ +/* Channel 2 - */ +/* Channel 3 - */ +/* Channel 4 - */ +/* Channel 5 - */ +/* Channel 6 - */ +/* Channel 7 - */ + +//------------------------ +// DMA 2 Channels Used +//------------------------ +/* Channel 1 - ADC2 */ +/* Channel 2 - */ +/* Channel 3 - */ +/* Channel 4 - */ +/* Channel 5 - */ + +//------------------------ +// BOOTLOADER_SETTINGS +//------------------------ +#define BOARD_READABLE true +#define BOARD_WRITABLE true +#define MAX_DEL_RETRYS 3 + +//------------------------ +// PIOS_LED +//------------------------ +#define PIOS_LED_HEARTBEAT 0 +#define PIOS_LED_ALARM 1 +#define PIOS_ANNUNCIATOR_BUZZER 2 + +//------------------------ +// PIOS_WDG +//------------------------ +#define PIOS_WATCHDOG_TIMEOUT 250 +#define PIOS_WDG_REGISTER RTC_BKP_DR4 + +//------------------------- +// PIOS_COM +// +// See also pios_board.c +//------------------------- +extern uintptr_t pios_com_gps_id; +extern uintptr_t pios_com_telem_usb_id; +extern uintptr_t pios_com_telem_serial_id; +extern uintptr_t pios_com_bridge_id; +extern uintptr_t pios_com_vcp_id; +extern uintptr_t pios_com_mavlink_id; +extern uintptr_t pios_com_hott_id; +extern uintptr_t pios_com_frsky_sensor_hub_id; +extern uintptr_t pios_com_lighttelemetry_id; +extern uintptr_t pios_com_frsky_sport_id; +extern uintptr_t pios_com_openlog_logging_id; +extern uintptr_t pios_com_storm32bgc_id; + +#define PIOS_COM_GPS (pios_com_gps_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_TELEM_RF (pios_com_telem_serial_id) +#define PIOS_COM_BRIDGE (pios_com_bridge_id) +#define PIOS_COM_VCP (pios_com_vcp_id) +#define PIOS_COM_MAVLINK (pios_com_mavlink_id) +#define PIOS_COM_HOTT (pios_com_hott_id) +#define PIOS_COM_FRSKY_SENSOR_HUB (pios_com_frsky_sensor_hub_id) +#define PIOS_COM_LIGHTTELEMETRY (pios_com_lighttelemetry_id) +#define PIOS_COM_FRSKY_SPORT (pios_com_frsky_sport_id) +#define PIOS_COM_OPENLOG (pios_com_openlog_logging_id) +#define PIOS_COM_SPIFLASH (uintptr_t)(NULL) +#define PIOS_COM_STORM32BGC (pios_com_storm32bgc_id) + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +extern uintptr_t pios_com_debug_id; +#define PIOS_COM_DEBUG (pios_com_debug_id) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +//------------------------ +// TELEMETRY +//------------------------ +#define TELEM_QUEUE_SIZE 80 +#define PIOS_TELEM_STACK_SIZE 624 + +//------------------------- +// System Settings +// +// See also system_stm32f30x.c +//------------------------- +//These macros are deprecated + +#define PIOS_SYSCLK 72000000 +#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2) +#define PIOS_PERIPHERAL_APB2_CLOCK (PIOS_SYSCLK / 1) + +//------------------------- +// Interrupt Priorities +//------------------------- +#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS +#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS +#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... +#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... + +//------------------------ +// PIOS_RCVR +// See also pios_board.c +//------------------------ +#define PIOS_RCVR_MAX_CHANNELS 12 +#define PIOS_GCSRCVR_TIMEOUT_MS 100 + +//------------------------- +// Receiver PPM input +//------------------------- +#define PIOS_PPM_NUM_INPUTS 12 + +//------------------------- +// Receiver PWM input +//------------------------- +#define PIOS_PWM_NUM_INPUTS 10 + +//------------------------- +// Receiver DSM input +//------------------------- +#define PIOS_DSM_NUM_INPUTS 12 + +//------------------------- +// Receiver HSUM input +//------------------------- +#define PIOS_HSUM_MAX_DEVS 2 +#define PIOS_HSUM_NUM_INPUTS 32 + +//------------------------- +// Receiver S.Bus input +//------------------------- +#define PIOS_SBUS_NUM_INPUTS (16+2) + +//------------------------- +// Servo outputs +//------------------------- +#define PIOS_SERVO_UPDATE_HZ 50 +#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ + +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 8 + +//------------------------- +// ADC +//------------------------- +#define PIOS_INTERNAL_ADC_MAX_INSTANCES 4 +#define PIOS_INTERNAL_ADC_COUNT 4 +#define PIOS_INTERNAL_ADC_MAPPING { ADC1, ADC2, ADC3, ADC4 } + +#if defined(PIOS_INCLUDE_ADC) +extern uintptr_t pios_internal_adc_id; +#define PIOS_INTERNAL_ADC (pios_internal_adc_id) +#endif +#define PIOS_ADC_SUB_DRIVER_MAX_INSTANCES 3 + +#define VREF_PLUS 3.3 + +//------------------------- +// DMA +//------------------------- +#define PIOS_DMA_MAX_CHANNELS 12 +#define PIOS_DMA_MAX_HANDLERS_PER_CHANNEL 3 +#define PIOS_DMA_CHANNELS {DMA1_Channel1, DMA1_Channel2, DMA1_Channel3, DMA1_Channel4, DMA1_Channel5, DMA1_Channel6, DMA1_Channel7, DMA2_Channel1, DMA2_Channel2, DMA2_Channel3, DMA2_Channel4, DMA2_Channel5} + +//------------------------- +// USB +//------------------------- +#define PIOS_USB_ENABLED 1 /* Should remove all references to this */ + +#endif /* STM32F30X_F3FC_H_ */ + +/** + * @} + * @} + */ diff --git a/flight/targets/f3fc/fw/Makefile b/flight/targets/f3fc/fw/Makefile new file mode 100644 index 0000000000..a647895886 --- /dev/null +++ b/flight/targets/f3fc/fw/Makefile @@ -0,0 +1,279 @@ +############################################################################### +# @file Makefile +# @author Tau Labs, http://taulabs.org, Copyright (C) 2013-2014 +# @author dRonin, http://dRonin.org/, Copyright (C) 2016 +# @addtogroup +# @{ +# @addtogroup +# @{ +# @brief Makefile to build firmware for F3FC. +############################################################################### +# +# 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 3 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, see +# +# Additional note on redistribution: The copyright and license notices above +# must be maintained in each individual source file that is a derivative work +# of this source file; otherwise redistribution is prohibited. + +include $(MAKE_INC_DIR)/firmware-defs.mk + +# Set developer code and compile options +# Set to YES for debugging +DEBUG ?= NO + +# List of modules to include +MODULES = Attitude +MODULES += Actuator +MODULES += ManualControl +MODULES += Stabilization +MODULES += FirmwareIAP +MODULES += Telemetry + +OPTMODULES += GPS +OPTMODULES += CameraStab +OPTMODULES += Autotune +OPTMODULES += TxPID +OPTMODULES += AltitudeHold +OPTMODULES += PathPlanner +OPTMODULES += VtolPathFollower +OPTMODULES += UAVOMavlinkBridge +OPTMODULES += UAVOMSPBridge +OPTMODULES += UAVOLighttelemetryBridge +OPTMODULES += Battery +OPTMODULES += ComUsbBridge +OPTMODULES += UAVOHoTTBridge +OPTMODULES += UAVOFrSKYSensorHubBridge +OPTMODULES += UAVOFrSKYSPortBridge +OPTMODULES += Geofence +OPTMODULES += Logging +OPTMODULES += Storm32Bgc + +# Paths +OPUAVOBJINC = $(OPUAVOBJ)/inc +PIOSINC = $(PIOS)/inc +FLIGHTLIBINC = $(FLIGHTLIB)/inc +MATHLIB = $(FLIGHTLIB)/math +MATHLIBINC = $(FLIGHTLIB)/math +PIOSSTM32F30X = $(PIOS)/STM32F30x +PIOSCOMMON = $(PIOS)/Common +PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries +APPLIBDIR = $(PIOSSTM32F30X)/Libraries +STMLIBDIR = $(APPLIBDIR) +STMSPDDIR = $(STMLIBDIR)/STM32F30x_StdPeriph_Driver +STMSPDSRCDIR = $(STMSPDDIR)/src +STMSPDINCDIR = $(STMSPDDIR)/inc +DEBUG_CM3_DIR = $(PIOSCOMMONLIB)/Debug +DEBUG_CM3_DIR_INC = $(DEBUG_CM3_DIR)/inc +OPUAVOBJINC = $(OPUAVOBJ)/inc +MAVLINKINC = $(FLIGHTLIB)/mavlink/v1.0/common + +# optional component libraries +include $(APPLIBDIR)/ChibiOS/library.mk + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files + +## OPENPILOT CORE: +SRC += ${OPMODULEDIR}/System/systemmod.c +SRC += chibi_main.c +SRC += pios_board.c +SRC += pios_usb_board_data.c +SRC += $(OPUAVOBJ)/uavobjectmanager.c + +ifeq ($(DEBUG),YES) +SRC += $(DEBUG_CM3_DIR)/dcc_stdio.c +SRC += $(DEBUG_CM3_DIR)/cm3_fault_handlers.c +endif + +SRC += taskmonitor.c + +## PIOS Hardware (STM32F30x) +include $(PIOS)/STM32F30x/library_chibios.mk + +## PIOS Hardware (Common) +include $(PIOS)/pios_flight_library.mk + +SRC += pios_mpu.c +SRC += pios_hmc5883.c +SRC += pios_hmc5983_i2c.c +SRC += pios_ms5611.c +SRC += pios_bmp280.c +SRC += pios_usbhook.c + +# List C++ source files here. +# use file-extension .cpp for C++-files (not .C) +CPPSRC = + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +EXTRAINCDIRS += $(SHAREDAPIDIR) +EXTRAINCDIRS += $(PIOS) +EXTRAINCDIRS += $(PIOSINC) +EXTRAINCDIRS += $(OPUAVOBJ) +EXTRAINCDIRS += $(OPUAVOBJINC) +EXTRAINCDIRS += $(OPUAVSYNTHDIR) +EXTRAINCDIRS += $(FLIGHTLIBINC) +EXTRAINCDIRS += $(MATHLIBINC) +EXTRAINCDIRS += $(RSCODEINC) +EXTRAINCDIRS += $(PIOSSTM32F30X) +EXTRAINCDIRS += $(PIOSCOMMON) +EXTRAINCDIRS += $(BOARD_INFO_DIR) +EXTRAINCDIRS += $(STMSPDINCDIR) +EXTRAINCDIRS += $(CMSISDIR) +EXTRAINCDIRS += $(BOOTINC) +EXTRAINCDIRS += $(DEBUG_CM3_DIR_INC) +EXTRAINCDIRS += $(MAVLINKINC) + +EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${OPTMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc + +# List any extra directories to look for library files here. +# Also add directories where the linker should search for +# includes from linker-script to the list +# Each directory must be seperated by a space. +EXTRA_LIBDIRS = + +# Extra Libraries +# Each library-name must be seperated by a space. +# i.e. to link with libxyz.a, libabc.a and libefsl.a: +# EXTRA_LIBS = xyz abc efsl +# for newlib-lpc (file: libnewlibc-lpc.a): +# EXTRA_LIBS = newlib-lpc +EXTRA_LIBS = + +# Path to Linker-Scripts +LINKERSCRIPTPATH = $(PIOSSTM32F30X) + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) + +ifeq ($(DEBUG),YES) +CFLAGS += -O0 -ffixed-r10 +else +CFLAGS += -Os +endif + +# common architecture-specific flags from the device-specific library makefile +CFLAGS += $(ARCHFLAGS) +CFLAGS += -DDIAGNOSTICS +CFLAGS += -DDIAG_TASKS + +# configure CMSIS DSP Library +CDEFS += -DARM_MATH_CM4 +CDEFS += -DARM_MATH_MATRIX_CHECK +CDEFS += -DARM_MATH_ROUNDING +CDEFS += -D__FPU_PRESENT=1 +CDEFS += -DUNALIGNED_SUPPORT_DISABLE + +# This is not the best place for these. Really should abstract out +# to the board file or something +CFLAGS += -DSTM32F30X +CFLAGS += -DMEM_SIZE=$(FW_BANK_SIZE) + +# Debugging format. +DEBUGF = dwarf-2 + +# Place project-specific -D (define) and/or +# -U options for C here. +CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) +CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) +CDEFS += -DUSE_STDPERIPH_DRIVER +CDEFS += -DUSE_$(BOARD) +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif + +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif + +CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE) +CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE) + +# Declare all non-optional modules as built-in to force inclusion, strip off any appended varieties of module +get_mod_name = $(shell echo $(1) | sed "s/\/[^\/]*$///") +BUILTIN_DEFS := ${foreach MOD, ${MODULES}, -DMODULE_$(call get_mod_name, $(MOD))_BUILTIN } +CDEFS += ${BUILTIN_DEFS} + +# Place project-specific -D and/or -U options for +# Assembler with preprocessor here. +#ADEFS = -DUSE_IRQ_ASM_WRAPPER +ADEFS = -D__ASSEMBLY__ + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +#----- + +# Compiler flags. + +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +# +# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) + +CFLAGS += -g$(DEBUGF) +CFLAGS += -ffast-math +CFLAGS += -mcpu=$(MCU) +CFLAGS += $(CDEFS) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. +CFLAGS += -mapcs-frame +CFLAGS += -fomit-frame-pointer +CFLAGS += -ffunction-sections -fdata-sections +CFLAGS += -Wdouble-promotion + +CFLAGS += -Wall +CFLAGS += -Werror +CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +# Compiler flags to generate dependency files: +CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d + +# flags only for C +#CONLYFLAGS += -Wnested-externs +CONLYFLAGS += $(CSTANDARD) + +# Assembler flags. +# -Wa,...: tell GCC to pass this to the assembler. +# -ahlns: create listing +ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp +ASFLAGS += $(ADEFS) +ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) + +LIBS += $(UAVOBJLIB) +LIBS += $(FLIGHTLIBFILE) + +# Linker flags. +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections +LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) +LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) +LDFLAGS += -lc_nano -lgcc -lm +LDFLAGS += -Wl,--warn-common +LDFLAGS += -Wl,--fatal-warnings + +# Linker scripts +LDFLAGS += -T memory.ld $(addprefix -T,$(LINKER_SCRIPTS_APP)) + +include $(MAKE_INC_DIR)/firmware-common.mk diff --git a/flight/targets/f3fc/fw/mcuconf.h b/flight/targets/f3fc/fw/mcuconf.h new file mode 100644 index 0000000000..038a375f41 --- /dev/null +++ b/flight/targets/f3fc/fw/mcuconf.h @@ -0,0 +1,223 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/fw/mcuconf.h + * + *****************************************************************************/ + + /* + * STM32F30x drivers configuration. + * The following settings override the default settings present in + * the various device driver implementation headers. + * Note that the settings for each driver only have effect if the whole + * driver is enabled in halconf.h. + * + * IRQ priorities: + * 15...0 Lowest...Highest. + * + * DMA priorities: + * 0...3 Lowest...Highest. + */ + +#define STM32F30x_MCUCONF + +/* + * HAL driver system settings. + */ +#define STM32_NO_INIT FALSE +#define STM32_PVD_ENABLE FALSE +#define STM32_PLS STM32_PLS_LEV0 +#define STM32_HSI_ENABLED TRUE +#define STM32_LSI_ENABLED TRUE +#define STM32_HSE_ENABLED TRUE +#define STM32_LSE_ENABLED FALSE +#define STM32_SW STM32_SW_PLL +#define STM32_PLLSRC STM32_PLLSRC_HSE +#define STM32_PREDIV_VALUE 1 +#define STM32_PLLMUL_VALUE 9 +#define STM32_HPRE STM32_HPRE_DIV1 +#define STM32_PPRE1 STM32_PPRE1_DIV2 +#define STM32_PPRE2 STM32_PPRE2_DIV2 +#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK +#define STM32_ADC12PRES STM32_ADC12PRES_DIV1 +#define STM32_ADC34PRES STM32_ADC34PRES_DIV1 +#define STM32_USART1SW STM32_USART1SW_PCLK +#define STM32_USART2SW STM32_USART2SW_PCLK +#define STM32_USART3SW STM32_USART3SW_PCLK +#define STM32_UART4SW STM32_UART4SW_PCLK +#define STM32_UART5SW STM32_UART5SW_PCLK +#define STM32_I2C1SW STM32_I2C1SW_HSI +#define STM32_I2C2SW STM32_I2C2SW_HSI +#define STM32_TIM1SW STM32_TIM1SW_PCLK2 +#define STM32_TIM8SW STM32_TIM8SW_PCLK2 +#define STM32_RTCSEL STM32_RTCSEL_LSI +#define STM32_USB_CLOCK_REQUIRED TRUE +#define STM32_USBPRE STM32_USBPRE_DIV1P5 + +/* + * ADC driver system settings. + */ +#define STM32_ADC_USE_ADC1 FALSE +#define STM32_ADC_USE_ADC3 FALSE +#define STM32_ADC_ADC12_DMA_PRIORITY 2 +#define STM32_ADC_ADC34_DMA_PRIORITY 2 +#define STM32_ADC_ADC12_IRQ_PRIORITY 5 +#define STM32_ADC_ADC34_IRQ_PRIORITY 5 +#define STM32_ADC_ADC12_DMA_IRQ_PRIORITY 5 +#define STM32_ADC_ADC34_DMA_IRQ_PRIORITY 5 +#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 +#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 +#define STM32_ADC_DUAL_MODE FALSE + +/* + * CAN driver system settings. + */ +#define STM32_CAN_USE_CAN1 FALSE +#define STM32_CAN_CAN1_IRQ_PRIORITY 11 + +/* + * EXT driver system settings. + */ +#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI17_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI18_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI19_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI20_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI30_32_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI33_IRQ_PRIORITY 6 + +/* + * GPT driver system settings. + */ +#define STM32_GPT_USE_TIM1 FALSE +#define STM32_GPT_USE_TIM2 FALSE +#define STM32_GPT_USE_TIM3 FALSE +#define STM32_GPT_USE_TIM4 FALSE +#define STM32_GPT_USE_TIM6 FALSE +#define STM32_GPT_USE_TIM7 FALSE +#define STM32_GPT_USE_TIM8 FALSE +#define STM32_GPT_TIM1_IRQ_PRIORITY 7 +#define STM32_GPT_TIM2_IRQ_PRIORITY 7 +#define STM32_GPT_TIM3_IRQ_PRIORITY 7 +#define STM32_GPT_TIM4_IRQ_PRIORITY 7 +#define STM32_GPT_TIM6_IRQ_PRIORITY 7 +#define STM32_GPT_TIM7_IRQ_PRIORITY 7 +#define STM32_GPT_TIM8_IRQ_PRIORITY 7 + +/* + * I2C driver system settings. + */ +#define STM32_I2C_USE_I2C1 FALSE +#define STM32_I2C_USE_I2C2 FALSE +#define STM32_I2C_I2C1_IRQ_PRIORITY 10 +#define STM32_I2C_I2C2_IRQ_PRIORITY 10 +#define STM32_I2C_I2C1_DMA_PRIORITY 1 +#define STM32_I2C_I2C2_DMA_PRIORITY 1 +#define STM32_I2C_DMA_ERROR_HOOK(i2cp) chSysHalt() + +/* + * ICU driver system settings. + */ +#define STM32_ICU_USE_TIM1 FALSE +#define STM32_ICU_USE_TIM2 FALSE +#define STM32_ICU_USE_TIM3 FALSE +#define STM32_ICU_USE_TIM4 FALSE +#define STM32_ICU_USE_TIM8 FALSE +#define STM32_ICU_TIM1_IRQ_PRIORITY 7 +#define STM32_ICU_TIM2_IRQ_PRIORITY 7 +#define STM32_ICU_TIM3_IRQ_PRIORITY 7 +#define STM32_ICU_TIM4_IRQ_PRIORITY 7 +#define STM32_ICU_TIM8_IRQ_PRIORITY 7 + +/* + * PWM driver system settings. + */ +#define STM32_PWM_USE_ADVANCED FALSE +#define STM32_PWM_USE_TIM1 FALSE +#define STM32_PWM_USE_TIM2 FALSE +#define STM32_PWM_USE_TIM3 FALSE +#define STM32_PWM_USE_TIM4 FALSE +#define STM32_PWM_USE_TIM8 FALSE +#define STM32_PWM_TIM1_IRQ_PRIORITY 7 +#define STM32_PWM_TIM2_IRQ_PRIORITY 7 +#define STM32_PWM_TIM3_IRQ_PRIORITY 7 +#define STM32_PWM_TIM4_IRQ_PRIORITY 7 +#define STM32_PWM_TIM8_IRQ_PRIORITY 7 + +/* + * SERIAL driver system settings. + */ +#define STM32_SERIAL_USE_USART1 FALSE +#define STM32_SERIAL_USE_USART2 FALSE +#define STM32_SERIAL_USE_USART3 FALSE +#define STM32_SERIAL_USE_UART4 FALSE +#define STM32_SERIAL_USE_UART5 FALSE +#define STM32_SERIAL_USART1_PRIORITY 12 +#define STM32_SERIAL_USART2_PRIORITY 12 +#define STM32_SERIAL_USART3_PRIORITY 12 +#define STM32_SERIAL_UART4_PRIORITY 12 +#define STM32_SERIAL_UART5_PRIORITY 12 + +/* + * SPI driver system settings. + */ +#define STM32_SPI_USE_SPI1 FALSE +#define STM32_SPI_USE_SPI2 FALSE +#define STM32_SPI_USE_SPI3 FALSE +#define STM32_SPI_SPI1_DMA_PRIORITY 1 +#define STM32_SPI_SPI2_DMA_PRIORITY 1 +#define STM32_SPI_SPI3_DMA_PRIORITY 1 +#define STM32_SPI_SPI1_IRQ_PRIORITY 10 +#define STM32_SPI_SPI2_IRQ_PRIORITY 10 +#define STM32_SPI_SPI3_IRQ_PRIORITY 10 +#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt() + +/* + * UART driver system settings. + */ +#define STM32_UART_USE_USART1 FALSE +#define STM32_UART_USE_USART2 FALSE +#define STM32_UART_USE_USART3 FALSE +#define STM32_UART_USART1_IRQ_PRIORITY 12 +#define STM32_UART_USART2_IRQ_PRIORITY 12 +#define STM32_UART_USART3_IRQ_PRIORITY 12 +#define STM32_UART_USART1_DMA_PRIORITY 0 +#define STM32_UART_USART2_DMA_PRIORITY 0 +#define STM32_UART_USART3_DMA_PRIORITY 0 +#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt() + +/* + * USB driver system settings. + */ +#define STM32_USB_USE_USB1 FALSE +#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE +#define STM32_USB_USB1_HP_IRQ_PRIORITY 13 +#define STM32_USB_USB1_LP_IRQ_PRIORITY 14 diff --git a/flight/targets/f3fc/fw/memory.ld b/flight/targets/f3fc/fw/memory.ld new file mode 100644 index 0000000000..b153efbeef --- /dev/null +++ b/flight/targets/f3fc/fw/memory.ld @@ -0,0 +1,10 @@ +__main_stack_size__ = 0x0400; +__process_stack_size__ = 0x0400; + +MEMORY +{ + bd_info (r) : org = 0x08004000 - 0x80, len = 0x000080 + flash : org = 0x08000000 + 48k, len = 256k - 48k + ram : org = 0x20000000, len = 40k + ccmram : org = 0x10000000, len = 8k +} diff --git a/flight/targets/f3fc/fw/pios_board.c b/flight/targets/f3fc/fw/pios_board.c new file mode 100644 index 0000000000..74fc268059 --- /dev/null +++ b/flight/targets/f3fc/fw/pios_board.c @@ -0,0 +1,379 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/fw/pios_board.c + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief The board specific initialization routines + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ + +#include "board_hw_defs.c" + +#include +#include +#include +#include +#include "hwf3fc.h" +#include "manualcontrolsettings.h" +#include "modulesettings.h" + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 +uintptr_t pios_com_debug_id; +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +uintptr_t pios_com_aux_id; +uintptr_t pios_uavo_settings_fs_id; +uintptr_t pios_internal_adc_id; +uintptr_t pios_com_openlog_logging_id; + +/** + * PIOS_Board_Init() + * initializes all the core subsystems on this specific hardware + * called from System/openpilot.c + */ + +#include + +void PIOS_Board_Init(void) +{ + const struct pios_board_info * bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_ANNUNC) + const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_ANNUNC_Init(led_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_SPI) + pios_spi_t pios_spi_internal_id; + + if (PIOS_SPI_Init(&pios_spi_internal_id, &pios_spi_internal_cfg)) { + PIOS_DEBUG_Assert(0); + } +#endif + +#if defined(PIOS_INCLUDE_FLASH) + /* Inititialize all flash drivers */ + if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH);; + + + /* Register the partition table */ + const struct pios_flash_partition * flash_partition_table; + uint32_t num_partitions; + flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions); + PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions); + + /* Mount all filesystems */ + if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS); +#endif /* PIOS_INCLUDE_FLASH */ + + PIOS_RESET_Clear(); // Clear the RCC reset flags after use. + + /* Initialize the hardware UAVOs */ + HwF3FcInitialize(); + ModuleSettingsInitialize(); + +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + + /* Set up pulse timers */ + + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_2_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_16_cfg); + PIOS_TIM_InitClock(&tim_17_cfg); + + /* IAP System Setup */ + PIOS_IAP_Init(); + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hw config to defaults */ + HwF3FcSetDefaults(HwF3FcHandle(), 0); + ModuleSettingsSetDefaults(ModuleSettingsHandle(),0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + +#if defined(PIOS_INCLUDE_USB_CDC) + bool usb_cdc_present = false; + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; +#else + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; +#endif + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_CDC) + + HwF3FcUSB_VCPPortOptions hw_usb_vcpport; + /* Configure the USB VCP port */ + HwF3FcUSB_VCPPortGet(&hw_usb_vcpport); + + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hw_usb_vcpport = HWF3FC_USB_VCPPORT_DISABLED; + } + + PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg); +#endif /* PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) + /* Configure the usb HID port */ + HwF3FcUSB_HIDPortOptions hw_usb_hidport; + HwF3FcUSB_HIDPortGet(&hw_usb_hidport); + + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hw_usb_hidport = HWF3FC_USB_HIDPORT_DISABLED; + } + + PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg); + +#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ + + /* Configure the IO ports */ + HwF3FcDSMxModeOptions hw_DSMxMode; + HwF3FcDSMxModeGet(&hw_DSMxMode); + + /* UART1 Port */ + uint8_t hw_uart1; + HwF3FcUart1Get(&hw_uart1); + PIOS_HAL_ConfigurePort(hw_uart1, // port type protocol + &pios_uart1_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_uart1_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* UART2 Port */ + uint8_t hw_uart2; + HwF3FcUart2Get(&hw_uart2); + PIOS_HAL_ConfigurePort(hw_uart2, // port type protocol + &pios_uart2_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_uart2_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* UART3 Port */ + uint8_t hw_uart3; + HwF3FcUart3Get(&hw_uart3); + PIOS_HAL_ConfigurePort(hw_uart3, // port type protocol + &pios_uart3_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_uart3_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* Configure the ppm rcvr port */ + uint8_t hw_ppm; + HwF3FcPPM_ReceiverGet(&hw_ppm); + + if (hw_ppm == HWF3FC_PPM_RECEIVER_ENABLED) { + PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol + NULL, // usart_port_cfg + NULL, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + &pios_ppm_cfg, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + NULL, // dsm_cfg + 0, // dsm_mode + NULL); // sbus_cfg + + pios_servo_cfg.num_channels = 5; + } + else + { + pios_servo_cfg.num_channels = 6; + } + +#if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); + uintptr_t pios_gcsrcvr_id; + PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); + uintptr_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS +#ifdef PIOS_INCLUDE_SERVO + PIOS_Servo_Init(&pios_servo_cfg); +#endif +#else + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif + +#if defined(PIOS_INCLUDE_ADC) + uintptr_t internal_adc_id; + if(PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg) < 0) { + PIOS_Assert(0); + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC); + } + + if(PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id) < 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC); +#endif /* PIOS_INCLUDE_ADC */ + + PIOS_WDG_Clear(); + PIOS_DELAY_WaitmS(200); + PIOS_WDG_Clear(); + +#if defined(PIOS_INCLUDE_MPU) + pios_mpu_dev_t mpu_dev = NULL; + if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_internal_id, 0, &pios_mpu_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU); + + HwF3FcGyroRangeOptions hw_gyro_range; + HwF3FcGyroRangeGet(&hw_gyro_range); + switch(hw_gyro_range) { + case HWF3FC_GYRORANGE_250: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG); + break; + case HWF3FC_GYRORANGE_500: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG); + break; + case HWF3FC_GYRORANGE_1000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG); + break; + case HWF3FC_GYRORANGE_2000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG); + break; + } + + HwF3FcAccelRangeOptions hw_accel_range; + HwF3FcAccelRangeGet(&hw_accel_range); + switch(hw_accel_range) { + case HWF3FC_ACCELRANGE_2G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G); + break; + case HWF3FC_ACCELRANGE_4G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G); + break; + case HWF3FC_ACCELRANGE_8G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G); + break; + case HWF3FC_ACCELRANGE_16G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G); + break; + } + + // the filter has to be set before rate else divisor calculation will fail + HwF3FcMPU6000DLPFOptions hw_mpu_dlpf; + HwF3FcMPU6000DLPFGet(&hw_mpu_dlpf); + uint16_t bandwidth = \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_188) ? 188 : \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_98) ? 98 : \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_42) ? 42 : \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_20) ? 20 : \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_10) ? 10 : \ + (hw_mpu_dlpf == HWF3FC_MPU6000DLPF_5) ? 5 : \ + 184; + PIOS_MPU_SetGyroBandwidth(bandwidth); + +#endif /* PIOS_INCLUDE_MPU */ + + //I2C is slow, sensor init as well, reset watchdog to prevent reset here + PIOS_WDG_Clear(); + + uint8_t hw_ext_mag; + uint8_t hw_ext_mag_orientation; + + HwF3FcI2CExtMagGet(&hw_ext_mag); + HwF3FcExtMagOrientationGet(&hw_ext_mag_orientation); + + PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_ext_mag_orientation, &pios_i2c_id, &pios_i2c_cfg); + + uint8_t hw_ext_baro; + + HwF3FcI2CExtBaroGet(&hw_ext_baro); + + PIOS_HAL_ConfigureExternalBaro(hw_ext_baro, &pios_i2c_id, &pios_i2c_cfg); + +#if defined(PIOS_INCLUDE_GPIO) + PIOS_GPIO_Init(); +#endif + + /* Make sure we have at least one telemetry link configured or else fail initialization */ + PIOS_Assert(pios_com_telem_serial_id || pios_com_telem_usb_id); + +} + +/** + * @} + */ diff --git a/flight/targets/f3fc/fw/pios_config.h b/flight/targets/f3fc/fw/pios_config.h new file mode 100644 index 0000000000..78d6d5d1e4 --- /dev/null +++ b/flight/targets/f3fc/fw/pios_config.h @@ -0,0 +1,85 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/fw/pios_config.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2015 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific options that modify PiOS capabilities + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +#include + +/* Major features */ + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION + +#define PIOS_INCLUDE_I2C +#define PIOS_INCLUDE_SPI + +/* Select the sensors to include */ +#define PIOS_INCLUDE_MPU +#define PIOS_INCLUDE_BMP280 +#define PIOS_INCLUDE_MS5611 +#define PIOS_INCLUDE_HMC5883 +#define PIOS_INCLUDE_HMC5983_I2C +#define PIOS_TOLERATE_MISSING_SENSORS + +/* Com systems to include */ +#define PIOS_INCLUDE_MAVLINK +#define PIOS_INCLUDE_LIGHTTELEMETRY + +/* Flags that alter behaviors */ +#define AUTOTUNE_AVERAGING_MODE +#define AUTOTUNE_AVERAGING_DECIMATION 2 + +/* Task stack sizes */ +#define PIOS_EVENTDISPATCHER_STACK_SIZE 1024 + +/* + * This has been calibrated 2014/02/21 using chibios @ b89da8ac379646ac421bb65a209210e637bba223. + * Calibration has been done by disabling the init task, breaking into debugger after + * approximately after 60 seconds, then doing the following math: + * + * IDLE_COUNTS_PER_SEC_AT_NO_LOAD = (uint32_t)((double)idleCounter / xTickCount * 1000 + 0.5) + * + * This has to be redone every time the toolchain, toolchain flags or FreeRTOS + * configuration like number of task priorities or similar changes. + * A change in the cpu load calculation or the idle task handler will invalidate this as well. + */ +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (2175780) + +#define PIOS_INCLUDE_FASTHEAP + +#endif /* PIOS_CONFIG_H */ +/** + * @} + * @} + */ diff --git a/flight/targets/f3fc/hw/f3fc.xls b/flight/targets/f3fc/hw/f3fc.xls new file mode 100644 index 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zjnDLPu8*5Ea59Z^cAUTCW@DW9;~ZZR96s~Mc|LAL#Z4DD*T?k$+z5$V8F8Z`ZXm=h zWwY){2BiB(w`i#>6mPfLH(c|F&TKKs1kA}s-*9D&Ztk0HyBb+ zhE3_=M27;| qLJ)}cr=#ijMlh^AaEO7`CBjBHl!5-|**}w~_y0luoiX92^#2Pt;8jBa literal 0 HcmV?d00001 diff --git a/flight/targets/f3fc/target-defs.mk b/flight/targets/f3fc/target-defs.mk new file mode 100644 index 0000000000..759a35fde7 --- /dev/null +++ b/flight/targets/f3fc/target-defs.mk @@ -0,0 +1,10 @@ +# Add this board to the list of buildable boards +ALL_BOARDS += f3fc + +# Set the cpu architecture here that matches your STM32 +# Should be one of: f1,f3,f4 +f3fc_cpuarch := f3 + +# Short name of this board (used to display board name in parallel builds) +# Should be exactly 4 characters long. +f3fc_short := 'f3fc' diff --git a/flight/targets/naze32pro/bl/pios_board.c b/flight/targets/naze32pro/bl/pios_board.c new file mode 100644 index 0000000000..d101aa274a --- /dev/null +++ b/flight/targets/naze32pro/bl/pios_board.c @@ -0,0 +1,92 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * + * @file naze32pro/bl/pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific initialization for the bootloader + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ +#include "board_hw_defs.c" + +#include +#include + +uintptr_t pios_com_telem_usb_id; + +void PIOS_Board_Init() +{ + /* Delay system */ + PIOS_DELAY_Init(); + +#if defined(PIOS_INCLUDE_ANNUNC) + PIOS_ANNUNC_Init(&pios_annunc_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_FLASH) + /* Inititialize all flash drivers */ + PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg); + + /* Register the partition table */ + PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table)); +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) + uintptr_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ + +#endif /* PIOS_INCLUDE_USB */ +} + +/** + * @} + * @} + */ diff --git a/flight/targets/naze32pro/bl/pios_config.h b/flight/targets/naze32pro/bl/pios_config.h new file mode 100644 index 0000000000..c6e7bb6726 --- /dev/null +++ b/flight/targets/naze32pro/bl/pios_config.h @@ -0,0 +1,56 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * + * @file naze32pro/bl/pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific bootloader configuration file for PiOS + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_ANNUNC +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_IAP +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_COM_MSG +#define PIOS_INCLUDE_FLASH +#define PIOS_INCLUDE_FLASH_INTERNAL + +#define BOOTLOADER_PAUSE_DELAY 2 + +#endif /* PIOS_CONFIG_H */ + +/** + * @} + * @} + */ diff --git a/flight/targets/naze32pro/board-info/board-info.mk b/flight/targets/naze32pro/board-info/board-info.mk new file mode 100644 index 0000000000..c7076f9a07 --- /dev/null +++ b/flight/targets/naze32pro/board-info/board-info.mk @@ -0,0 +1,33 @@ +BOARD_TYPE := 0x93 +BOARD_REVISION := 0x02 +BOOTLOADER_VERSION := 0x87 +HW_TYPE := 0x00 # seems to be unused + +CHIP := STM32F303VCT +BOARD := STM32F30x_NAZE32PRO +MODEL := HD +MODEL_SUFFIX := + +USB_VEND := "AFRO" +USB_PROD := "Naze32Pro" + +include $(MAKE_INC_DIR)/firmware-arches.mk + +# Note: These must match the values in link_$(BOARD)_memory.ld +BL_BANK_BASE := 0x08000000 # Start of bootloader flash +BL_BANK_SIZE := 0x00004000 # Should include BD_INFO region (16kB) + +EE_BANK_BASE := 0x08004000 # @16kB +EE_BANK_SIZE := 0x00008000 # (32kb) + +# Leave the remaining 16KB and 64KB sectors for other uses +FW_BANK_BASE := 0x0800C000 # Start of firmware flash @48kB +FW_BANK_SIZE := 0x00034000 # Should include FW_DESC_SIZE (208kB) + +FW_DESC_SIZE := 0x00000064 + +EF_BANK_BASE := 0x08000000 # Start of entire flash image (usually start of bootloader as well) +EF_BANK_SIZE := 0x00040000 # Size of the entire flash image (from bootloader until end of firmware) + +OSCILLATOR_FREQ := 12000000 +SYSCLK_FREQ := 72000000 diff --git a/flight/targets/naze32pro/board-info/board_hw_defs.c b/flight/targets/naze32pro/board-info/board_hw_defs.c new file mode 100644 index 0000000000..be678a40c7 --- /dev/null +++ b/flight/targets/naze32pro/board-info/board_hw_defs.c @@ -0,0 +1,1096 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup AFRO Nazxe32Pro + * @{ + * + * @file naze32pro/board-info/board_hw_defs.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2015 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Defines board specific static initializers for hardware for the + * DTFc board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include +#include + +#if defined(PIOS_INCLUDE_ANNUNC) +#include + +// PB12 Naze32Pro LED +// PB10 Naze32Pro BUZZER + +static const struct pios_annunc pios_annuncs[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = false, + }, + [PIOS_ANNUNCIATOR_BUZZER] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = true, + }, +}; + +static const struct pios_annunc_cfg pios_annunc_cfg = { + .annunciators = pios_annuncs, + .num_annunciators = NELEMENTS(pios_annuncs), +}; + +const struct pios_annunc_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision) +{ + return &pios_annunc_cfg; +} + +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_SPI) +#include + +/* + * SPI2 Interface + * Used for MPU6000, HMC5983, MS5611, and SPI EEPROM communication + */ +static const struct pios_spi_cfg pios_spi_internal_cfg = { + .regs = SPI2, + .remap = GPIO_AF_5, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource13, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource14, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource15, + }, + .slave_count = 4, + .ssel = { + { + .gpio = GPIOC, // MPU6000 + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + { + .gpio = GPIOC, // HMC5983 + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + { + .gpio = GPIOC, // MS5611 + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + { + .gpio = GPIOB, // SPI EEPROM + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + }, +}; +#endif /* PIOS_INCLUDE_SPI */ + +#if defined(PIOS_INCLUDE_I2C) + +#include + +/* + * I2C Adapter + */ + +void PIOS_I2C_external_ev_irq_handler(void); +void PIOS_I2C_external_er_irq_handler(void); + +void I2C1_EV_EXTI23_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_ev_irq_handler"))); +void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_external_cfg = { + .regs = I2C1, + .remap = GPIO_AF_4, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0x00, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DigitalFilter = 0x00, + .I2C_AnalogFilter = I2C_AnalogFilter_Disable, + .I2C_Timing = 0x20400D29, // Generated from I2C_Timing_Configuration_V1.0.1.xls + // SYSCLK: 72 MHz + // Fast Mode: 400 kHz + // Rise Time: 100 nS + // Fall Time: 10 nS + // Analog Filter: Disabled + // Digital Filter: 0 + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource8, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource9, + }, + .event = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +pios_i2c_t pios_i2c_external_id; +void PIOS_I2C_external_ev_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_EV_IRQ_Handler(pios_i2c_external_id); +} + +void PIOS_I2C_external_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_external_id); +} + +#endif /* PIOS_INCLUDE_I2C */ + +#if defined(PIOS_INCLUDE_FLASH) +#include "pios_flashfs_logfs_priv.h" + +static const struct flashfs_logfs_cfg flashfs_internal_settings_cfg = { + .fs_magic = 0x9ae1ee11, + .arena_size = 0x00002000, /* 32 * slot size = 8K bytes = 4 sectors */ + .slot_size = 0x00000100, /* 256 bytes */ +}; + +#include "pios_flash_internal_priv.h" + +static const struct pios_flash_internal_cfg flash_internal_cfg = { +}; + +#include "pios_flash_priv.h" + +static const struct pios_flash_sector_range stm32f3_sectors[] = { + { + .base_sector = 0, + .last_sector = 127, + .sector_size = FLASH_SECTOR_2KB, + }, +}; + +uintptr_t pios_internal_flash_id; +static const struct pios_flash_chip pios_flash_chip_internal = { + .driver = &pios_internal_flash_driver, + .chip_id = &pios_internal_flash_id, + .page_size = 16, /* 128-bit rows */ + .sector_blocks = stm32f3_sectors, + .num_blocks = NELEMENTS(stm32f3_sectors), +}; + +static const struct pios_flash_partition pios_flash_partition_table[] = { + { + .label = FLASH_PARTITION_LABEL_BL, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 0, + .last_sector = 7, + .chip_offset = 0, + .size = (7 - 0 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_SETTINGS, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 8, + .last_sector = 15, + .chip_offset = (8 * FLASH_SECTOR_2KB), + .size = (15 - 8 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_AUTOTUNE, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 16, + .last_sector = 23, + .chip_offset = (16 * FLASH_SECTOR_2KB), + .size = (23 - 16 + 1) * FLASH_SECTOR_2KB, + }, + + { + .label = FLASH_PARTITION_LABEL_FW, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 24, + .last_sector = 127, + .chip_offset = (24 * FLASH_SECTOR_2KB), + .size = (127 - 24 + 1) * FLASH_SECTOR_2KB, + }, +}; + +const struct pios_flash_partition * PIOS_BOARD_HW_DEFS_GetPartitionTable (uint32_t board_revision, uint32_t * num_partitions) +{ + PIOS_Assert(num_partitions); + + *num_partitions = NELEMENTS(pios_flash_partition_table); + return pios_flash_partition_table; +} + +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USART) + +#include "pios_usart_priv.h" + +#if defined(PIOS_INCLUDE_DSM) +/* + * Spektrum/JR DSM USART + */ +#include + +static const struct pios_dsm_cfg pios_uart1_dsm_bind_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_uart2_dsm_bind_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_rcvr_dsm_bind_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_DSM */ + +static const struct pios_usart_cfg pios_uart1_cfg = { + .regs = USART1, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource10, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, +}; + +static const struct pios_usart_cfg pios_uart2_cfg = { + .regs = USART2, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource15, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, +}; + +static const struct pios_usart_cfg pios_rcvr_usart_cfg = { + .regs = USART3, + .remap = GPIO_AF_7, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource11, + }, +}; + +#endif /* PIOS_INCLUDE_USART */ + +#if defined(PIOS_INCLUDE_COM) + +#include "pios_com_priv.h" + +#endif /* PIOS_INCLUDE_COM */ + +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +static const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div32, + //.prescaler = 25 - 1, // 8MHz / 32 / 16 / 25 == 625Hz + .prescaler = 37 - 1, // 12MHz / 32 / 16 / 37 == 633Hz + //.prescaler = 38 - 1, // 12MHz / 32 / 16 / 38 == 617Hz + .irq = { + .init = { + .NVIC_IRQChannel = RTC_WKUP_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_1_8_15_16_17_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const TIM_TimeBaseInitTypeDef tim_2_3_4_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000 * 2) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +/* Input Timers */ + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_8_15_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_16_cfg = { + .timer = TIM16, + .time_base_init = &tim_1_8_15_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_UP_TIM16_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +/* Output Timers */ + +static const struct pios_tim_clock_cfg tim_2_cfg = { + .timer = TIM2, + .time_base_init = &tim_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_15_cfg = { + .timer = TIM15, + .time_base_init = &tim_1_8_15_16_17_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_BRK_TIM15_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +/** + * Pios servo configuration structures + */ +/* + * OUTPUTS + 1: TIM2_CH1 (PA0) + 2: TIM2_CH2 (PA1) + 3: TIM15_CH1 (PA2) + 4: TIM15_CH2 (PA3) + 5: TIM3_CH1 (PA6) + 6: TIM3_CH2 (PA7) + 7: TIM4_CH1 (PB6) + 8: TIM4_CH2 (PB7) + */ + +static const struct pios_tim_channel pios_tim_output_pins[] = { + { // Ch1 + .timer = TIM2, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, + }, + { // Ch2 + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + }, + { // Ch3 + .timer = TIM15, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_9, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource2, + }, + }, + { // Ch4 + .timer = TIM15, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_9, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, + }, + { // Ch5 + .timer = TIM3, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, + }, + { // Ch6 + .timer = TIM3, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + }, + { // Ch7 + .timer = TIM4, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, + }, + { // Ch8 + .timer = TIM4, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + }, +}; + +#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) +/* + * Servo outputs + */ +#include + +struct pios_servo_cfg pios_servo_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_output_pins, + .num_channels = NELEMENTS(pios_tim_output_pins), +}; + +struct pios_servo_cfg pios_servo_slow_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .force_1MHz = true, + .channels = pios_tim_output_pins, + .num_channels = NELEMENTS(pios_tim_output_pins), +}; + +#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ + +#if defined(PIOS_INCLUDE_PPM) +#include + +/* + * PPM INPUT (JST Connector) + 1: TIM2_CH4 (PB11) - Note: Restricts PWM 1,2, and 9 to 50 Hz!! + */ +static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = { + { + .timer = TIM2, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource11, + }, + }, +}; + +#endif + +/* + * PPM Input + */ +#if defined(PIOS_INCLUDE_PPM) +#include +static const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + .TIM_Channel = TIM_Channel_4, + }, + .channels = pios_tim_rcvrport_ppm, + .num_channels = 1, +}; +#endif // PIOS_INCLUDE_PPM + +#if defined(PIOS_INCLUDE_ADC) +#include "pios_adc_priv.h" +#include "pios_internal_adc_priv.h" + +/** + * ADC0 : Vrefint Internal ADC voltage reference + * ADC1 : PA4 ADC2_IN1 Battery Voltage (On board 11K / 1K divider) + * ADC2 : PA5 ADC2_IN2 + * ADC3 : PA1 ADC1_IN1 + */ +static struct pios_internal_adc_cfg internal_adc_cfg = { + .dma = { + .irq = { + .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), + .init = { + .NVIC_IRQChannel = DMA1_Channel1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .channel = DMA1_Channel1, + .init = { + .DMA_Priority = DMA_Priority_High, + }, + } + }, + .half_flag = DMA1_IT_HT1, + .full_flag = DMA1_IT_TC1, + + .oversampling = 4, + + .adc_pins = { + {NULL, 0, ADC_Channel_Vrefint, true}, + {GPIOA, GPIO_Pin_4, ADC_Channel_1, false}, + {GPIOA, GPIO_Pin_5, ADC_Channel_2, false}, + {GPIOA, GPIO_Pin_1, ADC_Channel_2, true}, + }, + + .adc_pin_count = 4, + .adc_dev_master = ADC1, + .adc_dev_slave = ADC2, +}; + +#endif /* PIOS_INCLUDE_ADC */ + +#if defined(PIOS_INCLUDE_GCSRCVR) +#include "pios_gcsrcvr_priv.h" +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" +#endif /* PIOS_INCLUDE_RCVR */ + +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" + +static const struct pios_usb_cfg pios_usb_main_cfg = { + .irq = { + .init = { + .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .vsense = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + } +}; + +const struct pios_usb_cfg * PIOS_BOARD_HW_DEFS_GetUsbCfg (uint32_t board_revision) +{ + return &pios_usb_main_cfg; +} + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" +#include "pios_usbhook.h" + +#endif /* PIOS_INCLUDE_USB */ + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include + +#endif /* PIOS_INCLUDE_COM_MSG */ + +#if defined(PIOS_INCLUDE_USB_HID) +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID */ + +#if defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { + .ctrl_if = 1, + .ctrl_tx_ep = 2, + + .data_if = 2, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; +#endif /* PIOS_INCLUDE_USB_CDC */ + +/** + * Configuration for the MPU6000 chip + */ +#if defined(PIOS_INCLUDE_MPU) +#include "pios_mpu.h" +static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { + .vector = PIOS_MPU_IRQHandler, + .line = EXTI_Line1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line1, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static const struct pios_mpu_cfg pios_mpu_cfg = { + .exti_cfg = &pios_exti_mpu_cfg, + .default_samplerate = 500, + .orientation = PIOS_MPU_TOP_270DEG +}; +#endif /* PIOS_INCLUDE_MPU */ + +/** + * Configuration of the internal HMC5983 chip + */ +#if defined(PIOS_INCLUDE_HMC5983) +#include "pios_hmc5983.h" +static const struct pios_exti_cfg pios_exti_hmc5983_cfg __exti_config = { + .vector = PIOS_HMC5983_SPI_IRQHandler, + .line = EXTI_Line0, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line0, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static const struct pios_hmc5983_cfg pios_hmc5983_cfg = { + .exti_cfg = &pios_exti_hmc5983_cfg, + .Averaging = PIOS_HMC5983_AVERAGING_8, + .M_ODR = PIOS_HMC5983_ODR_75, + .Meas_Conf = PIOS_HMC5983_MEASCONF_NORMAL, + .Gain = PIOS_HMC5983_GAIN_1_9, + .Mode = PIOS_HMC5983_MODE_CONTINUOUS, + .Orientation = PIOS_HMC5983_TOP_180DEG, +}; + +#endif /* PIOS_INCLUDE_HMC5983 */ + +/** + * Configuration for the MS5611 chip + */ +#if defined(PIOS_INCLUDE_MS5611_SPI) +#include "pios_ms5611_priv.h" +static const struct pios_ms5611_cfg pios_ms5611_cfg = { + .oversampling = MS5611_OSR_4096, + .temperature_interleaving = 1, +}; +#endif /* PIOS_INCLUDE_MS5611_SPI */ + +/** + * @} + * @} + */ diff --git a/flight/targets/naze32pro/board-info/cmsis_system.c b/flight/targets/naze32pro/board-info/cmsis_system.c new file mode 100644 index 0000000000..46ec6cb305 --- /dev/null +++ b/flight/targets/naze32pro/board-info/cmsis_system.c @@ -0,0 +1,385 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * @file naze32pro/board-info/cmsis_cystem.c + * @author MCD Application Team + * @version V1.0.0 + * @date 18-November-2014 + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * This file contains the system clock configuration for STM32F30x devices, + * and is generated by the clock configuration tool + * stm32f30x_Clock_Configuration_V1.0.0.xls + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * and Divider factors, AHB/APBx prescalers and Flash settings), + * depending on the configuration made in the clock xls tool. + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f30x.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f30x.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define + * in "stm32f30x.h" file. When HSE is used as system clock source, directly or + * through PLL, and you are using different crystal you have to adapt the HSE + * value to your own configuration. + * + * 5. This file configures the system clock as follows: + *============================================================================= + * Supported STM32F30x device + *----------------------------------------------------------------------------- + * System Clock source | PLL (HSE) + *----------------------------------------------------------------------------- + * SYSCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * HCLK(Hz) | 72000000 + *----------------------------------------------------------------------------- + * AHB Prescaler | 1 + *----------------------------------------------------------------------------- + * APB2 Prescaler | 1 + *----------------------------------------------------------------------------- + * APB1 Prescaler | 2 + *----------------------------------------------------------------------------- + * HSE Frequency(Hz) | 12000000 + *---------------------------------------------------------------------------- + * PLLMUL | 6 + *----------------------------------------------------------------------------- + * PREDIV | 1 + *----------------------------------------------------------------------------- + * USB Clock | DISABLE + *----------------------------------------------------------------------------- + * Flash Latency(WS) | 2 + *----------------------------------------------------------------------------- + * Prefetch Buffer | ON + *----------------------------------------------------------------------------- + *============================================================================= + ****************************************************************************** + * @attention + * + *

© COPYRIGHT 2012 STMicroelectronics

+ * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f30x_system + * @{ + */ + +/** @addtogroup STM32F30x_System_Private_Includes + * @{ + */ + +#include "stm32f30x.h" + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Defines + * @{ + */ +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Variables + * @{ + */ + + uint32_t SystemCoreClock = 72000000; + + __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); + +/** + * @} + */ + +/** @addtogroup STM32F30x_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + + /* Reset the RCC clock configuration to the default reset state ------------*/ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset CFGR register */ + RCC->CFGR &= 0xF87FC00C; + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + + /* Reset PREDIV1[3:0] bits */ + RCC->CFGR2 &= (uint32_t)0xFFFFFFF0; + + /* Reset USARTSW[1:0], I2CSW and TIMs bits */ + RCC->CFGR3 &= (uint32_t)0xFF00FCCC; + + /* Disable all interrupts */ + RCC->CIR = 0x00000000; + + /* Configure the System clock source, PLL Multiplier and Divider factors, + AHB/APBx prescalers and Flash settings ----------------------------------*/ + SetSysClock(); + +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value + * 8 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + { + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + break; + default: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock source, PLL Multiplier and Divider factors, + * AHB/APBx prescalers and Flash settings + * @note This function should be called only once the RCC clock configuration + * is reset to the default reset state (done in SystemInit() function). + * @param None + * @retval None + */ +static void SetSysClock(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + +/******************************************************************************/ +/* PLL (clocked by HSE) used as System clock source */ +/******************************************************************************/ + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer and set Flash Latency */ + FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK / 1 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK / 2 */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + + /* PLL configuration */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL6); + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/flight/targets/naze32pro/board-info/pios_board.h b/flight/targets/naze32pro/board-info/pios_board.h new file mode 100644 index 0000000000..bd605f0d2c --- /dev/null +++ b/flight/targets/naze32pro/board-info/pios_board.h @@ -0,0 +1,244 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * + * @file naze32pro/board-info/pios_board.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board header file for DTFc board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef STM32F30X_NAZE32PRO_H_ +#define STM32F30X_NAZE32PRO_H_ + +#include + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define DEBUG_LEVEL 0 +#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }} +#else +#define DEBUG_PRINTF(level, ...) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +//------------------------ +// Timers and Channels Used +//------------------------ +/* +Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 +------+-----------+-----------+-----------+---------- +TIM1 | | | | +TIM2 | | | | +TIM3 | | | | +TIM4 | | | | +TIM5 | | | | +TIM6 | | | | +TIM7 | | | | +TIM8 | | | | +------+-----------+-----------+-----------+---------- +*/ + +//------------------------ +// DMA 1 Channels Used +//------------------------ +/* Channel 1 - */ +/* Channel 2 - */ +/* Channel 3 - */ +/* Channel 4 - */ +/* Channel 5 - */ +/* Channel 6 - */ +/* Channel 7 - */ + +//------------------------ +// DMA 2 Channels Used +//------------------------ +/* Channel 1 - ADC2 */ +/* Channel 2 - */ +/* Channel 3 - */ +/* Channel 4 - */ +/* Channel 5 - */ + +//------------------------ +// BOOTLOADER_SETTINGS +//------------------------ +#define BOARD_READABLE true +#define BOARD_WRITABLE true +#define MAX_DEL_RETRYS 3 + +//------------------------ +// PIOS_LED +//------------------------ +#define PIOS_LED_HEARTBEAT 0 +#define PIOS_ANNUNCIATOR_BUZZER 1 + +//------------------------ +// PIOS_WDG +//------------------------ +#define PIOS_WATCHDOG_TIMEOUT 250 +#define PIOS_WDG_REGISTER RTC_BKP_DR4 + +//------------------------- +// PIOS_COM +// +// See also pios_board.c +//------------------------- +extern uintptr_t pios_com_telem_serial_id; +extern uintptr_t pios_com_gps_id; +extern uintptr_t pios_com_telem_usb_id; +extern uintptr_t pios_com_bridge_id; +extern uintptr_t pios_com_vcp_id; +extern uintptr_t pios_com_mavlink_id; +extern uintptr_t pios_com_hott_id; +extern uintptr_t pios_com_frsky_sensor_hub_id; +extern uintptr_t pios_com_lighttelemetry_id; +extern uintptr_t pios_com_frsky_sport_id; +extern uintptr_t pios_com_frsky_sport_id; +extern uintptr_t pios_com_openlog_logging_id; +extern uintptr_t pios_com_storm32bgc_id; + +#define PIOS_COM_GPS (pios_com_gps_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_TELEM_RF (pios_com_telem_serial_id) +#define PIOS_COM_BRIDGE (pios_com_bridge_id) +#define PIOS_COM_VCP (pios_com_vcp_id) +#define PIOS_COM_MAVLINK (pios_com_mavlink_id) +#define PIOS_COM_HOTT (pios_com_hott_id) +#define PIOS_COM_FRSKY_SENSOR_HUB (pios_com_frsky_sensor_hub_id) +#define PIOS_COM_LIGHTTELEMETRY (pios_com_lighttelemetry_id) +#define PIOS_COM_FRSKY_SPORT (pios_com_frsky_sport_id) +#define PIOS_COM_OPENLOG (pios_com_openlog_logging_id) +#define PIOS_COM_SPIFLASH (uintptr_t)(NULL) +#define PIOS_COM_STORM32BGC (pios_com_storm32bgc_id) + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +extern uintptr_t pios_com_debug_id; +#define PIOS_COM_DEBUG (pios_com_debug_id) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +//------------------------ +// TELEMETRY +//------------------------ +#define TELEM_QUEUE_SIZE 80 +#define PIOS_TELEM_STACK_SIZE 624 + +//------------------------- +// System Settings +// +// See also system_stm32f30x.c +//------------------------- +//These macros are deprecated + +#define PIOS_SYSCLK 72000000 +#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2) +#define PIOS_PERIPHERAL_APB2_CLOCK (PIOS_SYSCLK / 1) + +//------------------------- +// Interrupt Priorities +//------------------------- +#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS +#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS +#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... +#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... + +//------------------------ +// PIOS_RCVR +// See also pios_board.c +//------------------------ +#define PIOS_RCVR_MAX_CHANNELS 12 +#define PIOS_GCSRCVR_TIMEOUT_MS 100 + +//------------------------- +// Receiver PPM input +//------------------------- +#define PIOS_PPM_NUM_INPUTS 12 + +//------------------------- +// Receiver PWM input +//------------------------- +#define PIOS_PWM_NUM_INPUTS 10 + +//------------------------- +// Receiver DSM input +//------------------------- +#define PIOS_DSM_NUM_INPUTS 12 + +//------------------------- +// Receiver HSUM input +//------------------------- +#define PIOS_HSUM_MAX_DEVS 2 +#define PIOS_HSUM_NUM_INPUTS 32 + +//------------------------- +// Receiver S.Bus input +//------------------------- +#define PIOS_SBUS_NUM_INPUTS (16+2) + +//------------------------- +// Servo outputs +//------------------------- +#define PIOS_SERVO_UPDATE_HZ 50 +#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ + +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 8 + +//------------------------- +// ADC +// ADC0 : PA1 ADC1_IN2 +// ADC1 : PA4 ADC2_IN1 +// ADC2 : PA7 ADC2_IN4 (disabled by default and should have external resistor) +//------------------------- +#define PIOS_INTERNAL_ADC_MAX_INSTANCES 4 +#define PIOS_INTERNAL_ADC_COUNT 4 +#define PIOS_INTERNAL_ADC_MAPPING { ADC1, ADC2, ADC3, ADC4 } + +#if defined(PIOS_INCLUDE_ADC) +extern uintptr_t pios_internal_adc_id; +#define PIOS_INTERNAL_ADC (pios_internal_adc_id) +#endif +#define PIOS_ADC_SUB_DRIVER_MAX_INSTANCES 3 + +#define VREF_PLUS 3.3 + +//------------------------- +// DMA +//------------------------- +#define PIOS_DMA_MAX_CHANNELS 12 +#define PIOS_DMA_MAX_HANDLERS_PER_CHANNEL 3 +#define PIOS_DMA_CHANNELS {DMA1_Channel1, DMA1_Channel2, DMA1_Channel3, DMA1_Channel4, DMA1_Channel5, DMA1_Channel6, DMA1_Channel7, DMA2_Channel1, DMA2_Channel2, DMA2_Channel3, DMA2_Channel4, DMA2_Channel5} + +//------------------------- +// USB +//------------------------- +#define PIOS_USB_ENABLED 1 /* Should remove all references to this */ + +#endif /* STM32F30X_NAZE32PRO_H_ */ + +/** + * @} + * @} + */ diff --git a/flight/targets/naze32pro/fw/Makefile b/flight/targets/naze32pro/fw/Makefile new file mode 100644 index 0000000000..a69c46487a --- /dev/null +++ b/flight/targets/naze32pro/fw/Makefile @@ -0,0 +1,279 @@ +############################################################################### +# @file Makefile +# @author Tau Labs, http://taulabs.org, Copyright (C) 2013-2014 +# @author dRonin, http://dRonin.org/, Copyright (C) 2016 +# @addtogroup +# @{ +# @addtogroup +# @{ +# @brief Makefile to build firmware for Naze32Pro. +############################################################################### +# +# 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 3 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, see +# +# Additional note on redistribution: The copyright and license notices above +# must be maintained in each individual source file that is a derivative work +# of this source file; otherwise redistribution is prohibited. + +include $(MAKE_INC_DIR)/firmware-defs.mk + +# Set developer code and compile options +# Set to YES for debugging +DEBUG ?= NO + +# List of modules to include +MODULES = Attitude +MODULES += Actuator +MODULES += ManualControl +MODULES += Stabilization +MODULES += FirmwareIAP +MODULES += Telemetry + +OPTMODULES += GPS +OPTMODULES += CameraStab +OPTMODULES += Autotune +OPTMODULES += TxPID +OPTMODULES += AltitudeHold +OPTMODULES += PathPlanner +OPTMODULES += VtolPathFollower +OPTMODULES += UAVOMavlinkBridge +OPTMODULES += UAVOMSPBridge +OPTMODULES += UAVOLighttelemetryBridge +OPTMODULES += Battery +OPTMODULES += ComUsbBridge +OPTMODULES += UAVOHoTTBridge +OPTMODULES += UAVOFrSKYSensorHubBridge +OPTMODULES += UAVOFrSKYSPortBridge +OPTMODULES += Geofence +OPTMODULES += Logging +OPTMODULES += Storm32Bgc + +# Paths +OPUAVOBJINC = $(OPUAVOBJ)/inc +PIOSINC = $(PIOS)/inc +FLIGHTLIBINC = $(FLIGHTLIB)/inc +MATHLIB = $(FLIGHTLIB)/math +MATHLIBINC = $(FLIGHTLIB)/math +PIOSSTM32F30X = $(PIOS)/STM32F30x +PIOSCOMMON = $(PIOS)/Common +PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries +APPLIBDIR = $(PIOSSTM32F30X)/Libraries +STMLIBDIR = $(APPLIBDIR) +STMSPDDIR = $(STMLIBDIR)/STM32F30x_StdPeriph_Driver +STMSPDSRCDIR = $(STMSPDDIR)/src +STMSPDINCDIR = $(STMSPDDIR)/inc +DEBUG_CM3_DIR = $(PIOSCOMMONLIB)/Debug +DEBUG_CM3_DIR_INC = $(DEBUG_CM3_DIR)/inc +OPUAVOBJINC = $(OPUAVOBJ)/inc +MAVLINKINC = $(FLIGHTLIB)/mavlink/v1.0/common + +# optional component libraries +include $(APPLIBDIR)/ChibiOS/library.mk + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files + +## OPENPILOT CORE: +SRC += ${OPMODULEDIR}/System/systemmod.c +SRC += chibi_main.c +SRC += pios_board.c +SRC += pios_usb_board_data.c +SRC += $(OPUAVOBJ)/uavobjectmanager.c + +ifeq ($(DEBUG),YES) +SRC += $(DEBUG_CM3_DIR)/dcc_stdio.c +SRC += $(DEBUG_CM3_DIR)/cm3_fault_handlers.c +endif + +SRC += taskmonitor.c + +## PIOS Hardware (STM32F30x) +include $(PIOS)/STM32F30x/library_chibios.mk + +## PIOS Hardware (Common) +include $(PIOS)/pios_flight_library.mk + +SRC += pios_mpu.c +SRC += pios_hmc5883.c +SRC += pios_hmc5983.c +SRC += pios_hmc5983_i2c.c +SRC += pios_ms5611_spi.c +SRC += pios_usbhook.c + +# List C++ source files here. +# use file-extension .cpp for C++-files (not .C) +CPPSRC = + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +EXTRAINCDIRS += $(SHAREDAPIDIR) +EXTRAINCDIRS += $(PIOS) +EXTRAINCDIRS += $(PIOSINC) +EXTRAINCDIRS += $(OPUAVOBJ) +EXTRAINCDIRS += $(OPUAVOBJINC) +EXTRAINCDIRS += $(OPUAVSYNTHDIR) +EXTRAINCDIRS += $(FLIGHTLIBINC) +EXTRAINCDIRS += $(MATHLIBINC) +EXTRAINCDIRS += $(RSCODEINC) +EXTRAINCDIRS += $(PIOSSTM32F30X) +EXTRAINCDIRS += $(PIOSCOMMON) +EXTRAINCDIRS += $(BOARD_INFO_DIR) +EXTRAINCDIRS += $(STMSPDINCDIR) +EXTRAINCDIRS += $(CMSISDIR) +EXTRAINCDIRS += $(BOOTINC) +EXTRAINCDIRS += $(DEBUG_CM3_DIR_INC) +EXTRAINCDIRS += $(MAVLINKINC) + +EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${OPTMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc + +# List any extra directories to look for library files here. +# Also add directories where the linker should search for +# includes from linker-script to the list +# Each directory must be seperated by a space. +EXTRA_LIBDIRS = + +# Extra Libraries +# Each library-name must be seperated by a space. +# i.e. to link with libxyz.a, libabc.a and libefsl.a: +# EXTRA_LIBS = xyz abc efsl +# for newlib-lpc (file: libnewlibc-lpc.a): +# EXTRA_LIBS = newlib-lpc +EXTRA_LIBS = + +# Path to Linker-Scripts +LINKERSCRIPTPATH = $(PIOSSTM32F30X) + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) + +ifeq ($(DEBUG),YES) +CFLAGS += -O0 -ffixed-r10 +else +CFLAGS += -Os +endif + +# common architecture-specific flags from the device-specific library makefile +CFLAGS += $(ARCHFLAGS) +CFLAGS += -DDIAGNOSTICS +CFLAGS += -DDIAG_TASKS + +# configure CMSIS DSP Library +CDEFS += -DARM_MATH_CM4 +CDEFS += -DARM_MATH_MATRIX_CHECK +CDEFS += -DARM_MATH_ROUNDING +CDEFS += -D__FPU_PRESENT=1 +CDEFS += -DUNALIGNED_SUPPORT_DISABLE + +# This is not the best place for these. Really should abstract out +# to the board file or something +CFLAGS += -DSTM32F30X +CFLAGS += -DMEM_SIZE=$(FW_BANK_SIZE) + +# Debugging format. +DEBUGF = dwarf-2 + +# Place project-specific -D (define) and/or +# -U options for C here. +CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) +CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) +CDEFS += -DUSE_STDPERIPH_DRIVER +CDEFS += -DUSE_$(BOARD) +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif + +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif + +CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE) +CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE) + +# Declare all non-optional modules as built-in to force inclusion, strip off any appended varieties of module +get_mod_name = $(shell echo $(1) | sed "s/\/[^\/]*$///") +BUILTIN_DEFS := ${foreach MOD, ${MODULES}, -DMODULE_$(call get_mod_name, $(MOD))_BUILTIN } +CDEFS += ${BUILTIN_DEFS} + +# Place project-specific -D and/or -U options for +# Assembler with preprocessor here. +#ADEFS = -DUSE_IRQ_ASM_WRAPPER +ADEFS = -D__ASSEMBLY__ + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +#----- + +# Compiler flags. + +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +# +# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) + +CFLAGS += -g$(DEBUGF) +CFLAGS += -ffast-math +CFLAGS += -mcpu=$(MCU) +CFLAGS += $(CDEFS) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. +CFLAGS += -mapcs-frame +CFLAGS += -fomit-frame-pointer +CFLAGS += -ffunction-sections -fdata-sections +CFLAGS += -Wdouble-promotion + +CFLAGS += -Wall +CFLAGS += -Werror +CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +# Compiler flags to generate dependency files: +CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d + +# flags only for C +#CONLYFLAGS += -Wnested-externs +CONLYFLAGS += $(CSTANDARD) + +# Assembler flags. +# -Wa,...: tell GCC to pass this to the assembler. +# -ahlns: create listing +ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp +ASFLAGS += $(ADEFS) +ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) + +LIBS += $(UAVOBJLIB) +LIBS += $(FLIGHTLIBFILE) + +# Linker flags. +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections +LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) +LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) +LDFLAGS += -lc_nano -lgcc -lm +LDFLAGS += -Wl,--warn-common +LDFLAGS += -Wl,--fatal-warnings + +# Linker scripts +LDFLAGS += -T memory.ld $(addprefix -T,$(LINKER_SCRIPTS_APP)) + +include $(MAKE_INC_DIR)/firmware-common.mk diff --git a/flight/targets/naze32pro/fw/mcuconf.h b/flight/targets/naze32pro/fw/mcuconf.h new file mode 100644 index 0000000000..b301140814 --- /dev/null +++ b/flight/targets/naze32pro/fw/mcuconf.h @@ -0,0 +1,223 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup RCE F3FC + * @{ + * + * @file f3fc/fw/mcuconf.h + * + *****************************************************************************/ + + /* + * STM32F30x drivers configuration. + * The following settings override the default settings present in + * the various device driver implementation headers. + * Note that the settings for each driver only have effect if the whole + * driver is enabled in halconf.h. + * + * IRQ priorities: + * 15...0 Lowest...Highest. + * + * DMA priorities: + * 0...3 Lowest...Highest. + */ + +#define STM32F30x_MCUCONF + +/* + * HAL driver system settings. + */ +#define STM32_NO_INIT FALSE +#define STM32_PVD_ENABLE FALSE +#define STM32_PLS STM32_PLS_LEV0 +#define STM32_HSI_ENABLED TRUE +#define STM32_LSI_ENABLED TRUE +#define STM32_HSE_ENABLED TRUE +#define STM32_LSE_ENABLED FALSE +#define STM32_SW STM32_SW_PLL +#define STM32_PLLSRC STM32_PLLSRC_HSE +#define STM32_PREDIV_VALUE 1 +#define STM32_PLLMUL_VALUE 6 +#define STM32_HPRE STM32_HPRE_DIV1 +#define STM32_PPRE1 STM32_PPRE1_DIV2 +#define STM32_PPRE2 STM32_PPRE2_DIV2 +#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK +#define STM32_ADC12PRES STM32_ADC12PRES_DIV1 +#define STM32_ADC34PRES STM32_ADC34PRES_DIV1 +#define STM32_USART1SW STM32_USART1SW_PCLK +#define STM32_USART2SW STM32_USART2SW_PCLK +#define STM32_USART3SW STM32_USART3SW_PCLK +#define STM32_UART4SW STM32_UART4SW_PCLK +#define STM32_UART5SW STM32_UART5SW_PCLK +#define STM32_I2C1SW STM32_I2C1SW_HSI +#define STM32_I2C2SW STM32_I2C2SW_HSI +#define STM32_TIM1SW STM32_TIM1SW_PCLK2 +#define STM32_TIM8SW STM32_TIM8SW_PCLK2 +#define STM32_RTCSEL STM32_RTCSEL_LSI +#define STM32_USB_CLOCK_REQUIRED TRUE +#define STM32_USBPRE STM32_USBPRE_DIV1P5 + +/* + * ADC driver system settings. + */ +#define STM32_ADC_USE_ADC1 FALSE +#define STM32_ADC_USE_ADC3 FALSE +#define STM32_ADC_ADC12_DMA_PRIORITY 2 +#define STM32_ADC_ADC34_DMA_PRIORITY 2 +#define STM32_ADC_ADC12_IRQ_PRIORITY 5 +#define STM32_ADC_ADC34_IRQ_PRIORITY 5 +#define STM32_ADC_ADC12_DMA_IRQ_PRIORITY 5 +#define STM32_ADC_ADC34_DMA_IRQ_PRIORITY 5 +#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 +#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 +#define STM32_ADC_DUAL_MODE FALSE + +/* + * CAN driver system settings. + */ +#define STM32_CAN_USE_CAN1 FALSE +#define STM32_CAN_CAN1_IRQ_PRIORITY 11 + +/* + * EXT driver system settings. + */ +#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI17_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI18_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI19_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI20_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI30_32_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI33_IRQ_PRIORITY 6 + +/* + * GPT driver system settings. + */ +#define STM32_GPT_USE_TIM1 FALSE +#define STM32_GPT_USE_TIM2 FALSE +#define STM32_GPT_USE_TIM3 FALSE +#define STM32_GPT_USE_TIM4 FALSE +#define STM32_GPT_USE_TIM6 FALSE +#define STM32_GPT_USE_TIM7 FALSE +#define STM32_GPT_USE_TIM8 FALSE +#define STM32_GPT_TIM1_IRQ_PRIORITY 7 +#define STM32_GPT_TIM2_IRQ_PRIORITY 7 +#define STM32_GPT_TIM3_IRQ_PRIORITY 7 +#define STM32_GPT_TIM4_IRQ_PRIORITY 7 +#define STM32_GPT_TIM6_IRQ_PRIORITY 7 +#define STM32_GPT_TIM7_IRQ_PRIORITY 7 +#define STM32_GPT_TIM8_IRQ_PRIORITY 7 + +/* + * I2C driver system settings. + */ +#define STM32_I2C_USE_I2C1 FALSE +#define STM32_I2C_USE_I2C2 FALSE +#define STM32_I2C_I2C1_IRQ_PRIORITY 10 +#define STM32_I2C_I2C2_IRQ_PRIORITY 10 +#define STM32_I2C_I2C1_DMA_PRIORITY 1 +#define STM32_I2C_I2C2_DMA_PRIORITY 1 +#define STM32_I2C_DMA_ERROR_HOOK(i2cp) chSysHalt() + +/* + * ICU driver system settings. + */ +#define STM32_ICU_USE_TIM1 FALSE +#define STM32_ICU_USE_TIM2 FALSE +#define STM32_ICU_USE_TIM3 FALSE +#define STM32_ICU_USE_TIM4 FALSE +#define STM32_ICU_USE_TIM8 FALSE +#define STM32_ICU_TIM1_IRQ_PRIORITY 7 +#define STM32_ICU_TIM2_IRQ_PRIORITY 7 +#define STM32_ICU_TIM3_IRQ_PRIORITY 7 +#define STM32_ICU_TIM4_IRQ_PRIORITY 7 +#define STM32_ICU_TIM8_IRQ_PRIORITY 7 + +/* + * PWM driver system settings. + */ +#define STM32_PWM_USE_ADVANCED FALSE +#define STM32_PWM_USE_TIM1 FALSE +#define STM32_PWM_USE_TIM2 FALSE +#define STM32_PWM_USE_TIM3 FALSE +#define STM32_PWM_USE_TIM4 FALSE +#define STM32_PWM_USE_TIM8 FALSE +#define STM32_PWM_TIM1_IRQ_PRIORITY 7 +#define STM32_PWM_TIM2_IRQ_PRIORITY 7 +#define STM32_PWM_TIM3_IRQ_PRIORITY 7 +#define STM32_PWM_TIM4_IRQ_PRIORITY 7 +#define STM32_PWM_TIM8_IRQ_PRIORITY 7 + +/* + * SERIAL driver system settings. + */ +#define STM32_SERIAL_USE_USART1 FALSE +#define STM32_SERIAL_USE_USART2 FALSE +#define STM32_SERIAL_USE_USART3 FALSE +#define STM32_SERIAL_USE_UART4 FALSE +#define STM32_SERIAL_USE_UART5 FALSE +#define STM32_SERIAL_USART1_PRIORITY 12 +#define STM32_SERIAL_USART2_PRIORITY 12 +#define STM32_SERIAL_USART3_PRIORITY 12 +#define STM32_SERIAL_UART4_PRIORITY 12 +#define STM32_SERIAL_UART5_PRIORITY 12 + +/* + * SPI driver system settings. + */ +#define STM32_SPI_USE_SPI1 FALSE +#define STM32_SPI_USE_SPI2 FALSE +#define STM32_SPI_USE_SPI3 FALSE +#define STM32_SPI_SPI1_DMA_PRIORITY 1 +#define STM32_SPI_SPI2_DMA_PRIORITY 1 +#define STM32_SPI_SPI3_DMA_PRIORITY 1 +#define STM32_SPI_SPI1_IRQ_PRIORITY 10 +#define STM32_SPI_SPI2_IRQ_PRIORITY 10 +#define STM32_SPI_SPI3_IRQ_PRIORITY 10 +#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt() + +/* + * UART driver system settings. + */ +#define STM32_UART_USE_USART1 FALSE +#define STM32_UART_USE_USART2 FALSE +#define STM32_UART_USE_USART3 FALSE +#define STM32_UART_USART1_IRQ_PRIORITY 12 +#define STM32_UART_USART2_IRQ_PRIORITY 12 +#define STM32_UART_USART3_IRQ_PRIORITY 12 +#define STM32_UART_USART1_DMA_PRIORITY 0 +#define STM32_UART_USART2_DMA_PRIORITY 0 +#define STM32_UART_USART3_DMA_PRIORITY 0 +#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt() + +/* + * USB driver system settings. + */ +#define STM32_USB_USE_USB1 FALSE +#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE +#define STM32_USB_USB1_HP_IRQ_PRIORITY 13 +#define STM32_USB_USB1_LP_IRQ_PRIORITY 14 diff --git a/flight/targets/naze32pro/fw/memory.ld b/flight/targets/naze32pro/fw/memory.ld new file mode 100644 index 0000000000..b153efbeef --- /dev/null +++ b/flight/targets/naze32pro/fw/memory.ld @@ -0,0 +1,10 @@ +__main_stack_size__ = 0x0400; +__process_stack_size__ = 0x0400; + +MEMORY +{ + bd_info (r) : org = 0x08004000 - 0x80, len = 0x000080 + flash : org = 0x08000000 + 48k, len = 256k - 48k + ram : org = 0x20000000, len = 40k + ccmram : org = 0x10000000, len = 8k +} diff --git a/flight/targets/naze32pro/fw/pios_board.c b/flight/targets/naze32pro/fw/pios_board.c new file mode 100644 index 0000000000..046433fe05 --- /dev/null +++ b/flight/targets/naze32pro/fw/pios_board.c @@ -0,0 +1,444 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * + * @file naze32pro/fw/pios_board.c + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief The board specific initialization routines + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ + +#include "board_hw_defs.c" + +#include +#include +#include +#include +#include "hwnaze32pro.h" +#include "manualcontrolsettings.h" +#include "modulesettings.h" + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 +uintptr_t pios_com_debug_id; +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +uintptr_t pios_com_aux_id; +uintptr_t pios_uavo_settings_fs_id; +uintptr_t pios_internal_adc_id; +uintptr_t pios_com_openlog_logging_id; + +/** + * PIOS_Board_Init() + * initializes all the core subsystems on this specific hardware + * called from System/openpilot.c + */ + +#include + +void PIOS_Board_Init(void) +{ + const struct pios_board_info * bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_ANNUNC) + const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_ANNUNC_Init(led_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_SPI) + pios_spi_t pios_spi_internal_id; + + if (PIOS_SPI_Init(&pios_spi_internal_id, &pios_spi_internal_cfg)) { + PIOS_DEBUG_Assert(0); + } +#endif + +#if defined(PIOS_INCLUDE_FLASH) + /* Inititialize all flash drivers */ + if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_FLASH);; + + /* Register the partition table */ + const struct pios_flash_partition * flash_partition_table; + uint32_t num_partitions; + flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions); + PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions); + + /* Mount all filesystems */ + if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0) + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_FILESYS); + +#endif /* PIOS_INCLUDE_FLASH */ + + PIOS_RESET_Clear(); // Clear the RCC reset flags after use. + + /* Initialize the hardware UAVOs */ + HwNaze32ProInitialize(); + ModuleSettingsInitialize(); + +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + +#ifndef ERASE_FLASH + /* Initialize watchdog as early as possible to catch faults during init + * but do it only if there is no debugger connected + */ + if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) { + PIOS_WDG_Init(); + } +#endif + + /* Set up pulse timers */ + + //inputs + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_16_cfg); + + //outputs + PIOS_TIM_InitClock(&tim_2_cfg); + PIOS_TIM_InitClock(&tim_15_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_4_cfg); + + /* IAP System Setup */ + PIOS_IAP_Init(); + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hw config to defaults */ + HwNaze32ProSetDefaults(HwNaze32ProHandle(), 0); + ModuleSettingsSetDefaults(ModuleSettingsHandle(),0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + bool usb_cdc_present = false; + +#if defined(PIOS_INCLUDE_USB_CDC) + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; +#else + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; +#endif + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_CDC) + + uint8_t hw_usb_vcpport; + + /* Configure the USB VCP port */ + HwNaze32ProUSB_VCPPortGet(&hw_usb_vcpport); + + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hw_usb_vcpport = HWNAZE32PRO_USB_VCPPORT_DISABLED; + } + + PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg); + +#endif /* PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) + + /* Configure the usb HID port */ + uint8_t hw_usb_hidport; + + HwNaze32ProUSB_HIDPortGet(&hw_usb_hidport); + + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hw_usb_hidport = HWNAZE32PRO_USB_HIDPORT_DISABLED; + } + + PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg); + +#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ + + HwNaze32ProDSMxModeOptions hw_DSMxMode; + HwNaze32ProDSMxModeGet(&hw_DSMxMode); + + /* Configure the IO ports */ + + /* UART1 Port */ + uint8_t hw_uart1; + HwNaze32ProUart1Get(&hw_uart1); + + PIOS_HAL_ConfigurePort(hw_uart1, // port type protocol + &pios_uart1_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_HEARTBEAT, // led_id + &pios_uart1_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* UART2 Port */ + uint8_t hw_uart2; + HwNaze32ProUart2Get(&hw_uart2); + + PIOS_HAL_ConfigurePort(hw_uart2, // port type protocol + &pios_uart2_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_HEARTBEAT, // led_id + &pios_uart2_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* Configure the rcvr port */ + uint8_t hw_rcvrport; + HwNaze32ProRcvrPortGet(&hw_rcvrport); + + PIOS_HAL_ConfigurePort(hw_rcvrport, // port type protocol + &pios_rcvr_usart_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + &pios_ppm_cfg, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_HEARTBEAT, // led_id + &pios_rcvr_dsm_bind_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + +#if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); + uintptr_t pios_gcsrcvr_id; + PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); + uintptr_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#if defined PIOS_INCLUDE_ADC && defined PIOS_INCLUDE_SERVO + + uint8_t hw_outport; + uint8_t number_of_pwm_outputs; + uint8_t number_of_adc_ports; + + HwNaze32ProOutPortGet(&hw_outport); + + switch (hw_outport) + { + case HWNAZE32PRO_OUTPORT_PWM8: + number_of_pwm_outputs = 8; + number_of_adc_ports = 0; + break; + + case HWNAZE32PRO_OUTPORT_PWM8ADC1: + number_of_pwm_outputs = 8; + number_of_adc_ports = 2; + break; + + case HWNAZE32PRO_OUTPORT_PWM8ADC2: + number_of_pwm_outputs = 8; + number_of_adc_ports = 3; + break; + + case HWNAZE32PRO_OUTPORT_PWM8ADC3: + number_of_pwm_outputs = 8; + number_of_adc_ports = 4; + break; + + default: + + PIOS_Assert(0); + break; + } +#endif + +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS +#ifdef PIOS_INCLUDE_SERVO + pios_servo_cfg.num_channels = number_of_pwm_outputs; + + if (hw_rcvrport != HWSHARED_PORTTYPES_PPM) { + PIOS_Servo_Init(&pios_servo_cfg); + } else { + PIOS_Servo_Init(&pios_servo_slow_cfg); + } +#endif +#else + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif + +#if defined(PIOS_INCLUDE_ADC) + if(number_of_adc_ports > 0) { + internal_adc_cfg.adc_pin_count = number_of_adc_ports; + uintptr_t internal_adc_id; + if(PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg) < 0) { + PIOS_Assert(0); + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_ADC); + } + + if(PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id) < 0) + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_ADC); + } +#endif /* PIOS_INCLUDE_ADC */ + + PIOS_WDG_Clear(); + PIOS_DELAY_WaitmS(200); + PIOS_WDG_Clear(); + +#if defined(PIOS_INCLUDE_MPU) + pios_mpu_dev_t mpu_dev = NULL; + if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_internal_id, 0, &pios_mpu_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_IMU); + + HwNaze32ProGyroRangeOptions hw_gyro_range; + HwNaze32ProGyroRangeGet(&hw_gyro_range); + + switch(hw_gyro_range) { + case HWNAZE32PRO_GYRORANGE_250: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG); + break; + + case HWNAZE32PRO_GYRORANGE_500: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG); + break; + + case HWNAZE32PRO_GYRORANGE_1000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG); + break; + + case HWNAZE32PRO_GYRORANGE_2000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG); + break; + } + + HwNaze32ProAccelRangeOptions hw_accel_range; + HwNaze32ProAccelRangeGet(&hw_accel_range); + switch(hw_accel_range) { + case HWNAZE32PRO_ACCELRANGE_2G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G); + break; + + case HWNAZE32PRO_ACCELRANGE_4G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G); + break; + + case HWNAZE32PRO_ACCELRANGE_8G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G); + break; + + case HWNAZE32PRO_ACCELRANGE_16G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G); + break; + } + + // the filter has to be set before rate else divisor calculation will fail + HwNaze32ProMPU6000DLPFOptions hw_mpu_dlpf; + HwNaze32ProMPU6000DLPFGet(&hw_mpu_dlpf); + uint16_t bandwidth = \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_188) ? 188 : \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_98) ? 98 : \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_42) ? 42 : \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_20) ? 20 : \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_10) ? 10 : \ + (hw_mpu_dlpf == HWNAZE32PRO_MPU6000DLPF_5) ? 5 : \ + 188; + PIOS_MPU_SetGyroBandwidth(bandwidth); + +#endif /* PIOS_INCLUDE_MPU6000 */ + + PIOS_WDG_Clear(); + + uint8_t hw_magnetometer; + HwNaze32ProMagnetometerGet(&hw_magnetometer); + + if (hw_magnetometer == HWNAZE32PRO_MAGNETOMETER_INTERNAL) + { +#if defined(PIOS_INCLUDE_HMC5983) + if (PIOS_HMC5983_SPI_Init(pios_spi_internal_id, 1, &pios_hmc5983_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_MAG); + + PIOS_WDG_Clear(); +#endif /* PIOS_INCLUDE_HMC5983 */ + } + else + { + uint8_t hw_ext_mag_orientation; + + HwNaze32ProExtMagOrientationGet(&hw_ext_mag_orientation); + + PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_ext_mag_orientation, &pios_i2c_external_id, &pios_i2c_external_cfg); + } + + PIOS_WDG_Clear(); + +#if defined(PIOS_INCLUDE_MS5611_SPI) + if (PIOS_MS5611_SPI_Init(pios_spi_internal_id, 2, &pios_ms5611_cfg) != 0) { + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_MS5611_SPI */ + + PIOS_WDG_Clear(); + +#if defined(PIOS_INCLUDE_GPIO) + PIOS_GPIO_Init(); +#endif + + /* Make sure we have at least one telemetry link configured or else fail initialization */ + PIOS_Assert(pios_com_telem_serial_id || pios_com_telem_usb_id); +} + +/** + * @} + */ diff --git a/flight/targets/naze32pro/fw/pios_config.h b/flight/targets/naze32pro/fw/pios_config.h new file mode 100644 index 0000000000..ccdfb84123 --- /dev/null +++ b/flight/targets/naze32pro/fw/pios_config.h @@ -0,0 +1,88 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup AFRO Naze32Pro + * @{ + * + * @file naze32pro/fw/pios_config.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2015 + * @author dRonin, http://dRonin.org/, Copyright (C) 2016 + * @brief Board specific options that modify PiOS capabilities + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +#include + +/* Major features */ + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION + +#define PIOS_INCLUDE_I2C +#define PIOS_INCLUDE_SPI + +/* Select the sensors to include */ +#define PIOS_INCLUDE_MPU +#define PIOS_INCLUDE_HMC5883 +#define PIOS_INCLUDE_HMC5983_I2C +#define PIOS_INCLUDE_HMC5983 +#define PIOS_HMC5983_HAS_GPIOS +#define PIOS_INCLUDE_MS5611_SPI +#define PIOS_TOLERATE_MISSING_SENSORS + +/* Com systems to include */ +#define PIOS_INCLUDE_MAVLINK +#define PIOS_INCLUDE_LIGHTTELEMETRY + +/* Supported receiver interfaces */ + +/* Flags that alter behaviors */ +#define AUTOTUNE_AVERAGING_MODE +#define AUTOTUNE_AVERAGING_DECIMATION 2 + +/* Task stack sizes */ +#define PIOS_EVENTDISPATCHER_STACK_SIZE 1024 + +/* + * This has been calibrated 2014/02/21 using chibios @ b89da8ac379646ac421bb65a209210e637bba223. + * Calibration has been done by disabling the init task, breaking into debugger after + * approximately after 60 seconds, then doing the following math: + * + * IDLE_COUNTS_PER_SEC_AT_NO_LOAD = (uint32_t)((double)idleCounter / xTickCount * 1000 + 0.5) + * + * This has to be redone every time the toolchain, toolchain flags or FreeRTOS + * configuration like number of task priorities or similar changes. + * A change in the cpu load calculation or the idle task handler will invalidate this as well. + */ +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (2175780) + +#define PIOS_INCLUDE_FASTHEAP + +#endif /* PIOS_CONFIG_H */ +/** + * @} + * @} + */ diff --git 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zmU|y*Qt^?lm4%3%gJ26^ElHT(Q5{{&=a${_-0gHkwF0iBg!ds-tTi3)p5+Zbe#eCN zsZ0%06{pZOPB=ZSa%JS0%Es5+oGZ$^uV?(w*EAEUCP7nz!oB+5yHUBeAr8suufT4| zn>Z_u_SgK>g4t@AzM&OcJgh>)_>;e%kev`tl&%!{7RGEG$%8qRhFBs$9kF++)!7ws z@tKC}KhV-7_7C9HtWpoB1YByAwn|LalIVqp$&|rsFPh)@-x@XeMDSenDjb-raCWr$ zV>94`>%4tAFpv6I3BH%VWcD;F>s6N?yDj_f%=^X;_x?`$$>g^9kYrKmsuQ9Wy(U5p zsol==TVVVPvbgcpdIN8do8mg^^;JaO4%}eN5ZOkvY0c_?sNyzE>Pj}ddN0;?kE9Pc z-^VpB@}!!jvFdd_wZn`4d^8JGg z61r1cswIkNYj1Lv`QgJmE1RNhgKBlv4J#YJ&N3E>(fk_2b!K#3;07uh(og~6+vBENW#tlw_;>DP93<#sDyL^I$P`ax0Xx!$5s3^XFbz}E3>x>pWE&G0 z9vLX-w(J1}|Me=9^?!hrPsQA+ybYYarKa?Jh{vbb{|<}YHq6cemaSw|%9<3^wlQ#l zz^Rujn#5y+4Kf|9hOo0c;WupjGI6b)wy>$K?KU|{d3AZY&auwo4x5^dSPdd^3NsJ) z<%_G17nkxbk$+3I1~v^sDKdu0C*qXcBo1sDW)UZo46e7{1ka5mOftWZJjo8~>A+{Z zEUopXy-GJ)^# + +const struct pios_servo_cfg pios_servo_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), +}; + +#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ + +/* + * INPUTS + 1: TIM8_CH3 (PC8) + */ + +static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = { { .timer = TIM8, .timer_chan = TIM_Channel_3, @@ -1478,649 +1318,8 @@ static const struct pios_tim_channel pios_tim_servoport_rcvrport_PPM_pins[] = { .pin_source = GPIO_PinSource8, }, }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource15, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_3, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource3, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource0, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource1, - }, - }, -}; - -/* - * OUTPUTS with extra outputs on receiverport - 1: TIM3_CH1 (PB4) - 2: TIM3_CH2 (PB5) - 3: TIM3_CH3 (PB0) - 4: TIM3_CH4 (PB1) - 5: TIM12_CH1 (PB14) - 6: TIM12_CH2 (PB15) - 7: TIM10_CH1 (PB8) - 8: TIM11_CH1 (PB9) - 9: TIM1_CH3 (PA10) (IN1) - 10: TIM8_CH1 (PC6) (IN2) - 11: TIM8_CH2 (PC7) (IN3) - 12: TIM8_CH3 (PC8) (IN4) - 13: TIM2_CH1 (PA15) (IN5) - 14: TIM2_CH2 (PB3) (IN6) - 15: TIM5_CH1 (PA0) (IN7) - 16: TIM5_CH2 (PA1) (IN8) - */ - -static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { - { - .timer = TIM3, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_4, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource4, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_5, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource5, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_TIM3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource0, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_4, - .remap = GPIO_AF_TIM3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource1, - }, - }, - { - .timer = TIM12, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM12, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_14, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource14, - }, - }, - { - .timer = TIM12, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM12, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource15, - }, - }, - { - .timer = TIM10, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM10, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource8, - }, - }, - { - .timer = TIM11, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM11, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource9, - }, - }, - { - .timer = TIM1, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_TIM1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource10, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource6, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource7, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource8, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource15, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_3, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource3, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource0, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource1, - }, - }, -}; - -#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) -/* - * Servo outputs - */ -#include - -const struct pios_servo_cfg pios_servo_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - .channels = pios_tim_servoport_all_pins, - .num_channels = NELEMENTS(pios_tim_servoport_all_pins), -}; - -const struct pios_servo_cfg pios_servo_with_adc_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - /* Leave the last two for ADC use */ - .channels = pios_tim_servoport_all_pins, - .num_channels = NELEMENTS(pios_tim_servoport_all_pins) - 2, -}; - -const struct pios_servo_cfg pios_servo_with_rcvr_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - .channels = pios_tim_servoport_rcvrport_pins, - .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins), -}; - -const struct pios_servo_cfg pios_servo_with_rcvr_ppm_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - .channels = pios_tim_servoport_rcvrport_PPM_pins, - .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_PPM_pins), -}; - -const struct pios_servo_cfg pios_servo_with_rcvr_with_adc_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - /* Leave the last two for ADC use */ - .channels = pios_tim_servoport_rcvrport_pins, - .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins) - 2, -}; - -const struct pios_servo_cfg pios_servo_with_rcvr_ppm_with_adc_cfg = { - .tim_oc_init = { - .TIM_OCMode = TIM_OCMode_PWM1, - .TIM_OutputState = TIM_OutputState_Enable, - .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, - .TIM_OCPolarity = TIM_OCPolarity_High, - .TIM_OCNPolarity = TIM_OCPolarity_High, - .TIM_OCIdleState = TIM_OCIdleState_Reset, - .TIM_OCNIdleState = TIM_OCNIdleState_Reset, - }, - /* Leave the last two for ADC use */ - .channels = pios_tim_servoport_rcvrport_PPM_pins, - .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_PPM_pins) - 2, -}; - -#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ - -/* - * INPUTS - 1: TIM1_CH3 (PA10) - 2: TIM8_CH1 (PC6) - 3: TIM8_CH2 (PC7) - 4: TIM8_CH3 (PC8) - 5: TIM2_CH1 (PA15) - 6: TIM2_CH2 (PB3) - 7: TIM5_CH1 (PA0) - 8: TIM5_CH2 (PA1) - */ -static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { - { - .timer = TIM1, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_TIM1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource10, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource6, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource7, - }, - }, - { - .timer = TIM8, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_TIM8, - .pin = { - .gpio = GPIOC, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource8, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource15, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_3, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource3, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource0, - }, - }, - { - .timer = TIM5, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_TIM5, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_OType = GPIO_OType_PP, - .GPIO_PuPd = GPIO_PuPd_UP - }, - .pin_source = GPIO_PinSource1, - }, - }, -}; - -/* - * PWM Inputs - */ -#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) -#include - -const struct pios_pwm_cfg pios_pwm_cfg = { - .tim_ic_init = { - .TIM_ICPolarity = TIM_ICPolarity_Rising, - .TIM_ICSelection = TIM_ICSelection_DirectTI, - .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, - }, - .channels = pios_tim_rcvrport_all_channels, - .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), -}; - -const struct pios_pwm_cfg pios_pwm_with_adc_cfg = { - .tim_ic_init = { - .TIM_ICPolarity = TIM_ICPolarity_Rising, - .TIM_ICSelection = TIM_ICSelection_DirectTI, - .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, - }, - /* Leave the last two for ADC use */ - .channels = pios_tim_rcvrport_all_channels, - .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 2, -}; - -const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = { - .tim_ic_init = { - .TIM_ICPolarity = TIM_ICPolarity_Rising, - .TIM_ICSelection = TIM_ICSelection_DirectTI, - .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, - }, - /* Leave the first channel for PPM use and use the rest for PWM */ - .channels = &pios_tim_rcvrport_all_channels[1], - .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1, -}; - -const struct pios_pwm_cfg pios_pwm_with_ppm_with_adc_cfg = { - .tim_ic_init = { - .TIM_ICPolarity = TIM_ICPolarity_Rising, - .TIM_ICSelection = TIM_ICSelection_DirectTI, - .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, - }, - /* Leave the first channel for PPM, the last two for ADC use and use the rest for PWM */ - .channels = &pios_tim_rcvrport_all_channels[1], - .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1 - 2, }; -#endif - /* * PPM Input */ @@ -2136,20 +1335,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = { .TIM_Channel = TIM_Channel_3, }, /* Use only the first channel for ppm */ - .channels = &pios_tim_rcvrport_all_channels[0], - .num_channels = 1, -}; - -static const struct pios_ppm_cfg pios_ppm_in4_cfg = { - .tim_ic_init = { - .TIM_ICPolarity = TIM_ICPolarity_Rising, - .TIM_ICSelection = TIM_ICSelection_DirectTI, - .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, - .TIM_Channel = TIM_Channel_3, - }, - /* Use only the fourth channel for ppm */ - .channels = &pios_tim_rcvrport_all_channels[3], + .channels = &pios_tim_rcvrport_ppm[0], .num_channels = 1, }; diff --git a/flight/targets/quanton/fw/Makefile b/flight/targets/quanton/fw/Makefile index 35ac1e5421..097f8e2644 100644 --- a/flight/targets/quanton/fw/Makefile +++ b/flight/targets/quanton/fw/Makefile @@ -62,6 +62,7 @@ OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += FlightStats OPTMODULES += Storm32Bgc +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry OPTMODULES += Loadable diff --git a/flight/targets/quanton/fw/pios_board.c b/flight/targets/quanton/fw/pios_board.c index 8d49d43168..b26cd7877b 100644 --- a/flight/targets/quanton/fw/pios_board.c +++ b/flight/targets/quanton/fw/pios_board.c @@ -116,12 +116,10 @@ void PIOS_Board_Init(void) { } /* Set up pulse timers */ - //Timers used for inputs (1, 2, 5, 8) - PIOS_TIM_InitClock(&tim_1_cfg); - PIOS_TIM_InitClock(&tim_2_cfg); - PIOS_TIM_InitClock(&tim_5_cfg); + //Timers used for inputs (8) PIOS_TIM_InitClock(&tim_8_cfg); - // Timers used for outputs (3, 10, 11, 12) + // Timers used for outputs (2, 3, 10, 11, 12) + PIOS_TIM_InitClock(&tim_2_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_10_cfg); PIOS_TIM_InitClock(&tim_11_cfg); @@ -294,6 +292,22 @@ void PIOS_Board_Init(void) { hw_DSMxMode, // dsm_mode NULL); // sbus_cfg + /* UART6 Port */ + uint8_t hw_uart6; + HwQuantonUart5Get(&hw_uart6); + + PIOS_HAL_ConfigurePort(hw_uart6, // port type protocol + &pios_usart6_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_usart6_dsm_aux_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + /* Configure the inport */ uint8_t hw_inport; HwQuantonInPortGet(&hw_inport); @@ -302,79 +316,7 @@ void PIOS_Board_Init(void) { case HWQUANTON_INPORT_DISABLED: break; - case HWQUANTON_INPORT_PWM: - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - NULL, // ppm_cfg - &pios_pwm_cfg, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - break; - - case HWQUANTON_INPORT_PWMADC: - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - NULL, // ppm_cfg - &pios_pwm_with_adc_cfg, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - break; - - case HWQUANTON_INPORT_WS2811SERIALPPMADC: - /* set up alt ppm, then fall through to set up serial */ - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - &pios_ppm_in4_cfg, // ppm_cfg - NULL, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - case HWQUANTON_INPORT_PPMSERIAL: - case HWQUANTON_INPORT_PPMSERIALADC: - case HWQUANTON_INPORT_SERIAL: - { - uint8_t hw_inportserial; - HwQuantonInPortSerialGet(&hw_inportserial); - - PIOS_HAL_ConfigurePort(hw_inportserial, // port type protocol - &pios_usart_inportserial_cfg, // usart_port_cfg - &pios_usart_com_driver, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - NULL, // ppm_cfg - NULL, // pwm_cfg - PIOS_LED_ALARM, // led_id - &pios_inportserial_dsm_aux_cfg, // dsm_cfg - hw_DSMxMode, // dsm_mode - NULL); // sbus_cfg - } - - if (hw_inport == HWQUANTON_INPORT_SERIAL) - break; - - if (hw_inport == HWQUANTON_INPORT_WS2811SERIALPPMADC) - break; - - // Else fall through to set up PPM. - case HWQUANTON_INPORT_PPM: - case HWQUANTON_INPORT_PPMADC: - case HWQUANTON_INPORT_PPMOUTPUTS: - case HWQUANTON_INPORT_PPMOUTPUTSADC: PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol NULL, // usart_port_cfg NULL, // com_driver @@ -387,58 +329,6 @@ void PIOS_Board_Init(void) { 0, // dsm_mode NULL); // sbus_cfg break; - - case HWQUANTON_INPORT_PPMPWM: - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - &pios_ppm_cfg, // ppm_cfg - NULL, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - NULL, // ppm_cfg - &pios_pwm_with_ppm_cfg, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - break; - - case HWQUANTON_INPORT_PPMPWMADC: - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - &pios_ppm_cfg, // ppm_cfg - NULL, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - - PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM, // port type protocol - NULL, // usart_port_cfg - NULL, // com_driver - NULL, // i2c_id - NULL, // i2c_cfg - NULL, // ppm_cfg - &pios_pwm_with_ppm_with_adc_cfg, // pwm_cfg - PIOS_LED_ALARM, // led_id - NULL, // dsm_cfg - 0, // dsm_mode - NULL); // sbus_cfg - break; } #if defined(PIOS_INCLUDE_GCSRCVR) @@ -453,41 +343,9 @@ void PIOS_Board_Init(void) { #endif /* PIOS_INCLUDE_GCSRCVR */ #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS - switch (hw_inport) { - case HWQUANTON_INPORT_DISABLED: - case HWQUANTON_INPORT_PWM: - case HWQUANTON_INPORT_PWMADC: - case HWQUANTON_INPORT_PPM: - case HWQUANTON_INPORT_PPMADC: - case HWQUANTON_INPORT_PPMPWM: - case HWQUANTON_INPORT_PPMPWMADC: - case HWQUANTON_INPORT_WS2811SERIALPPMADC: - /* Set up the servo outputs */ -#ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_cfg); -#endif - break; - case HWQUANTON_INPORT_PPMOUTPUTS: #ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_with_rcvr_ppm_cfg); + PIOS_Servo_Init(&pios_servo_cfg); #endif - break; - case HWQUANTON_INPORT_OUTPUTS: -#ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_with_rcvr_cfg); -#endif - break; - case HWQUANTON_INPORT_PPMOUTPUTSADC: -#ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_with_rcvr_ppm_with_adc_cfg); -#endif - break; - case HWQUANTON_INPORT_OUTPUTSADC: -#ifdef PIOS_INCLUDE_SERVO - PIOS_Servo_Init(&pios_servo_with_rcvr_with_adc_cfg); -#endif - break; - } #else PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); #endif @@ -495,17 +353,15 @@ void PIOS_Board_Init(void) { #ifdef PIOS_INCLUDE_WS2811 RGBLEDSettingsInitialize(); - if (hw_inport == HWQUANTON_INPORT_WS2811SERIALPPMADC) { - uint8_t temp; + uint8_t temp; - RGBLEDSettingsNumLedsGet(&temp); + RGBLEDSettingsNumLedsGet(&temp); - if (temp > 0) { - PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp); + if (temp > 0) { + PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp); - // Drive default value (off) to strand once at startup - PIOS_WS2811_trigger_update(pios_ws2811); - } + // Drive default value (off) to strand once at startup + PIOS_WS2811_trigger_update(pios_ws2811); } #endif @@ -640,18 +496,9 @@ void PIOS_Board_Init(void) { #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_ADC) - if (hw_inport == HWQUANTON_INPORT_OUTPUTSADC || - hw_inport == HWQUANTON_INPORT_PPMADC || - hw_inport == HWQUANTON_INPORT_PPMOUTPUTSADC || - hw_inport == HWQUANTON_INPORT_PPMPWMADC || - hw_inport == HWQUANTON_INPORT_PPMSERIALADC || - hw_inport == HWQUANTON_INPORT_PWMADC || - hw_inport == HWQUANTON_INPORT_WS2811SERIALPPMADC) - { - uintptr_t internal_adc_id; - PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg); - PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id); - } + uintptr_t internal_adc_id; + PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg); + PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id); #endif //Set battery input pin to output, because of the voltage divider usage as input is not useful diff --git a/flight/targets/quanton/fw/pios_config.h b/flight/targets/quanton/fw/pios_config.h index bb02caa76c..0a4b42da59 100644 --- a/flight/targets/quanton/fw/pios_config.h +++ b/flight/targets/quanton/fw/pios_config.h @@ -35,6 +35,8 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_FLASH_JEDEC #define PIOS_INCLUDE_I2C diff --git a/flight/targets/seppuku/fw/Makefile b/flight/targets/seppuku/fw/Makefile index 6a2979b455..8d68cbcb42 100644 --- a/flight/targets/seppuku/fw/Makefile +++ b/flight/targets/seppuku/fw/Makefile @@ -64,6 +64,7 @@ OPTMODULES += FlightStats OPTMODULES += Storm32Bgc OPTMODULES += VTXConfig OPTMODULES += OnScreenDisplay +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry OPTMODULES += Loadable OPTMODULES += Fault diff --git a/flight/targets/seppuku/fw/pios_config.h b/flight/targets/seppuku/fw/pios_config.h index d85f0f2ae7..18b8edd08d 100644 --- a/flight/targets/seppuku/fw/pios_config.h +++ b/flight/targets/seppuku/fw/pios_config.h @@ -39,6 +39,8 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_I2C #define PIOS_INCLUDE_SPI diff --git a/flight/targets/sparky/fw/Makefile b/flight/targets/sparky/fw/Makefile index 08c2675e28..ed3f4167d6 100644 --- a/flight/targets/sparky/fw/Makefile +++ b/flight/targets/sparky/fw/Makefile @@ -44,9 +44,9 @@ OPTMODULES += GPS OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID -OPTMODULES += PathPlanner -OPTMODULES += VtolPathFollower -OPTMODULES += FixedWingPathFollower +#OPTMODULES += PathPlanner +#OPTMODULES += VtolPathFollower +#OPTMODULES += FixedWingPathFollower OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge OPTMODULES += UAVOLighttelemetryBridge @@ -59,6 +59,7 @@ OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/sparky/fw/pios_config.h b/flight/targets/sparky/fw/pios_config.h index c351b5504f..56662d4750 100644 --- a/flight/targets/sparky/fw/pios_config.h +++ b/flight/targets/sparky/fw/pios_config.h @@ -33,6 +33,8 @@ /* Major features */ +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION @@ -82,6 +84,8 @@ #define PIOS_INCLUDE_FASTHEAP +#define SPARKY1 + #endif /* PIOS_CONFIG_H */ /** diff --git a/flight/targets/sprf3e/board-info/board_hw_defs.c b/flight/targets/sprf3e/board-info/board_hw_defs.c index 17ca33c4a6..081b5e9934 100644 --- a/flight/targets/sprf3e/board-info/board_hw_defs.c +++ b/flight/targets/sprf3e/board-info/board_hw_defs.c @@ -1008,7 +1008,7 @@ static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { static struct pios_mpu_cfg pios_mpu_cfg = { .exti_cfg = &pios_exti_mpu_cfg, - .default_samplerate = 1000, + .default_samplerate = 500, .orientation = PIOS_MPU_TOP_90DEG, .use_internal_mag = true, }; diff --git a/flight/targets/sprf3e/fw/Makefile b/flight/targets/sprf3e/fw/Makefile index c4470b0078..963a64f07e 100644 --- a/flight/targets/sprf3e/fw/Makefile +++ b/flight/targets/sprf3e/fw/Makefile @@ -44,19 +44,20 @@ OPTMODULES += GPS OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID -OPTMODULES += PathPlanner -OPTMODULES += VtolPathFollower -OPTMODULES += FixedWingPathFollower +#OPTMODULES += PathPlanner +#OPTMODULES += VtolPathFollower +#OPTMODULES += FixedWingPathFollower #OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge #OPTMODULES += UAVOLighttelemetryBridge OPTMODULES += Battery OPTMODULES += ComUsbBridge -OPTMODULES += Airspeed +#OPTMODULES += Airspeed #OPTMODULES += UAVOHoTTBridge OPTMODULES += UAVOFrSKYSensorHubBridge OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Logging +OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/sprf3e/fw/pios_config.h b/flight/targets/sprf3e/fw/pios_config.h index 7aa00e0c1d..14efb26a94 100644 --- a/flight/targets/sprf3e/fw/pios_config.h +++ b/flight/targets/sprf3e/fw/pios_config.h @@ -35,6 +35,8 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL + /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION #define PIOS_INCLUDE_I2C diff --git a/ground/gcs/src/plugins/boards_dtf/dtfc.cpp b/ground/gcs/src/plugins/boards_dtf/dtfc.cpp index da1a461378..fe6f8b630f 100644 --- a/ground/gcs/src/plugins/boards_dtf/dtfc.cpp +++ b/ground/gcs/src/plugins/boards_dtf/dtfc.cpp @@ -60,9 +60,10 @@ Dtfc::Dtfc(void) boardType = 0xD7; // Define the bank of channels that are connected to a given timer - channelBanks.resize(2); - channelBanks[0] = QVector() << 1 << 2; // TIM4 + channelBanks.resize(3); + channelBanks[0] = QVector() << 1 << 2; // TIM4 channelBanks[1] = QVector() << 3 << 4 << 5 << 6; // TIM2 + channelBanks[2] = QVector() << 7 ; // TIM3 } Dtfc::~Dtfc() @@ -137,6 +138,7 @@ bool Dtfc::setInputType(Core::IBoardType::InputType type) switch (type) { case INPUT_TYPE_PPM: + case INPUT_TYPE_PPMFRSKYSENSORHUB: settings.RcvrPort = HwDtfc::RCVRPORT_PPM; break; case INPUT_TYPE_SBUS: @@ -206,6 +208,8 @@ Core::IBoardType::InputType Dtfc::getInputType() return INPUT_TYPE_SRXL; case HwDtfc::RCVRPORT_TBSCROSSFIRE: return INPUT_TYPE_TBSCROSSFIRE; + case HwDtfc::RCVRPORT_PPMFRSKYSENSORHUB: + return INPUT_TYPE_PPMFRSKYSENSORHUB; default: break; } @@ -284,8 +288,7 @@ int Dtfc::queryMaxGyroRate() QStringList Dtfc::getAdcNames() { - return QStringList() << "Current" - << "Battery"; + return QStringList() << "Current" << "Battery" << "ServoFDBK"; } QWidget *Dtfc::getBoardConfiguration(QWidget *parent, bool connected) diff --git a/ground/gcs/src/plugins/boards_naze/Naze.pluginspec b/ground/gcs/src/plugins/boards_naze/Naze.pluginspec new file mode 100644 index 0000000000..4e1ae2645e --- /dev/null +++ b/ground/gcs/src/plugins/boards_naze/Naze.pluginspec @@ -0,0 +1,11 @@ + + Miscellaneous + (C) 2012-2013 Tau Labs + The GNU Public License (GPL) Version 3 + Hardware definitions for Naze boards + http://taulabs.org + + + + + diff --git a/ground/gcs/src/plugins/boards_naze/boards_naze.pro b/ground/gcs/src/plugins/boards_naze/boards_naze.pro new file mode 100644 index 0000000000..ef5506fa43 --- /dev/null +++ b/ground/gcs/src/plugins/boards_naze/boards_naze.pro @@ -0,0 +1,19 @@ +TEMPLATE = lib +TARGET = Naze +include(../../gcsplugin.pri) +include(../../plugins/uavobjects/uavobjects.pri) +include(../../plugins/coreplugin/coreplugin.pri) +include(../../../usbids.pri) + +OTHER_FILES += Naze.pluginspec + +HEADERS += \ + nazeplugin.h \ + naze32pro.h + +SOURCES += \ + nazeplugin.cpp \ + naze32pro.cpp + +RESOURCES += \ + naze.qrc diff --git 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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. + * + * 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 + */ + +#include "naze32pro.h" + +#include "uavobjects/uavobjectmanager.h" +#include "uavobjectutil/uavobjectutilmanager.h" +#include +#include "board_usb_ids.h" + +#include "hwnaze32pro.h" + +/** + * @brief Naze32Pro::Naze32Pro + * This is the Naze32Pro board definition + */ +Naze32Pro::Naze32Pro(void) +{ + // Common USB IDs + addBootloaderUSBInfo(USBInfo(DRONIN_VID_DRONIN_BOOTLOADER, DRONIN_PID_DRONIN_BOOTLOADER, BCD_DEVICE_BOOTLOADER)); + addFirmwareUSBInfo(USBInfo(DRONIN_VID_DRONIN_FIRMWARE, DRONIN_PID_DRONIN_FIRMWARE, BCD_DEVICE_FIRMWARE)); + + boardType = 0x93; + + // Define the bank of channels that are connected to a given timer + channelBanks.resize(4); + channelBanks[0] = QVector () << 1 << 2; + channelBanks[1] = QVector () << 3 << 4; + channelBanks[2] = QVector () << 5 << 6; + channelBanks[3] = QVector () << 7 << 8; +} + +Naze32Pro::~Naze32Pro() +{ + +} + +QString Naze32Pro::shortName() +{ + return QString("Naze32Pro"); +} + +QString Naze32Pro::boardDescription() +{ + return QString("The Naze32Pro board"); +} + +//! Return which capabilities this board has +bool Naze32Pro::queryCapabilities(BoardCapabilities capability) +{ + switch(capability) { + case BOARD_CAPABILITIES_GYROS: + case BOARD_CAPABILITIES_ACCELS: + case BOARD_CAPABILITIES_MAGS: + case BOARD_CAPABILITIES_BAROS: + case BOARD_CAPABILITIES_UPGRADEABLE: + return true; + default: + break; + } + + return false; +} + +/** + * @brief Naze32Pro::getSupportedProtocols + * TODO: this is just a stub, we'll need to extend this a lot with multi protocol support + * @return + */ +QStringList Naze32Pro::getSupportedProtocols() +{ + + return QStringList("uavtalk"); +} + +QPixmap Naze32Pro::getBoardPicture() +{ + return QPixmap(":/naze/images/naze32pro.png"); +} + +QString Naze32Pro::getHwUAVO() +{ + return "HwNaze32Pro"; +} + +//! Determine if this board supports configuring the receiver +bool Naze32Pro::isInputConfigurationSupported() +{ + return true; +} + +/** + * Configure the board to use a receiver input type on a port number + * @param type the type of receiver to use + * @param port_num which input port to configure (board specific numbering) + * @return true if successfully configured or false otherwise + */ +bool Naze32Pro::setInputOnPort(enum InputType type, int port_num) +{ + if (port_num != 0) + return false; + + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwNaze32Pro *hwNaze32Pro = HwNaze32Pro::GetInstance(uavoManager); + Q_ASSERT(hwNaze32Pro); + if (!hwNaze32Pro) + return false; + + HwNaze32Pro::DataFields settings = hwNaze32Pro->getData(); + + switch(type) { + case INPUT_TYPE_PPM: + settings.RcvrPort = HwNaze32Pro::RCVRPORT_PPM; + break; + case INPUT_TYPE_SBUS: + settings.RcvrPort = HwNaze32Pro::RCVRPORT_SBUS; + break; + case INPUT_TYPE_DSM: + settings.RcvrPort = HwNaze32Pro::RCVRPORT_DSM; + break; + default: + return false; + } + + // Apply these changes + hwNaze32Pro->setData(settings); + + return true; +} + +/** + * @brief Naze32Pro::getInputOnPort fetch the currently selected input type + * @param port_num the port number to query (must be zero) + * @return the selected input type + */ +enum Core::IBoardType::InputType Naze32Pro::getInputOnPort(int port_num) +{ + if (port_num != 0) + return INPUT_TYPE_UNKNOWN; + + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwNaze32Pro *hwNaze32Pro = HwNaze32Pro::GetInstance(uavoManager); + Q_ASSERT(hwNaze32Pro); + if (!hwNaze32Pro) + return INPUT_TYPE_UNKNOWN; + + HwNaze32Pro::DataFields settings = hwNaze32Pro->getData(); + + switch(settings.RcvrPort) { + case HwNaze32Pro::RCVRPORT_PPM: + return INPUT_TYPE_PPM; + case HwNaze32Pro::RCVRPORT_SBUS: + return INPUT_TYPE_SBUS; + case HwNaze32Pro::RCVRPORT_DSM: + return INPUT_TYPE_DSM; + default: + return INPUT_TYPE_UNKNOWN; + } +} + +int Naze32Pro::queryMaxGyroRate() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwNaze32Pro *hwNaze32Pro = HwNaze32Pro::GetInstance(uavoManager); + Q_ASSERT(hwNaze32Pro); + if (!hwNaze32Pro) + return 0; + + HwNaze32Pro::DataFields settings = hwNaze32Pro->getData(); + + switch(settings.GyroRange) { + case HwNaze32Pro::GYRORANGE_250: + return 250; + case HwNaze32Pro::GYRORANGE_500: + return 500; + case HwNaze32Pro::GYRORANGE_1000: + return 1000; + case HwNaze32Pro::GYRORANGE_2000: + return 2000; + default: + return 500; + } +} + +QStringList Naze32Pro::getAdcNames() +{ + return QStringList() << "VREF" << "Voltage" << "Current" << "RSSI"; +} \ No newline at end of file diff --git a/ground/gcs/src/plugins/boards_naze/naze32pro.h b/ground/gcs/src/plugins/boards_naze/naze32pro.h new file mode 100644 index 0000000000..8e555d1915 --- /dev/null +++ b/ground/gcs/src/plugins/boards_naze/naze32pro.h @@ -0,0 +1,76 @@ +/** + ****************************************************************************** + * @file sparky.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2013 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_TauLabsPlugin Tau Labs boards support Plugin + * @{ + * @brief Plugin to support boards by the Tau Labs project + *****************************************************************************/ +/* + * 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 3 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 + */ +#ifndef NAZE32PRO_H +#define NAZE32PRO_H + +#include + +class IBoardType; + +class Naze32Pro : public Core::IBoardType +{ +public: + Naze32Pro(); + virtual ~Naze32Pro(); + + virtual QString shortName(); + virtual QString boardDescription(); + virtual bool queryCapabilities(BoardCapabilities capability); + virtual QStringList getSupportedProtocols(); + virtual QPixmap getBoardPicture(); + virtual QString getHwUAVO(); + + //! Determine if this board supports configuring the receiver + virtual bool isInputConfigurationSupported(); + + /** + * Configure the board to use an receiver input type on a port number + * @param type the type of receiver to use + * @param port_num which input port to configure (board specific numbering) + */ + virtual bool setInputOnPort(enum InputType type, int port_num = 0); + + /** + * @brief getInputOnPort get the current input type + * @param port_num which input port to query (board specific numbering) + * @return the currently selected input type + */ + virtual enum InputType getInputOnPort(int port_num = 0); + + /** + * @brief getConnectionDiagram get the connection diagram for this board + * @return a string with the name of the resource for this board diagram + */ + virtual QString getConnectionDiagram() { return ":/taulabs/images/sparky-connection-diagram.svg"; } + + virtual int queryMaxGyroRate(); + + virtual QStringList getAdcNames(); +}; + + +#endif // NAZE32PRO_H diff --git a/ground/gcs/src/plugins/boards_naze/nazeplugin.cpp b/ground/gcs/src/plugins/boards_naze/nazeplugin.cpp new file mode 100644 index 0000000000..4a9f795b9a --- /dev/null +++ b/ground/gcs/src/plugins/boards_naze/nazeplugin.cpp @@ -0,0 +1,62 @@ +/** + ****************************************************************************** + * @file taulabsplugin.cpp + * @author Tau Labs, http://taulabs.org, Copyright (C) 2013 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_TauLabsPlugin Tau Labs boards support Plugin + * @{ + * @brief Plugin to support boards by the Tau Labs project + *****************************************************************************/ +/* + * 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 3 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 + */ + +#include "nazeplugin.h" +#include "naze32pro.h" +#include + + +NazePlugin::NazePlugin() +{ + // Do nothing +} + +NazePlugin::~NazePlugin() +{ + // Do nothing +} + +bool NazePlugin::initialize(const QStringList& args, QString *errMsg) +{ + Q_UNUSED(args); + Q_UNUSED(errMsg); + return true; +} + +void NazePlugin::extensionsInitialized() +{ + /** + * Create the board objects here. + * + */ + Naze32Pro* naze32pro = new Naze32Pro(); + addAutoReleasedObject(naze32pro); +} + +void NazePlugin::shutdown() +{ +} diff --git a/ground/gcs/src/plugins/boards_naze/nazeplugin.h b/ground/gcs/src/plugins/boards_naze/nazeplugin.h new file mode 100644 index 0000000000..0a359ea553 --- /dev/null +++ b/ground/gcs/src/plugins/boards_naze/nazeplugin.h @@ -0,0 +1,47 @@ +/** + ****************************************************************************** + * @file taulabsplugin.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2013 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_TauLabsPlugin Tau Labs boards support Plugin + * @{ + * @brief Plugin to support boards by the Tau Labs project + *****************************************************************************/ +/* + * 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 3 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 + */ +#ifndef NAZEPLUGIN_H +#define NAZEPLUGIN_H + +#include + +class NazePlugin : public ExtensionSystem::IPlugin +{ + Q_OBJECT + Q_PLUGIN_METADATA(IID "org.dronin.plugins.Naze") + +public: + NazePlugin(); + ~NazePlugin(); + + void extensionsInitialized(); + bool initialize(const QStringList & arguments, QString * errorString); + void shutdown(); + +}; + +#endif // NAZEPLUGIN_H diff --git a/ground/gcs/src/plugins/boards_quantec/quanton.cpp b/ground/gcs/src/plugins/boards_quantec/quanton.cpp index 60df74fab0..5ed78c4e1c 100644 --- a/ground/gcs/src/plugins/boards_quantec/quanton.cpp +++ b/ground/gcs/src/plugins/boards_quantec/quanton.cpp @@ -55,11 +55,12 @@ Quanton::Quanton(void) boardType = 0x86; // Define the bank of channels that are connected to a given timer - channelBanks.resize(6); + channelBanks.resize(5); channelBanks[0] = QVector() << 1 << 2 << 3 << 4; channelBanks[1] = QVector() << 5 << 6; channelBanks[2] = QVector() << 7; channelBanks[3] = QVector() << 8; + channelBanks[4] = QVector() << 9 << 10; } Quanton::~Quanton() @@ -141,9 +142,6 @@ bool Quanton::setInputType(Core::IBoardType::InputType type) case INPUT_TYPE_PPM: settings.InPort = HwQuanton::INPORT_PPM; break; - case INPUT_TYPE_PWM: - settings.InPort = HwQuanton::INPORT_PWM; - break; case INPUT_TYPE_HOTTSUMD: settings.Uart1 = HwQuanton::UART1_HOTTSUMD; break; @@ -195,39 +193,7 @@ Core::IBoardType::InputType Quanton::getInputType() switch (settings.InPort) { case HwQuanton::INPORT_PPM: - case HwQuanton::INPORT_PPMADC: - case HwQuanton::INPORT_PPMOUTPUTS: - case HwQuanton::INPORT_PPMOUTPUTSADC: - // discutable, are these PPM, PWM or defined by the InPortSerial port? - // For now defined as PPM. - case HwQuanton::INPORT_PPMSERIAL: - case HwQuanton::INPORT_PPMSERIALADC: - case HwQuanton::INPORT_PPMPWM: - case HwQuanton::INPORT_PPMPWMADC: return INPUT_TYPE_PPM; - case HwQuanton::INPORT_PWM: - case HwQuanton::INPORT_PWMADC: - return INPUT_TYPE_PWM; - case HwQuanton::INPORT_SERIAL: - switch (settings.InPortSerial) { - case HwQuanton::INPORTSERIAL_DSM: - return INPUT_TYPE_DSM; - case HwQuanton::INPORTSERIAL_HOTTSUMD: - return INPUT_TYPE_HOTTSUMD; - case HwQuanton::INPORTSERIAL_HOTTSUMH: - return INPUT_TYPE_HOTTSUMH; - case HwQuanton::INPORTSERIAL_SBUSNONINVERTED: - return INPUT_TYPE_SBUSNONINVERTED; - case HwQuanton::INPORTSERIAL_IBUS: - return INPUT_TYPE_IBUS; - case HwQuanton::INPORTSERIAL_SRXL: - return INPUT_TYPE_SRXL; - case HwQuanton::INPORTSERIAL_TBSCROSSFIRE: - return INPUT_TYPE_TBSCROSSFIRE; - default: - break; - } - break; default: break; } @@ -329,6 +295,25 @@ Core::IBoardType::InputType Quanton::getInputType() break; } + switch (settings.Uart6) { + case HwQuanton::UART6_DSM: + return INPUT_TYPE_DSM; + case HwQuanton::UART6_HOTTSUMD: + return INPUT_TYPE_HOTTSUMD; + case HwQuanton::UART6_HOTTSUMH: + return INPUT_TYPE_HOTTSUMH; + case HwQuanton::UART6_SBUSNONINVERTED: + return INPUT_TYPE_SBUSNONINVERTED; + case HwQuanton::UART6_IBUS: + return INPUT_TYPE_IBUS; + case HwQuanton::UART6_SRXL: + return INPUT_TYPE_SRXL; + case HwQuanton::UART6_TBSCROSSFIRE: + return INPUT_TYPE_TBSCROSSFIRE; + default: + break; + } + return INPUT_TYPE_UNKNOWN; } @@ -361,26 +346,7 @@ int Quanton::queryMaxGyroRate() QStringList Quanton::getAdcNames() { - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *uavoManager = pm->getObject(); - HwQuanton *hwQuanton = HwQuanton::GetInstance(uavoManager); - Q_ASSERT(hwQuanton); - if (!hwQuanton) - return QStringList(); - - HwQuanton::DataFields settings = hwQuanton->getData(); - if (settings.InPort == HwQuanton::INPORT_OUTPUTSADC - || settings.InPort == HwQuanton::INPORT_PPMADC - || settings.InPort == HwQuanton::INPORT_PPMOUTPUTSADC - || settings.InPort == HwQuanton::INPORT_PPMPWMADC - || settings.InPort == HwQuanton::INPORT_PWMADC - || settings.InPort == HwQuanton::INPORT_PPMSERIALADC) { - return QStringList() << "IN 7" - << "IN 8"; - } - - return QStringList() << "Disabled" - << "Disabled"; + return QStringList() << "IN 7" << "IN 8"; } bool Quanton::hasAnnunciator(AnnunciatorType annunc) diff --git a/ground/gcs/src/plugins/boards_rcexplorer/RcExplorer.pluginspec b/ground/gcs/src/plugins/boards_rcexplorer/RcExplorer.pluginspec new file mode 100644 index 0000000000..cd6ff8c04b --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/RcExplorer.pluginspec @@ -0,0 +1,11 @@ + + RcExplorer + (C) 2016 Dronin + The GNU Public License (GPL) Version 3 + Hardware definitions for f3fc board + http://dronin.org + + + + + diff --git a/ground/gcs/src/plugins/boards_rcexplorer/boards_rcexplorer.pro b/ground/gcs/src/plugins/boards_rcexplorer/boards_rcexplorer.pro new file mode 100644 index 0000000000..37b0650320 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/boards_rcexplorer.pro @@ -0,0 +1,19 @@ +TEMPLATE = lib +TARGET = RcExplorer +include(../../gcsplugin.pri) +include(../../plugins/uavobjects/uavobjects.pri) +include(../../plugins/coreplugin/coreplugin.pri) +include(../../../usbids.pri) + +OTHER_FILES += RcExplorer.pluginspec + +HEADERS += \ + rcexplorerplugin.h \ + f3fc.h + +SOURCES += \ + rcexplorerplugin.cpp \ + f3fc.cpp + +RESOURCES += \ + rcexplorer.qrc diff --git a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp new file mode 100644 index 0000000000..a7977d7861 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp @@ -0,0 +1,138 @@ +/** + ****************************************************************************** + * @file f3fc.cpp + * @author Dronin, http://dronin.org, Copyright (C) 2016 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_RcExplorerPlugin RcExplorer boards support Plugin + * @{ + * @brief Plugin to support boards by the RcExplorer + *****************************************************************************/ +/* + * 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 3 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 + */ + +#include "f3fc.h" + +#include "uavobjects/uavobjectmanager.h" +#include "uavobjectutil/uavobjectutilmanager.h" +#include +#include "board_usb_ids.h" + +#include "hwf3fc.h" + +/** + * @brief F3Fc::F3Fc + * This is the F3Fc board definition + */ +F3Fc::F3Fc(void) +{ + // Common USB IDs + addBootloaderUSBInfo(USBInfo(DRONIN_VID_DRONIN_BOOTLOADER, DRONIN_PID_DRONIN_BOOTLOADER, BCD_DEVICE_BOOTLOADER)); + addFirmwareUSBInfo(USBInfo(DRONIN_VID_DRONIN_FIRMWARE, DRONIN_PID_DRONIN_FIRMWARE, BCD_DEVICE_FIRMWARE)); + + boardType = 0x96; + + // Define the bank of channels that are connected to a given timer + channelBanks.resize(4); + channelBanks[0] = QVector () << 1 << 2 << 5; // TIM3 + channelBanks[1] = QVector () << 3; // TIM1 + channelBanks[2] = QVector () << 4; // TIM17 + channelBanks[3] = QVector () << 6; // TIM2 +} + +F3Fc::~F3Fc() +{ + +} + +QString F3Fc::shortName() +{ + return QString("F3FC"); +} + +QString F3Fc::boardDescription() +{ + return QString("The F3FC board"); +} + +//! Return which capabilities this board has +bool F3Fc::queryCapabilities(BoardCapabilities capability) +{ + switch(capability) { + case BOARD_CAPABILITIES_GYROS: + case BOARD_CAPABILITIES_ACCELS: + case BOARD_CAPABILITIES_MAGS: + case BOARD_CAPABILITIES_BAROS: + case BOARD_CAPABILITIES_UPGRADEABLE: + return true; + default: + break; + } + + return false; +} + +/** + * @brief F3Fc::getSupportedProtocols + * TODO: this is just a stub, we'll need to extend this a lot with multi protocol support + * @return + */ +QStringList F3Fc::getSupportedProtocols() +{ + + return QStringList("uavtalk"); +} + +QPixmap F3Fc::getBoardPicture() +{ + return QPixmap(":/rcexplorer/images/f3fc.png"); +} + +QString F3Fc::getHwUAVO() +{ + return "HwF3Fc"; +} + +int F3Fc::queryMaxGyroRate() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwF3Fc *hwf3fc = HwF3Fc::GetInstance(uavoManager); + Q_ASSERT(hwf3fc); + if (!hwf3fc) + return 0; + + HwF3Fc::DataFields settings = hwf3fc->getData(); + + switch(settings.GyroRange) { + case HwF3Fc::GYRORANGE_250: + return 250; + case HwF3Fc::GYRORANGE_500: + return 500; + case HwF3Fc::GYRORANGE_1000: + return 1000; + case HwF3Fc::GYRORANGE_2000: + return 2000; + default: + return 500; + } +} + +QStringList F3Fc::getAdcNames() +{ + return QStringList() << "Current" << "Battery" << "RSSI"; +} diff --git a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.h b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.h new file mode 100644 index 0000000000..2268ff9610 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.h @@ -0,0 +1,51 @@ +/** + ****************************************************************************** + * @file f3fc.h + * @author Dronin, http://dronin.org, Copyright (C) 2016 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_RcExplorerPlugin RcExplorer boards support Plugin + * @{ + * @brief Plugin to support boards by RcExplorer + *****************************************************************************/ +/* + * 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 3 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 + */ +#ifndef F3FC_H +#define F3FC_H + +#include + +class IBoardType; + +class F3Fc : public Core::IBoardType +{ +public: + F3Fc(); + virtual ~F3Fc(); + + virtual QString shortName(); + virtual QString boardDescription(); + virtual bool queryCapabilities(BoardCapabilities capability); + virtual QStringList getSupportedProtocols(); + virtual QPixmap getBoardPicture(); + virtual QString getHwUAVO(); + virtual int queryMaxGyroRate(); + virtual QStringList getAdcNames(); +}; + + +#endif // F3FC_H diff --git a/ground/gcs/src/plugins/boards_rcexplorer/images/f3fc.png b/ground/gcs/src/plugins/boards_rcexplorer/images/f3fc.png new file mode 100644 index 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zs;2$cR5m*>KX<`{qVnhXSpo<>5^Q<+Gmw}x>ccqTFuusI6W@ri9l+1EE2ahom+n3J Ee<4S?vH$=8 literal 0 HcmV?d00001 diff --git a/ground/gcs/src/plugins/boards_rcexplorer/rcexplorer.qrc b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorer.qrc new file mode 100644 index 0000000000..3d8dcd7121 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorer.qrc @@ -0,0 +1,5 @@ + + + images/f3fc.png + + diff --git a/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.cpp b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.cpp new file mode 100644 index 0000000000..379edc7433 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.cpp @@ -0,0 +1,62 @@ +/** + ****************************************************************************** + * @file rcexplorerplugin.cpp + * @author Dronin, http://dronin.org, Copyright (C) 2016 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_RcExplorerPlugin RcExplorer boards support Plugin + * @{ + * @brief Plugin to support boards by RcExplorer + *****************************************************************************/ +/* + * 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 3 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 + */ + +#include "rcexplorerplugin.h" +#include "f3fc.h" +#include + + +F3FcPlugin::F3FcPlugin() +{ + // Do nothing +} + +F3FcPlugin::~F3FcPlugin() +{ + // Do nothing +} + +bool F3FcPlugin::initialize(const QStringList& args, QString *errMsg) +{ + Q_UNUSED(args); + Q_UNUSED(errMsg); + return true; +} + +void F3FcPlugin::extensionsInitialized() +{ + /** + * Create the board objects here. + * + */ + F3Fc* f3fc = new F3Fc(); + addAutoReleasedObject(f3fc); +} + +void F3FcPlugin::shutdown() +{ +} diff --git a/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.h b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.h new file mode 100644 index 0000000000..599b504778 --- /dev/null +++ b/ground/gcs/src/plugins/boards_rcexplorer/rcexplorerplugin.h @@ -0,0 +1,47 @@ +/** + ****************************************************************************** + * @file rcexplorerplugin.h + * @author Dronin, http://dronin.org, Copyright (C) 2016 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_RcExplorerPlugin RcExplorer boards support Plugin + * @{ + * @brief Plugin to support boards by RcExplorer + *****************************************************************************/ +/* + * 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 3 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 + */ +#ifndef RCEXPLORERPLUGIN_H +#define RCEXPLORERPLUGIN_H + +#include + +class F3FcPlugin : public ExtensionSystem::IPlugin +{ + Q_OBJECT + Q_PLUGIN_METADATA(IID "org.dronin.plugins.") + +public: + F3FcPlugin(); + ~F3FcPlugin(); + + void extensionsInitialized(); + bool initialize(const QStringList & arguments, QString * errorString); + void shutdown(); + +}; + +#endif // RCEXPLORERPLUGIN_H diff --git a/ground/gcs/src/plugins/coreplugin/iboardtype.h b/ground/gcs/src/plugins/coreplugin/iboardtype.h index cfcb4268b8..58bcd14e35 100644 --- a/ground/gcs/src/plugins/coreplugin/iboardtype.h +++ b/ground/gcs/src/plugins/coreplugin/iboardtype.h @@ -168,7 +168,8 @@ class CORE_EXPORT IBoardType : public QObject INPUT_TYPE_SRXL, INPUT_TYPE_TBSCROSSFIRE, INPUT_TYPE_UNKNOWN, - INPUT_TYPE_ANY + INPUT_TYPE_ANY, + INPUT_TYPE_PPMFRSKYSENSORHUB }; enum AnnunciatorType { diff --git a/ground/gcs/src/plugins/plugins.pro b/ground/gcs/src/plugins/plugins.pro index 1abacf7ac0..b550079089 100644 --- a/ground/gcs/src/plugins/plugins.pro +++ b/ground/gcs/src/plugins/plugins.pro @@ -333,3 +333,15 @@ plugin_boards_dtf.depends += plugin_uavobjects plugin_boards_dtf.depends += plugin_uavobjectutil plugin_boards_dtf.depends += plugin_uavobjectwidgetutils SUBDIRS += plugin_boards_dtf + +# Naze +plugin_boards_naze.subdir = boards_naze +plugin_boards_naze.depends = plugin_coreplugin +plugin_boards_naze.depends = plugin_uavobjects +SUBDIRS += plugin_boards_naze + +# RcExplorer +plugin_boards_rcexplorer.subdir = boards_rcexplorer +plugin_boards_rcexplorer.depends = plugin_coreplugin +plugin_boards_rcexplorer.depends = plugin_uavobjects +SUBDIRS += plugin_boards_rcexplorer \ No newline at end of file diff --git a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp index a420a403d8..e91b2ea5ab 100644 --- a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp +++ b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp @@ -425,6 +425,7 @@ void VehicleConfigurationHelper::applyManualControlDefaults() channelType = ManualControlSettings::CHANNELGROUPS_PWM; break; case Core::IBoardType::INPUT_TYPE_PPM: + case Core::IBoardType::INPUT_TYPE_PPMFRSKYSENSORHUB: channelType = ManualControlSettings::CHANNELGROUPS_PPM; break; case Core::IBoardType::INPUT_TYPE_SBUS: diff --git a/shared/uavobjectdefinition/hwdtfc.xml b/shared/uavobjectdefinition/hwdtfc.xml index af96a93577..bd596d1f33 100644 --- a/shared/uavobjectdefinition/hwdtfc.xml +++ b/shared/uavobjectdefinition/hwdtfc.xml @@ -10,6 +10,7 @@ + diff --git a/shared/uavobjectdefinition/hwf3fc.xml b/shared/uavobjectdefinition/hwf3fc.xml new file mode 100644 index 0000000000..e09973e08c --- /dev/null +++ b/shared/uavobjectdefinition/hwf3fc.xml @@ -0,0 +1,138 @@ + + + Selection of optional hardware configurations. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Virtual COM Port protocol + + + + + + Maximum measurement range for the gyros, should never rotate faster than about 85% of this + + + + + + + + + The maximum measure range for the accelerometers, should never exceed this + + + + + + + + + Gyro filter cutoff frequency + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/hwnaze32pro.xml b/shared/uavobjectdefinition/hwnaze32pro.xml new file mode 100644 index 0000000000..3de5f3744a --- /dev/null +++ b/shared/uavobjectdefinition/hwnaze32pro.xml @@ -0,0 +1,117 @@ + + + Selection of optional hardware configurations. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Virtual COM Port protocol + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/hwquanton.xml b/shared/uavobjectdefinition/hwquanton.xml index 7561005743..ea50cf17c2 100644 --- a/shared/uavobjectdefinition/hwquanton.xml +++ b/shared/uavobjectdefinition/hwquanton.xml @@ -5,28 +5,15 @@ - + The port labelled "IN" - - - - - - - - - - - - - - - + + The port labelled "UART1" @@ -40,6 +27,7 @@ + @@ -52,8 +40,8 @@ - - The port labelled "UART1" + + The port labelled "UART2" @@ -67,12 +55,12 @@ - + @@ -80,8 +68,8 @@ - - The port labelled "UART2" + + The port labelled "UART3" @@ -95,12 +83,12 @@ + - @@ -108,8 +96,8 @@ - - The port labelled "UART3" + + The port labelled "UART4" @@ -123,7 +111,6 @@ - @@ -136,8 +123,8 @@ - - The port labelled "UART4" + + The port labelled "UART5" @@ -163,8 +150,8 @@ - - The port labelled "UART5" + + The port labelled "UART6" diff --git a/shared/uavobjectdefinition/hwshared.xml b/shared/uavobjectdefinition/hwshared.xml index a3a721ad40..baccbe827c 100644 --- a/shared/uavobjectdefinition/hwshared.xml +++ b/shared/uavobjectdefinition/hwshared.xml @@ -35,6 +35,7 @@ + diff --git a/shared/uavobjectdefinition/oavcurves.xml b/shared/uavobjectdefinition/oavcurves.xml new file mode 100644 index 0000000000..be3acc2d8a --- /dev/null +++ b/shared/uavobjectdefinition/oavcurves.xml @@ -0,0 +1,37 @@ + + + OAV Curve Set Points + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavflightprofiles.xml b/shared/uavobjectdefinition/oavflightprofiles.xml new file mode 100644 index 0000000000..9fe58e82fe --- /dev/null +++ b/shared/uavobjectdefinition/oavflightprofiles.xml @@ -0,0 +1,29 @@ + + + OAV Flight Profile Settings + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavmixerfdbks.xml b/shared/uavobjectdefinition/oavmixerfdbks.xml new file mode 100644 index 0000000000..3cfb90559c --- /dev/null +++ b/shared/uavobjectdefinition/oavmixerfdbks.xml @@ -0,0 +1,93 @@ + + + OAV Mixer Feedbacks + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavmixervolumes.xml b/shared/uavobjectdefinition/oavmixervolumes.xml new file mode 100644 index 0000000000..98720a3770 --- /dev/null +++ b/shared/uavobjectdefinition/oavmixervolumes.xml @@ -0,0 +1,133 @@ + + + OAV Mixer Volumes + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavoffsets.xml b/shared/uavobjectdefinition/oavoffsets.xml new file mode 100644 index 0000000000..f6afad471c --- /dev/null +++ b/shared/uavobjectdefinition/oavoffsets.xml @@ -0,0 +1,16 @@ + + + OAV Offset Set Points + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavsettings.xml b/shared/uavobjectdefinition/oavsettings.xml new file mode 100644 index 0000000000..28c09cbe97 --- /dev/null +++ b/shared/uavobjectdefinition/oavsettings.xml @@ -0,0 +1,70 @@ + + + OAV Curve Settings + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/oavstatus.xml b/shared/uavobjectdefinition/oavstatus.xml new file mode 100644 index 0000000000..ffd0d36921 --- /dev/null +++ b/shared/uavobjectdefinition/oavstatus.xml @@ -0,0 +1,22 @@ + + + OAV Status + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/shareddefs.xml b/shared/uavobjectdefinition/shareddefs.xml index e2421d5865..d6114be44a 100644 --- a/shared/uavobjectdefinition/shareddefs.xml +++ b/shared/uavobjectdefinition/shareddefs.xml @@ -28,6 +28,7 @@ + diff --git a/shared/uavobjectdefinition/triflightsettings.xml b/shared/uavobjectdefinition/triflightsettings.xml new file mode 100644 index 0000000000..10ee10fb1b --- /dev/null +++ b/shared/uavobjectdefinition/triflightsettings.xml @@ -0,0 +1,61 @@ + + + Triflight Settings + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/triflightstatus.xml b/shared/uavobjectdefinition/triflightstatus.xml new file mode 100644 index 0000000000..d6723976dd --- /dev/null +++ b/shared/uavobjectdefinition/triflightstatus.xml @@ -0,0 +1,35 @@ + + + Triflight Status + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 02c5ebc4ae65bb608b8148d8da7acc49542dbe7b Mon Sep 17 00:00:00 2001 From: jihlein Date: Sat, 17 Mar 2018 07:56:31 -0600 Subject: [PATCH 02/73] Rework tailtune mode annunciation. --- flight/Modules/CharacterOSD/panel.c | 1 + flight/Modules/ManualControl/transmitter_control.c | 2 +- flight/Modules/OnScreenDisplay/onscreendisplay.c | 1 + flight/Modules/System/systemmod.c | 5 ++++- flight/Modules/UAVOHoTTBridge/uavohottbridge.c | 4 ++++ flight/Modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c | 1 + 6 files changed, 12 insertions(+), 2 deletions(-) diff --git a/flight/Modules/CharacterOSD/panel.c b/flight/Modules/CharacterOSD/panel.c index ef956030ea..f232705a2a 100644 --- a/flight/Modules/CharacterOSD/panel.c +++ b/flight/Modules/CharacterOSD/panel.c @@ -193,6 +193,7 @@ static void FLIGHTMODE_update(charosd_state_t state, uint8_t x, uint8_t y) mode = "ST3"; break; case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE: + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: mode = "TUNE"; break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: diff --git a/flight/Modules/ManualControl/transmitter_control.c b/flight/Modules/ManualControl/transmitter_control.c index 5d01073184..fceb2c70ad 100644 --- a/flight/Modules/ManualControl/transmitter_control.c +++ b/flight/Modules/ManualControl/transmitter_control.c @@ -566,7 +566,7 @@ int32_t transmitter_control_select(bool reset_controller) update_stabilization_desired(&cmd, &settings); break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: - case FLIGHTSTAUUS_FLIGHTMODE_TAILTUNE: + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: update_stabilization_desired(&cmd, &settings); break; case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: diff --git a/flight/Modules/OnScreenDisplay/onscreendisplay.c b/flight/Modules/OnScreenDisplay/onscreendisplay.c index 7555949ef3..7291b073c5 100644 --- a/flight/Modules/OnScreenDisplay/onscreendisplay.c +++ b/flight/Modules/OnScreenDisplay/onscreendisplay.c @@ -673,6 +673,7 @@ void draw_flight_mode(int x, int y, int xs, int ys, int va, int ha, int flags, i write_string("ST3", x, y, xs, ys, va, ha, flags, font); break; case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE: + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: write_string("TUNE", x, y, xs, ys, va, ha, flags, font); break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index e8ec6de464..a7f2e8799a 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -541,7 +541,10 @@ static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len } } - morse = morse_send(&blink_string, &blink_state); + if (blink_string == NULL) + morse = 0; + else + morse = morse_send(&blink_string, &blink_state); AnnunciatorSettingsData annunciatorSettings; AnnunciatorSettingsGet(&annunciatorSettings); diff --git a/flight/Modules/UAVOHoTTBridge/uavohottbridge.c b/flight/Modules/UAVOHoTTBridge/uavohottbridge.c index 8fc6cdba75..a7000854c9 100644 --- a/flight/Modules/UAVOHoTTBridge/uavohottbridge.c +++ b/flight/Modules/UAVOHoTTBridge/uavohottbridge.c @@ -625,6 +625,7 @@ void update_telemetrydata () { const char *txt_disarmed = "Disarmed"; const char *txt_arming = "Arming"; const char *txt_armed = "Armed"; + const char *txt_tailtune = "Tailtune"; const char *txt_flightmode; switch (telestate->FlightStatus.FlightMode) { @@ -670,6 +671,9 @@ void update_telemetrydata () { case FLIGHTSTATUS_FLIGHTMODE_FAILSAFE: txt_flightmode = txt_failsafe; break; + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: + txt_flightmode = txt_tailtune; + break; default: txt_flightmode = txt_unknown; } diff --git a/flight/Modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c b/flight/Modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c index 0879d938f4..5a360b5088 100644 --- a/flight/Modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c +++ b/flight/Modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c @@ -434,6 +434,7 @@ static void uavoMavlinkBridgeTask(void *parameters) { custom_mode = CUSTOM_MODE_STAB; break; case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE: + case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: custom_mode = CUSTOM_MODE_DRIFT; break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: From 30de1c1ce7d95f3cd12c7a30b549bf116b1509a3 Mon Sep 17 00:00:00 2001 From: jihlein Date: Fri, 23 Mar 2018 17:18:54 -0600 Subject: [PATCH 03/73] Update F3FC and Naze32Pro to PR#2123 --- flight/PiOS/STM32F30x/inc/mcuconf.h | 8 + flight/targets/f3fc/fw/mcuconf.h | 223 -------------------------- flight/targets/naze32pro/fw/mcuconf.h | 223 -------------------------- 3 files changed, 8 insertions(+), 446 deletions(-) delete mode 100644 flight/targets/f3fc/fw/mcuconf.h delete mode 100644 flight/targets/naze32pro/fw/mcuconf.h diff --git a/flight/PiOS/STM32F30x/inc/mcuconf.h b/flight/PiOS/STM32F30x/inc/mcuconf.h index 6a1a56a1d7..962f4a12e4 100644 --- a/flight/PiOS/STM32F30x/inc/mcuconf.h +++ b/flight/PiOS/STM32F30x/inc/mcuconf.h @@ -54,7 +54,15 @@ #define STM32_SW STM32_SW_PLL #define STM32_PLLSRC STM32_PLLSRC_HSE #define STM32_PREDIV_VALUE 1 + +#if (HSE_VALUE == 8000000) && (SYSCLK_FREQ == 72000000) #define STM32_PLLMUL_VALUE 9 +#elif (HSE_VALUE == 12000000) && (SYSCLK_FREQ == 72000000) +#define STM32_PLLMUL_VALUE 6 +#else +#error unsupported clock combination +#endif + #define STM32_HPRE STM32_HPRE_DIV1 #define STM32_PPRE1 STM32_PPRE1_DIV2 #define STM32_PPRE2 STM32_PPRE2_DIV2 diff --git a/flight/targets/f3fc/fw/mcuconf.h b/flight/targets/f3fc/fw/mcuconf.h deleted file mode 100644 index 038a375f41..0000000000 --- a/flight/targets/f3fc/fw/mcuconf.h +++ /dev/null @@ -1,223 +0,0 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. -*/ - -/** - ****************************************************************************** - * @addtogroup Targets Target Boards - * @{ - * @addtogroup RCE F3FC - * @{ - * - * @file f3fc/fw/mcuconf.h - * - *****************************************************************************/ - - /* - * STM32F30x drivers configuration. - * The following settings override the default settings present in - * the various device driver implementation headers. - * Note that the settings for each driver only have effect if the whole - * driver is enabled in halconf.h. - * - * IRQ priorities: - * 15...0 Lowest...Highest. - * - * DMA priorities: - * 0...3 Lowest...Highest. - */ - -#define STM32F30x_MCUCONF - -/* - * HAL driver system settings. - */ -#define STM32_NO_INIT FALSE -#define STM32_PVD_ENABLE FALSE -#define STM32_PLS STM32_PLS_LEV0 -#define STM32_HSI_ENABLED TRUE -#define STM32_LSI_ENABLED TRUE -#define STM32_HSE_ENABLED TRUE -#define STM32_LSE_ENABLED FALSE -#define STM32_SW STM32_SW_PLL -#define STM32_PLLSRC STM32_PLLSRC_HSE -#define STM32_PREDIV_VALUE 1 -#define STM32_PLLMUL_VALUE 9 -#define STM32_HPRE STM32_HPRE_DIV1 -#define STM32_PPRE1 STM32_PPRE1_DIV2 -#define STM32_PPRE2 STM32_PPRE2_DIV2 -#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK -#define STM32_ADC12PRES STM32_ADC12PRES_DIV1 -#define STM32_ADC34PRES STM32_ADC34PRES_DIV1 -#define STM32_USART1SW STM32_USART1SW_PCLK -#define STM32_USART2SW STM32_USART2SW_PCLK -#define STM32_USART3SW STM32_USART3SW_PCLK -#define STM32_UART4SW STM32_UART4SW_PCLK -#define STM32_UART5SW STM32_UART5SW_PCLK -#define STM32_I2C1SW STM32_I2C1SW_HSI -#define STM32_I2C2SW STM32_I2C2SW_HSI -#define STM32_TIM1SW STM32_TIM1SW_PCLK2 -#define STM32_TIM8SW STM32_TIM8SW_PCLK2 -#define STM32_RTCSEL STM32_RTCSEL_LSI -#define STM32_USB_CLOCK_REQUIRED TRUE -#define STM32_USBPRE STM32_USBPRE_DIV1P5 - -/* - * ADC driver system settings. - */ -#define STM32_ADC_USE_ADC1 FALSE -#define STM32_ADC_USE_ADC3 FALSE -#define STM32_ADC_ADC12_DMA_PRIORITY 2 -#define STM32_ADC_ADC34_DMA_PRIORITY 2 -#define STM32_ADC_ADC12_IRQ_PRIORITY 5 -#define STM32_ADC_ADC34_IRQ_PRIORITY 5 -#define STM32_ADC_ADC12_DMA_IRQ_PRIORITY 5 -#define STM32_ADC_ADC34_DMA_IRQ_PRIORITY 5 -#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 -#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 -#define STM32_ADC_DUAL_MODE FALSE - -/* - * CAN driver system settings. - */ -#define STM32_CAN_USE_CAN1 FALSE -#define STM32_CAN_CAN1_IRQ_PRIORITY 11 - -/* - * EXT driver system settings. - */ -#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI17_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI18_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI19_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI20_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI30_32_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI33_IRQ_PRIORITY 6 - -/* - * GPT driver system settings. - */ -#define STM32_GPT_USE_TIM1 FALSE -#define STM32_GPT_USE_TIM2 FALSE -#define STM32_GPT_USE_TIM3 FALSE -#define STM32_GPT_USE_TIM4 FALSE -#define STM32_GPT_USE_TIM6 FALSE -#define STM32_GPT_USE_TIM7 FALSE -#define STM32_GPT_USE_TIM8 FALSE -#define STM32_GPT_TIM1_IRQ_PRIORITY 7 -#define STM32_GPT_TIM2_IRQ_PRIORITY 7 -#define STM32_GPT_TIM3_IRQ_PRIORITY 7 -#define STM32_GPT_TIM4_IRQ_PRIORITY 7 -#define STM32_GPT_TIM6_IRQ_PRIORITY 7 -#define STM32_GPT_TIM7_IRQ_PRIORITY 7 -#define STM32_GPT_TIM8_IRQ_PRIORITY 7 - -/* - * I2C driver system settings. - */ -#define STM32_I2C_USE_I2C1 FALSE -#define STM32_I2C_USE_I2C2 FALSE -#define STM32_I2C_I2C1_IRQ_PRIORITY 10 -#define STM32_I2C_I2C2_IRQ_PRIORITY 10 -#define STM32_I2C_I2C1_DMA_PRIORITY 1 -#define STM32_I2C_I2C2_DMA_PRIORITY 1 -#define STM32_I2C_DMA_ERROR_HOOK(i2cp) chSysHalt() - -/* - * ICU driver system settings. - */ -#define STM32_ICU_USE_TIM1 FALSE -#define STM32_ICU_USE_TIM2 FALSE -#define STM32_ICU_USE_TIM3 FALSE -#define STM32_ICU_USE_TIM4 FALSE -#define STM32_ICU_USE_TIM8 FALSE -#define STM32_ICU_TIM1_IRQ_PRIORITY 7 -#define STM32_ICU_TIM2_IRQ_PRIORITY 7 -#define STM32_ICU_TIM3_IRQ_PRIORITY 7 -#define STM32_ICU_TIM4_IRQ_PRIORITY 7 -#define STM32_ICU_TIM8_IRQ_PRIORITY 7 - -/* - * PWM driver system settings. - */ -#define STM32_PWM_USE_ADVANCED FALSE -#define STM32_PWM_USE_TIM1 FALSE -#define STM32_PWM_USE_TIM2 FALSE -#define STM32_PWM_USE_TIM3 FALSE -#define STM32_PWM_USE_TIM4 FALSE -#define STM32_PWM_USE_TIM8 FALSE -#define STM32_PWM_TIM1_IRQ_PRIORITY 7 -#define STM32_PWM_TIM2_IRQ_PRIORITY 7 -#define STM32_PWM_TIM3_IRQ_PRIORITY 7 -#define STM32_PWM_TIM4_IRQ_PRIORITY 7 -#define STM32_PWM_TIM8_IRQ_PRIORITY 7 - -/* - * SERIAL driver system settings. - */ -#define STM32_SERIAL_USE_USART1 FALSE -#define STM32_SERIAL_USE_USART2 FALSE -#define STM32_SERIAL_USE_USART3 FALSE -#define STM32_SERIAL_USE_UART4 FALSE -#define STM32_SERIAL_USE_UART5 FALSE -#define STM32_SERIAL_USART1_PRIORITY 12 -#define STM32_SERIAL_USART2_PRIORITY 12 -#define STM32_SERIAL_USART3_PRIORITY 12 -#define STM32_SERIAL_UART4_PRIORITY 12 -#define STM32_SERIAL_UART5_PRIORITY 12 - -/* - * SPI driver system settings. - */ -#define STM32_SPI_USE_SPI1 FALSE -#define STM32_SPI_USE_SPI2 FALSE -#define STM32_SPI_USE_SPI3 FALSE -#define STM32_SPI_SPI1_DMA_PRIORITY 1 -#define STM32_SPI_SPI2_DMA_PRIORITY 1 -#define STM32_SPI_SPI3_DMA_PRIORITY 1 -#define STM32_SPI_SPI1_IRQ_PRIORITY 10 -#define STM32_SPI_SPI2_IRQ_PRIORITY 10 -#define STM32_SPI_SPI3_IRQ_PRIORITY 10 -#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt() - -/* - * UART driver system settings. - */ -#define STM32_UART_USE_USART1 FALSE -#define STM32_UART_USE_USART2 FALSE -#define STM32_UART_USE_USART3 FALSE -#define STM32_UART_USART1_IRQ_PRIORITY 12 -#define STM32_UART_USART2_IRQ_PRIORITY 12 -#define STM32_UART_USART3_IRQ_PRIORITY 12 -#define STM32_UART_USART1_DMA_PRIORITY 0 -#define STM32_UART_USART2_DMA_PRIORITY 0 -#define STM32_UART_USART3_DMA_PRIORITY 0 -#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt() - -/* - * USB driver system settings. - */ -#define STM32_USB_USE_USB1 FALSE -#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE -#define STM32_USB_USB1_HP_IRQ_PRIORITY 13 -#define STM32_USB_USB1_LP_IRQ_PRIORITY 14 diff --git a/flight/targets/naze32pro/fw/mcuconf.h b/flight/targets/naze32pro/fw/mcuconf.h deleted file mode 100644 index b301140814..0000000000 --- a/flight/targets/naze32pro/fw/mcuconf.h +++ /dev/null @@ -1,223 +0,0 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. -*/ - -/** - ****************************************************************************** - * @addtogroup Targets Target Boards - * @{ - * @addtogroup RCE F3FC - * @{ - * - * @file f3fc/fw/mcuconf.h - * - *****************************************************************************/ - - /* - * STM32F30x drivers configuration. - * The following settings override the default settings present in - * the various device driver implementation headers. - * Note that the settings for each driver only have effect if the whole - * driver is enabled in halconf.h. - * - * IRQ priorities: - * 15...0 Lowest...Highest. - * - * DMA priorities: - * 0...3 Lowest...Highest. - */ - -#define STM32F30x_MCUCONF - -/* - * HAL driver system settings. - */ -#define STM32_NO_INIT FALSE -#define STM32_PVD_ENABLE FALSE -#define STM32_PLS STM32_PLS_LEV0 -#define STM32_HSI_ENABLED TRUE -#define STM32_LSI_ENABLED TRUE -#define STM32_HSE_ENABLED TRUE -#define STM32_LSE_ENABLED FALSE -#define STM32_SW STM32_SW_PLL -#define STM32_PLLSRC STM32_PLLSRC_HSE -#define STM32_PREDIV_VALUE 1 -#define STM32_PLLMUL_VALUE 6 -#define STM32_HPRE STM32_HPRE_DIV1 -#define STM32_PPRE1 STM32_PPRE1_DIV2 -#define STM32_PPRE2 STM32_PPRE2_DIV2 -#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK -#define STM32_ADC12PRES STM32_ADC12PRES_DIV1 -#define STM32_ADC34PRES STM32_ADC34PRES_DIV1 -#define STM32_USART1SW STM32_USART1SW_PCLK -#define STM32_USART2SW STM32_USART2SW_PCLK -#define STM32_USART3SW STM32_USART3SW_PCLK -#define STM32_UART4SW STM32_UART4SW_PCLK -#define STM32_UART5SW STM32_UART5SW_PCLK -#define STM32_I2C1SW STM32_I2C1SW_HSI -#define STM32_I2C2SW STM32_I2C2SW_HSI -#define STM32_TIM1SW STM32_TIM1SW_PCLK2 -#define STM32_TIM8SW STM32_TIM8SW_PCLK2 -#define STM32_RTCSEL STM32_RTCSEL_LSI -#define STM32_USB_CLOCK_REQUIRED TRUE -#define STM32_USBPRE STM32_USBPRE_DIV1P5 - -/* - * ADC driver system settings. - */ -#define STM32_ADC_USE_ADC1 FALSE -#define STM32_ADC_USE_ADC3 FALSE -#define STM32_ADC_ADC12_DMA_PRIORITY 2 -#define STM32_ADC_ADC34_DMA_PRIORITY 2 -#define STM32_ADC_ADC12_IRQ_PRIORITY 5 -#define STM32_ADC_ADC34_IRQ_PRIORITY 5 -#define STM32_ADC_ADC12_DMA_IRQ_PRIORITY 5 -#define STM32_ADC_ADC34_DMA_IRQ_PRIORITY 5 -#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 -#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1 -#define STM32_ADC_DUAL_MODE FALSE - -/* - * CAN driver system settings. - */ -#define STM32_CAN_USE_CAN1 FALSE -#define STM32_CAN_CAN1_IRQ_PRIORITY 11 - -/* - * EXT driver system settings. - */ -#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI17_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI18_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI19_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI20_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI30_32_IRQ_PRIORITY 6 -#define STM32_EXT_EXTI33_IRQ_PRIORITY 6 - -/* - * GPT driver system settings. - */ -#define STM32_GPT_USE_TIM1 FALSE -#define STM32_GPT_USE_TIM2 FALSE -#define STM32_GPT_USE_TIM3 FALSE -#define STM32_GPT_USE_TIM4 FALSE -#define STM32_GPT_USE_TIM6 FALSE -#define STM32_GPT_USE_TIM7 FALSE -#define STM32_GPT_USE_TIM8 FALSE -#define STM32_GPT_TIM1_IRQ_PRIORITY 7 -#define STM32_GPT_TIM2_IRQ_PRIORITY 7 -#define STM32_GPT_TIM3_IRQ_PRIORITY 7 -#define STM32_GPT_TIM4_IRQ_PRIORITY 7 -#define STM32_GPT_TIM6_IRQ_PRIORITY 7 -#define STM32_GPT_TIM7_IRQ_PRIORITY 7 -#define STM32_GPT_TIM8_IRQ_PRIORITY 7 - -/* - * I2C driver system settings. - */ -#define STM32_I2C_USE_I2C1 FALSE -#define STM32_I2C_USE_I2C2 FALSE -#define STM32_I2C_I2C1_IRQ_PRIORITY 10 -#define STM32_I2C_I2C2_IRQ_PRIORITY 10 -#define STM32_I2C_I2C1_DMA_PRIORITY 1 -#define STM32_I2C_I2C2_DMA_PRIORITY 1 -#define STM32_I2C_DMA_ERROR_HOOK(i2cp) chSysHalt() - -/* - * ICU driver system settings. - */ -#define STM32_ICU_USE_TIM1 FALSE -#define STM32_ICU_USE_TIM2 FALSE -#define STM32_ICU_USE_TIM3 FALSE -#define STM32_ICU_USE_TIM4 FALSE -#define STM32_ICU_USE_TIM8 FALSE -#define STM32_ICU_TIM1_IRQ_PRIORITY 7 -#define STM32_ICU_TIM2_IRQ_PRIORITY 7 -#define STM32_ICU_TIM3_IRQ_PRIORITY 7 -#define STM32_ICU_TIM4_IRQ_PRIORITY 7 -#define STM32_ICU_TIM8_IRQ_PRIORITY 7 - -/* - * PWM driver system settings. - */ -#define STM32_PWM_USE_ADVANCED FALSE -#define STM32_PWM_USE_TIM1 FALSE -#define STM32_PWM_USE_TIM2 FALSE -#define STM32_PWM_USE_TIM3 FALSE -#define STM32_PWM_USE_TIM4 FALSE -#define STM32_PWM_USE_TIM8 FALSE -#define STM32_PWM_TIM1_IRQ_PRIORITY 7 -#define STM32_PWM_TIM2_IRQ_PRIORITY 7 -#define STM32_PWM_TIM3_IRQ_PRIORITY 7 -#define STM32_PWM_TIM4_IRQ_PRIORITY 7 -#define STM32_PWM_TIM8_IRQ_PRIORITY 7 - -/* - * SERIAL driver system settings. - */ -#define STM32_SERIAL_USE_USART1 FALSE -#define STM32_SERIAL_USE_USART2 FALSE -#define STM32_SERIAL_USE_USART3 FALSE -#define STM32_SERIAL_USE_UART4 FALSE -#define STM32_SERIAL_USE_UART5 FALSE -#define STM32_SERIAL_USART1_PRIORITY 12 -#define STM32_SERIAL_USART2_PRIORITY 12 -#define STM32_SERIAL_USART3_PRIORITY 12 -#define STM32_SERIAL_UART4_PRIORITY 12 -#define STM32_SERIAL_UART5_PRIORITY 12 - -/* - * SPI driver system settings. - */ -#define STM32_SPI_USE_SPI1 FALSE -#define STM32_SPI_USE_SPI2 FALSE -#define STM32_SPI_USE_SPI3 FALSE -#define STM32_SPI_SPI1_DMA_PRIORITY 1 -#define STM32_SPI_SPI2_DMA_PRIORITY 1 -#define STM32_SPI_SPI3_DMA_PRIORITY 1 -#define STM32_SPI_SPI1_IRQ_PRIORITY 10 -#define STM32_SPI_SPI2_IRQ_PRIORITY 10 -#define STM32_SPI_SPI3_IRQ_PRIORITY 10 -#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt() - -/* - * UART driver system settings. - */ -#define STM32_UART_USE_USART1 FALSE -#define STM32_UART_USE_USART2 FALSE -#define STM32_UART_USE_USART3 FALSE -#define STM32_UART_USART1_IRQ_PRIORITY 12 -#define STM32_UART_USART2_IRQ_PRIORITY 12 -#define STM32_UART_USART3_IRQ_PRIORITY 12 -#define STM32_UART_USART1_DMA_PRIORITY 0 -#define STM32_UART_USART2_DMA_PRIORITY 0 -#define STM32_UART_USART3_DMA_PRIORITY 0 -#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt() - -/* - * USB driver system settings. - */ -#define STM32_USB_USE_USB1 FALSE -#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE -#define STM32_USB_USB1_HP_IRQ_PRIORITY 13 -#define STM32_USB_USB1_LP_IRQ_PRIORITY 14 From fe9d13524c203b6870c11eca0e70486c50ea25e2 Mon Sep 17 00:00:00 2001 From: jihlein Date: Tue, 17 Apr 2018 18:31:03 -0600 Subject: [PATCH 04/73] Make Triflight a configurable major feature. Apply to selected F3 and F4 targets. --- flight/Modules/Actuator/actuator.c | 30 +++++++++++++------ flight/Modules/CharacterOSD/panel.c | 3 -- flight/Modules/OpenAeroVtol/oav.c | 2 +- flight/Modules/OpenAeroVtol/oavpid.c | 2 +- flight/Modules/OpenAeroVtol/oavtransition.c | 2 +- flight/Modules/System/systemmod.c | 5 ++++ .../{Actuator => Triflight}/triflight.c | 6 ---- .../{Actuator => Triflight}/triflight.h | 0 flight/targets/aq32/fw/Makefile | 3 +- flight/targets/aq32/fw/pios_config.h | 2 +- flight/targets/brainre1/fw/Makefile | 1 + flight/targets/brainre1/fw/pios_config.h | 1 + .../targets/dtfc/board-info/board_hw_defs.c | 2 +- flight/targets/dtfc/fw/Makefile | 3 +- flight/targets/dtfc/fw/pios_config.h | 2 +- flight/targets/f3fc/fw/Makefile | 3 +- flight/targets/f3fc/fw/pios_config.h | 2 ++ flight/targets/flightd/fw/Makefile | 5 +++- flight/targets/flightd/fw/pios_config.h | 3 ++ flight/targets/naze32pro/fw/pios_config.h | 1 + flight/targets/quanton/fw/Makefile | 2 +- flight/targets/quanton/fw/pios_config.h | 1 - flight/targets/seppuku/fw/Makefile | 3 +- flight/targets/seppuku/fw/pios_config.h | 2 +- flight/targets/sparky/fw/Makefile | 7 ++--- flight/targets/sparky/fw/pios_config.h | 4 --- flight/targets/sprf3e/fw/Makefile | 9 +++--- flight/targets/sprf3e/fw/pios_config.h | 2 -- 28 files changed, 61 insertions(+), 47 deletions(-) rename flight/Modules/{Actuator => Triflight}/triflight.c (99%) rename flight/Modules/{Actuator => Triflight}/triflight.h (100%) diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index b92effb15f..87b1015b70 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -53,7 +53,8 @@ #include "pios_queue.h" #include "misc_math.h" -#include "triflight.h" +#include "../Triflight/triflight.h" + #include "triflightsettings.h" #include "triflightstatus.h" @@ -114,7 +115,9 @@ static volatile bool oav_offsets_updated = true; static volatile bool oav_settings_updated = true; #endif +#ifdef TRIFLIGHT static volatile bool triflight_settings_updated = true; +#endif static MixerSettingsMixer1TypeOptions types_mixer[MAX_MIX_ACTUATORS]; @@ -144,8 +147,10 @@ static OAVSettingsData OAVSettings; static OAVStatusData OAVStatus; #endif +#ifdef TRIFLIGHT static TriflightSettingsData triflightSettings; static TriflightStatusData triflightStatus; +#endif static bool armed = false; static bool spin_while_armed = false; @@ -315,11 +320,13 @@ int32_t ActuatorInitialize() OAVSettingsConnectCallbackCtx(UAVObjCbSetFlag, &oav_settings_updated); #endif +#ifdef TRIFLIGHT // Register for notifications of changes to TriFlightSettings if (TriflightSettingsInitialize() == -1) { return -1; } TriflightSettingsConnectCallbackCtx(UAVObjCbSetFlag, &triflight_settings_updated); +#endif // Listen for ActuatorDesired updates (Primary input to this module) if (ActuatorDesiredInitialize() == -1) { @@ -340,9 +347,11 @@ int32_t ActuatorInitialize() } #endif +#ifdef TRIFLIGHT if (TriflightStatusInitialize() == -1) { return -1; } +#endif #if defined(MIXERSTATUS_DIAGNOSTICS) // UAVO only used for inspecting the internal status of the mixer during debug @@ -690,6 +699,7 @@ static void post_process_scale_and_commit(float *motor_vect, active_command); } +#ifdef TRIFLIGHT if (triflightStatus.Initialized == TRIFLIGHTSTATUS_INITIALIZED_TRUE) { triflightStatus.UncorrectedServoCmd = command.Channel[triflightStatus.ServoChannel]; @@ -719,11 +729,7 @@ static void post_process_scale_and_commit(float *motor_vect, dT, command.Channel[triflightStatus.ServoChannel]); else -// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) feedbackServoStep(&triflightSettings, &triflightStatus, dT); -// HJI #else -// HJI triflightStatus.ServoAngle = 90.0f; -// HJI #endif // Compute tail motor correction triflightStatus.MotorCorrection = triGetMotorCorrection(&actuatorSettings, @@ -749,7 +755,6 @@ static void post_process_scale_and_commit(float *motor_vect, dynamicYaw(&triflightSettings, &triflightStatus); -// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) triTailTuneStep(&actuatorSettings, &flightStatus, &triflightSettings, @@ -757,10 +762,10 @@ static void post_process_scale_and_commit(float *motor_vect, &command.Channel[triflightStatus.ServoChannel], armed, dT); -// HJI #endif TriflightStatusSet(&triflightStatus); } +#endif // Store update time command.UpdateTime = 1000.0f*dT; @@ -804,10 +809,12 @@ static void normalize_input_data(uint32_t this_systime, flight_status_updated = false; } +#ifdef TRIFLIIGHT if (triflightStatus.Initialized == TRIFLIGHTSTATUS_INITIALIZED_TRUE) { desired.Yaw *= triflightStatus.DynamicYawGain; desired.Yaw = bound_sym(desired.Yaw, 1.0f); } +#endif if (manual_control_cmd_updated) { // just pull out the throttle_val... and accessory0-2 and @@ -912,7 +919,9 @@ static void actuator_task(void* parameters) */ if (actuator_settings_updated) { actuator_settings_update(); +#ifdef TRIFLIGHT triflight_settings_updated = true; +#endif } if (flight_status_updated) { @@ -923,8 +932,9 @@ static void actuator_task(void* parameters) if (mixer_settings_updated) { mixer_settings_updated = false; SystemSettingsAirframeTypeGet(&airframe_type); +#ifdef TRIFLIGHT triflight_settings_updated = true; - +#endif compute_mixer(); MixerSettingsThrottleCurve2Get(curve2); @@ -980,6 +990,8 @@ static void actuator_task(void* parameters) #endif +#ifdef TRIFLIGHT + #define is_yaw_servo(b) (mixerSettings.Mixer ## b ## Type == MIXERSETTINGS_MIXER ## b ## TYPE_SERVO) #define is_rear_motor(b) ((mixerSettings.Mixer ## b ## Type == MIXERSETTINGS_MIXER ## b ## TYPE_MOTOR) && \ (mixerSettings.Mixer ## b ## Vector[MIXERSETTINGS_MIXER ## b ## VECTOR_ROLL] == 0)) @@ -1050,7 +1062,7 @@ static void actuator_task(void* parameters) TriflightStatusSet(&triflightStatus); } - +#endif PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR); UAVObjEvent ev; diff --git a/flight/Modules/CharacterOSD/panel.c b/flight/Modules/CharacterOSD/panel.c index f232705a2a..38a5fbdfe8 100644 --- a/flight/Modules/CharacterOSD/panel.c +++ b/flight/Modules/CharacterOSD/panel.c @@ -224,9 +224,6 @@ static void FLIGHTMODE_update(charosd_state_t state, uint8_t x, uint8_t y) case FLIGHTSTATUS_FLIGHTMODE_LQGLEVELING: mode = "LQGA"; break; - case FLIGHTSTATUS_FLIGHTMODE_TAILTUNE: - mode = "TUNE"; - break; } draw_rect(state, x, y, 6, 3, 0, 0); diff --git a/flight/Modules/OpenAeroVtol/oav.c b/flight/Modules/OpenAeroVtol/oav.c index 0af623a84a..47ff415f6f 100644 --- a/flight/Modules/OpenAeroVtol/oav.c +++ b/flight/Modules/OpenAeroVtol/oav.c @@ -54,7 +54,7 @@ #if defined (PIOS_INCLUDE_BMI160) float LPF_lookup[8] = {52.58f, 26.46f, 13.38f, 7.09f, 4.16f, 3.09f, 2.83f, 1.00f}; // 1600 Hz -#elif defined (SPARKY1) || defined (DTFC) +#elif defined (DTFC) float LPF_lookup[8] = {16.43f, 8.27f, 4.18f, 2.22f, 1.30f, 1.00f, 1.00f, 1.00f}; // 500 Hz #else float LPF_lookup[8] = {32.86f, 16.54f, 8.36f, 4.43f, 2.60f, 1.93f, 1.77f, 1.00f}; // 1000 Hz diff --git a/flight/Modules/OpenAeroVtol/oavpid.c b/flight/Modules/OpenAeroVtol/oavpid.c index e8250c2e9d..028a447d61 100644 --- a/flight/Modules/OpenAeroVtol/oavpid.c +++ b/flight/Modules/OpenAeroVtol/oavpid.c @@ -51,7 +51,7 @@ #if defined (PIOS_INCLUDE_BMI160) #define STANDARDLOOP 1600.0f // Nominal Loop Rate 1600 Hz -#elif defined (SPARKY1) || defined (DTFC) +#elif defined (DTFC) #define STANDARDLOOP 500.0f // Nominal Loop Rate 1000 Hz #else #define STANDARDLOOP 1000.0f // Nominal Loop Rate 500 Hz diff --git a/flight/Modules/OpenAeroVtol/oavtransition.c b/flight/Modules/OpenAeroVtol/oavtransition.c index fe181cba2d..3a3b14eaf6 100644 --- a/flight/Modules/OpenAeroVtol/oavtransition.c +++ b/flight/Modules/OpenAeroVtol/oavtransition.c @@ -47,7 +47,7 @@ #if defined (PIOS_INCLUDE_BMI160) #define TRANSITION_COUNT 16 -#elif defined (SPARKY1) || defined (DTFC) +#elif defined (DTFC) #define TRANSITION_COUNT 5 #else #define TRANSITION_COUNT 10 diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index a7f2e8799a..e7d37ed77f 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -159,7 +159,10 @@ static inline void updateRfm22bStats(); static inline void updateWDGstats(); #endif +#ifdef TRIFLIGHT char *triflight_blink_string = NULL; +#endif + /** * Create the module task. * \returns 0 on success or -1 if initialization failed @@ -481,6 +484,7 @@ static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len FlightStatusData flightStatus; FlightStatusGet(&flightStatus); +#ifdef TRIFLIGHT if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_TAILTUNE) { if ((blink_prio == 0) && (blink_state == 0)) { if (triflight_blink_string != NULL) { @@ -491,6 +495,7 @@ static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len } } else +#endif { if (candidate_prio > blink_prio) { // Preempt! diff --git a/flight/Modules/Actuator/triflight.c b/flight/Modules/Triflight/triflight.c similarity index 99% rename from flight/Modules/Actuator/triflight.c rename to flight/Modules/Triflight/triflight.c index fb9c1d762b..df9d882969 100644 --- a/flight/Modules/Actuator/triflight.c +++ b/flight/Modules/Triflight/triflight.c @@ -253,7 +253,6 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float d return filter->state; } -// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) /** * * @@ -310,7 +309,6 @@ void feedbackServoStep(TriflightSettingsData *triflightSettings, return; } -// HJI #endif /** * @@ -516,8 +514,6 @@ void virtualTailMotorStep(ActuatorSettingsData *actuatorSettings, /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// -// HJI #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) - #include "gyros.h" #include "manualcontrolcommand.h" @@ -1024,8 +1020,6 @@ void triTailTuneStep(ActuatorSettingsData *actuatorSettings, } } -// HJI #endif - /** * @} * @} diff --git a/flight/Modules/Actuator/triflight.h b/flight/Modules/Triflight/triflight.h similarity index 100% rename from flight/Modules/Actuator/triflight.h rename to flight/Modules/Triflight/triflight.h diff --git a/flight/targets/aq32/fw/Makefile b/flight/targets/aq32/fw/Makefile index 6eddb873a6..7e029933be 100644 --- a/flight/targets/aq32/fw/Makefile +++ b/flight/targets/aq32/fw/Makefile @@ -62,8 +62,9 @@ OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc OPTMODULES += CharacterOSD -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry +OPTMODULES += OpenAeroVtol +OPTMODULES += Triflight # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/aq32/fw/pios_config.h b/flight/targets/aq32/fw/pios_config.h index 446415caa7..d3976288aa 100644 --- a/flight/targets/aq32/fw/pios_config.h +++ b/flight/targets/aq32/fw/pios_config.h @@ -33,8 +33,8 @@ /* Major features */ #define STABILIZATION_LQG - #define OPENAEROVTOL +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_FLASH_JEDEC diff --git a/flight/targets/brainre1/fw/Makefile b/flight/targets/brainre1/fw/Makefile index 892e902b2d..5a5650bd7e 100644 --- a/flight/targets/brainre1/fw/Makefile +++ b/flight/targets/brainre1/fw/Makefile @@ -62,6 +62,7 @@ OPTMODULES += VTXConfig OPTMODULES += Storm32Bgc OPTMODULES += OnScreenDisplay OPTMODULES += UAVOCrossfireTelemetry +OPTMODULES += Triflight # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/brainre1/fw/pios_config.h b/flight/targets/brainre1/fw/pios_config.h index 7d3190cd69..fb2b5b5709 100644 --- a/flight/targets/brainre1/fw/pios_config.h +++ b/flight/targets/brainre1/fw/pios_config.h @@ -38,6 +38,7 @@ /* Major features */ #define STABILIZATION_LQG +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_FLASH_JEDEC diff --git a/flight/targets/dtfc/board-info/board_hw_defs.c b/flight/targets/dtfc/board-info/board_hw_defs.c index 30f3b45fdd..873554cbab 100644 --- a/flight/targets/dtfc/board-info/board_hw_defs.c +++ b/flight/targets/dtfc/board-info/board_hw_defs.c @@ -1027,7 +1027,7 @@ static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { static struct pios_mpu_cfg pios_mpu_cfg = { .exti_cfg = &pios_exti_mpu_cfg, - .default_samplerate = 500, + .default_samplerate = 1000, .orientation = PIOS_MPU_TOP_180DEG }; #endif /* PIOS_INCLUDE_MPU */ diff --git a/flight/targets/dtfc/fw/Makefile b/flight/targets/dtfc/fw/Makefile index 93bd1f22f3..3f14c5de08 100644 --- a/flight/targets/dtfc/fw/Makefile +++ b/flight/targets/dtfc/fw/Makefile @@ -61,8 +61,9 @@ OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry +OPTMODULES += OpenAeroVtol +OPTMODULES += Triflight # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/dtfc/fw/pios_config.h b/flight/targets/dtfc/fw/pios_config.h index 45911d0435..2da53fcef8 100644 --- a/flight/targets/dtfc/fw/pios_config.h +++ b/flight/targets/dtfc/fw/pios_config.h @@ -38,8 +38,8 @@ /* Major features */ #define STABILIZATION_LQG - #define OPENAEROVTOL +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION diff --git a/flight/targets/f3fc/fw/Makefile b/flight/targets/f3fc/fw/Makefile index a647895886..d1e97ca5af 100644 --- a/flight/targets/f3fc/fw/Makefile +++ b/flight/targets/f3fc/fw/Makefile @@ -45,7 +45,7 @@ OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID OPTMODULES += AltitudeHold -OPTMODULES += PathPlanner +#OPTMODULES += PathPlanner OPTMODULES += VtolPathFollower OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge @@ -58,6 +58,7 @@ OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc +OPTMODULES += Triflight # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/f3fc/fw/pios_config.h b/flight/targets/f3fc/fw/pios_config.h index 78d6d5d1e4..35ba10c7f0 100644 --- a/flight/targets/f3fc/fw/pios_config.h +++ b/flight/targets/f3fc/fw/pios_config.h @@ -37,6 +37,8 @@ #include /* Major features */ +#define STABILIZATION_LQG +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION diff --git a/flight/targets/flightd/fw/Makefile b/flight/targets/flightd/fw/Makefile index fae4ee6d89..7f5317e9fa 100644 --- a/flight/targets/flightd/fw/Makefile +++ b/flight/targets/flightd/fw/Makefile @@ -96,12 +96,14 @@ OPTMODULES += GPS OPTMODULES += UAVOLighttelemetryBridge OPTMODULES += UAVOMSPBridge +OPTMODULES += Triflight + # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc PIOSINC = $(PIOS)/inc FLIGHTLIBINC = $(FLIGHTLIB)/inc MATHLIB = $(FLIGHTLIB)/math -MATHLIBINC = $(MATHLIB) +MATHLIBINC = $(FLIGHTLIB)/math CRYPTOLIB = $(FLIGHTLIB)/crypto CRYPTOLIBINC = $(CRYPTOLIB) PIOSPOSIX = $(PIOS)/posix @@ -134,6 +136,7 @@ SRC += taskmonitor.c SRC += $(MATHLIB)/atmospheric_math.c SRC += $(MATHLIB)/coordinate_conversions.c SRC += $(MATHLIB)/misc_math.c +SRC += $(MATHLIB)/lqg.c SRC += $(MATHLIB)/pid.c SRC += $(MATHLIB)/lpfilter.c SRC += $(MATHLIB)/smoothcontrol.c diff --git a/flight/targets/flightd/fw/pios_config.h b/flight/targets/flightd/fw/pios_config.h index f09eb191b4..fba021d53d 100644 --- a/flight/targets/flightd/fw/pios_config.h +++ b/flight/targets/flightd/fw/pios_config.h @@ -31,6 +31,9 @@ #ifndef PIOS_CONFIG_POSIX_H #define PIOS_CONFIG_POSIX_H +/* Major features */ +#define STABILIZATION_LQG +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_SYS diff --git a/flight/targets/naze32pro/fw/pios_config.h b/flight/targets/naze32pro/fw/pios_config.h index ccdfb84123..1b533b41a4 100644 --- a/flight/targets/naze32pro/fw/pios_config.h +++ b/flight/targets/naze32pro/fw/pios_config.h @@ -37,6 +37,7 @@ #include /* Major features */ +#define STABILIZATION_LQG /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION diff --git a/flight/targets/quanton/fw/Makefile b/flight/targets/quanton/fw/Makefile index 097f8e2644..d8c44dd46d 100644 --- a/flight/targets/quanton/fw/Makefile +++ b/flight/targets/quanton/fw/Makefile @@ -62,9 +62,9 @@ OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += FlightStats OPTMODULES += Storm32Bgc -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry OPTMODULES += Loadable +OPTMODULES += OpenAeroVtol # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/quanton/fw/pios_config.h b/flight/targets/quanton/fw/pios_config.h index 0a4b42da59..c9632e6502 100644 --- a/flight/targets/quanton/fw/pios_config.h +++ b/flight/targets/quanton/fw/pios_config.h @@ -34,7 +34,6 @@ /* Major features */ #define STABILIZATION_LQG - #define OPENAEROVTOL /* Enable/Disable PiOS Modules */ diff --git a/flight/targets/seppuku/fw/Makefile b/flight/targets/seppuku/fw/Makefile index 8d68cbcb42..a161d1d2b4 100644 --- a/flight/targets/seppuku/fw/Makefile +++ b/flight/targets/seppuku/fw/Makefile @@ -64,10 +64,11 @@ OPTMODULES += FlightStats OPTMODULES += Storm32Bgc OPTMODULES += VTXConfig OPTMODULES += OnScreenDisplay -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry OPTMODULES += Loadable OPTMODULES += Fault +OPTMODULES += OpenAeroVtol +OPTMODULES += Triflight # Paths OPUAVOBJINC = $(OPUAVOBJ)/inc diff --git a/flight/targets/seppuku/fw/pios_config.h b/flight/targets/seppuku/fw/pios_config.h index 18b8edd08d..e63d82d173 100644 --- a/flight/targets/seppuku/fw/pios_config.h +++ b/flight/targets/seppuku/fw/pios_config.h @@ -38,8 +38,8 @@ /* Major features */ #define STABILIZATION_LQG - #define OPENAEROVTOL +#define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_I2C diff --git a/flight/targets/sparky/fw/Makefile b/flight/targets/sparky/fw/Makefile index ed3f4167d6..08c2675e28 100644 --- a/flight/targets/sparky/fw/Makefile +++ b/flight/targets/sparky/fw/Makefile @@ -44,9 +44,9 @@ OPTMODULES += GPS OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID -#OPTMODULES += PathPlanner -#OPTMODULES += VtolPathFollower -#OPTMODULES += FixedWingPathFollower +OPTMODULES += PathPlanner +OPTMODULES += VtolPathFollower +OPTMODULES += FixedWingPathFollower OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge OPTMODULES += UAVOLighttelemetryBridge @@ -59,7 +59,6 @@ OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Geofence OPTMODULES += Logging OPTMODULES += Storm32Bgc -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/sparky/fw/pios_config.h b/flight/targets/sparky/fw/pios_config.h index 56662d4750..c351b5504f 100644 --- a/flight/targets/sparky/fw/pios_config.h +++ b/flight/targets/sparky/fw/pios_config.h @@ -33,8 +33,6 @@ /* Major features */ -#define OPENAEROVTOL - /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION @@ -84,8 +82,6 @@ #define PIOS_INCLUDE_FASTHEAP -#define SPARKY1 - #endif /* PIOS_CONFIG_H */ /** diff --git a/flight/targets/sprf3e/fw/Makefile b/flight/targets/sprf3e/fw/Makefile index 963a64f07e..c4470b0078 100644 --- a/flight/targets/sprf3e/fw/Makefile +++ b/flight/targets/sprf3e/fw/Makefile @@ -44,20 +44,19 @@ OPTMODULES += GPS OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID -#OPTMODULES += PathPlanner -#OPTMODULES += VtolPathFollower -#OPTMODULES += FixedWingPathFollower +OPTMODULES += PathPlanner +OPTMODULES += VtolPathFollower +OPTMODULES += FixedWingPathFollower #OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge #OPTMODULES += UAVOLighttelemetryBridge OPTMODULES += Battery OPTMODULES += ComUsbBridge -#OPTMODULES += Airspeed +OPTMODULES += Airspeed #OPTMODULES += UAVOHoTTBridge OPTMODULES += UAVOFrSKYSensorHubBridge OPTMODULES += UAVOFrSKYSPortBridge OPTMODULES += Logging -OPTMODULES += OpenAeroVtol OPTMODULES += UAVOCrossfireTelemetry # Paths diff --git a/flight/targets/sprf3e/fw/pios_config.h b/flight/targets/sprf3e/fw/pios_config.h index 14efb26a94..7aa00e0c1d 100644 --- a/flight/targets/sprf3e/fw/pios_config.h +++ b/flight/targets/sprf3e/fw/pios_config.h @@ -35,8 +35,6 @@ /* Major features */ #define STABILIZATION_LQG -#define OPENAEROVTOL - /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION #define PIOS_INCLUDE_I2C From 1e080f83f3066c5c8db0668b1d8ca4f17327c39c Mon Sep 17 00:00:00 2001 From: jihlein Date: Wed, 27 Jun 2018 20:06:22 -0600 Subject: [PATCH 05/73] Add Triflight Dynamic Yaw Hover Point --- flight/Modules/Actuator/actuator.c | 11 +----- flight/Modules/Triflight/triflight.c | 39 +++++++++++++++---- flight/Modules/Triflight/triflight.h | 3 +- .../uavobjectdefinition/triflightsettings.xml | 2 + 4 files changed, 36 insertions(+), 19 deletions(-) diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index a617c85d82..24b6a2275a 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -802,7 +802,7 @@ static void post_process_scale_and_commit(float *motor_vect, command.Channel[triflightStatus.RearMotorChannel], dT); - dynamicYaw(&triflightSettings, &triflightStatus); + dynamicYaw(&actuatorSettings, &triflightSettings, &triflightStatus); triTailTuneStep(&actuatorSettings, &flightStatus, @@ -989,15 +989,6 @@ static void actuator_task(void* parameters) MixerSettingsThrottleCurve2Get(curve2); MixerSettingsCurve2SourceGet(&curve2_src); -/* HJI - if (flight_status_updated) { - FlightStatusGet(&flightStatus); - flight_status_updated = false; - } - - if (mixer_settings_updated) { - mixer_settings_updated = false; -HJI */ #ifdef TRIFLIGHT triflight_settings_updated = true; #endif diff --git a/flight/Modules/Triflight/triflight.c b/flight/Modules/Triflight/triflight.c index df9d882969..8b26c1c877 100644 --- a/flight/Modules/Triflight/triflight.c +++ b/flight/Modules/Triflight/triflight.c @@ -429,17 +429,32 @@ float triGetMotorCorrection(ActuatorSettingsData *actuatorSettings, * * */ -#define MIDPOINT (0.5f) - -void dynamicYaw(TriflightSettingsData *triflightSettings, +void dynamicYaw(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, TriflightStatusData *triflightStatus) { + static float range = 0.0f; + static float lowRange = 0.0f; + static float highRange = 0.0f; + float gain; + + if (actuatorSettings->ChannelMax[triflightStatus->RearMotorChannel] != 0 && + actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel] != 0 && + range == 0 && lowRange == 0 && highRange == 0) + { + range = (actuatorSettings->ChannelMax[triflightStatus->RearMotorChannel] - + actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]); + lowRange = (actuatorSettings->ChannelMax[triflightStatus->RearMotorChannel] - + actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]) * triflightSettings->DynamicYawHoverPercent; + highRange = (actuatorSettings->ChannelMax[triflightStatus->RearMotorChannel] - + actuatorSettings->ChannelNeutral[triflightStatus->RearMotorChannel]) - lowRange; + } // Select the yaw gain based on tail motor speed - if (triflightStatus->VirtualTailMotor < MIDPOINT) + if (triflightStatus->VirtualTailMotor < triflightSettings->DynamicYawHoverPercent) { - // Below midpoint, gain is increasing the output. + // Below hoverPoint, gain is increasing the output. // e.g. 1.50 increases the yaw output at min throttle by 150 % (1.5x) // e.g. 2.50 increases the yaw output at min throttle by 250 % (2.5x) @@ -447,16 +462,24 @@ void dynamicYaw(TriflightSettingsData *triflightSettings, } else { - // Above midpoint, gain is decreasing the output. + // Above hoverPoint, gain is decreasing the output. // e.g. 0.75 reduces the yaw output at max throttle by 25 % (0.75x) // e.g. 0.20 reduces the yaw output at max throttle by 80 % (0.2x) gain = 1.0f - triflightSettings->DynamicYawMaxThrottle; } - float distance_from_mid = (triflightStatus->VirtualTailMotor - MIDPOINT); + float distance_from_mid = (triflightStatus->VirtualTailMotor - triflightSettings->DynamicYawHoverPercent) * range; - triflightStatus->DynamicYawGain = (1.0f - distance_from_mid * gain / MIDPOINT); + if (lowRange == 0 || highRange == 0) + triflightStatus->DynamicYawGain = 1.0f; + else + { + if (triflightStatus->VirtualTailMotor < triflightSettings->DynamicYawHoverPercent) + triflightStatus->DynamicYawGain = 1.0f - distance_from_mid * gain / lowRange; + else + triflightStatus->DynamicYawGain = 1.0f - distance_from_mid * gain / highRange; + } } /** diff --git a/flight/Modules/Triflight/triflight.h b/flight/Modules/Triflight/triflight.h index 50d0b9fa16..fcd349b49c 100644 --- a/flight/Modules/Triflight/triflight.h +++ b/flight/Modules/Triflight/triflight.h @@ -81,7 +81,8 @@ void virtualTailMotorStep(ActuatorSettingsData *actuatorSettings, float setpoint, float dT); -void dynamicYaw(TriflightSettingsData *triflightSettings, +void dynamicYaw(ActuatorSettingsData *actuatorSettings, + TriflightSettingsData *triflightSettings, TriflightStatusData *triflightStatus); /** * @} diff --git a/shared/uavobjectdefinition/triflightsettings.xml b/shared/uavobjectdefinition/triflightsettings.xml index 10ee10fb1b..7a0727a45d 100644 --- a/shared/uavobjectdefinition/triflightsettings.xml +++ b/shared/uavobjectdefinition/triflightsettings.xml @@ -10,6 +10,8 @@ + + From 8bf9b1e90feb497aa4df78f9d8c2fcb8fb53d998 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 23 Sep 2017 18:38:08 +0200 Subject: [PATCH 06/73] pios_esctelemetry: Driver to capture DShot telemetry packets. --- flight/PiOS/Common/pios_esctelemetry.c | 244 +++++++++++++++++++++++++ flight/PiOS/inc/pios_esctelemetry.h | 59 ++++++ 2 files changed, 303 insertions(+) create mode 100644 flight/PiOS/Common/pios_esctelemetry.c create mode 100644 flight/PiOS/inc/pios_esctelemetry.h diff --git a/flight/PiOS/Common/pios_esctelemetry.c b/flight/PiOS/Common/pios_esctelemetry.c new file mode 100644 index 0000000000..01fa40a7a1 --- /dev/null +++ b/flight/PiOS/Common/pios_esctelemetry.c @@ -0,0 +1,244 @@ +/** + ****************************************************************************** + * @file pios_esctelemetry.c + * @author dRonin, http://dRonin.org/, Copyright (C) 2017 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_ESCTelemetry PiOS TBS ESC telemetry decoder + * @{ + * @brief Receives and decodes ESC telemetry packages + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include "pios_esctelemetry.h" + +#ifdef PIOS_INCLUDE_ESCTELEMETRY + +#include "pios_crc.h" +#include "pios_com.h" +#include "pios_com_priv.h" + +/* + + KISS ESC telemetry format: + + Byte 0: Temperature + Byte 1: Voltage high byte + Byte 2: Voltage low byte + Byte 3: Current high byte + Byte 4: Current low byte + Byte 5: Consumption high byte + Byte 6: Consumption low byte + Byte 7: Rpm high byte + Byte 8: Rpm low byte + Byte 9: 8-bit CRC + +*/ + +// Internal use. Random number. +#define PIOS_ESCTELEMETRY_MAGIC 0x3e3f4182 + +/** + * @brief TBS ESC telemetry internal state data + */ +struct pios_esctelemetry_dev { + uint32_t magic; + + uintptr_t usart_id; + const struct pios_com_driver *usart_driver; + + uint16_t rx_timer; + uint8_t buf_pos; + uint8_t rx_buf[ESC_TELEMETRY_LENGTH]; + + struct pios_esctelemetry_info telem; + uint8_t telem_available; +}; + +/** + * @brief Validate a driver instance + * @param[in] dev device driver instance pointer + * @retval true on success, false on failure + */ +static bool PIOS_ESCTelemetry_Validate(const struct pios_esctelemetry_dev *dev); +/** + * @brief Serial receive callback + * @param[in] context Driver instance handle + * @param[in] buf Receive buffer + * @param[in] buf_len Number of bytes available + * @param[out] headroom Number of bytes remaining in internal buffer + * @param[out] task_woken Did we awake a task? + * @retval Number of bytes consumed from the buffer + */ +static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, + uint16_t *headroom, bool *task_woken); +/** + * @brief Reset the internal receive buffer state + * @param[in] dev device driver instance pointer + */ +static void PIOS_ESCTelemetry_ResetBuffer(struct pios_esctelemetry_dev *dev); +/** + * @brief Unpack a frame from the internal receive buffer to the channel buffer + * @param[in] dev device driver instance pointer + */ +static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev); +/** + * @brief RTC tick callback + * @param[in] context Driver instance handle + */ +static void PIOS_ESCTelemetry_Supervisor(uintptr_t context); + +static struct pios_esctelemetry_dev *esct_dev; + +static bool PIOS_ESCTelemetry_Validate(const struct pios_esctelemetry_dev *dev) +{ + return dev && dev->magic == PIOS_ESCTELEMETRY_MAGIC; +} + +int PIOS_ESCTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, + uintptr_t usart_id) +{ + if (esct_dev) + return -1; + + esct_dev = PIOS_malloc_no_dma(sizeof(struct pios_esctelemetry_dev)); + + if (!esct_dev) + return -1; + + memset(esct_dev, 0, sizeof(*esct_dev)); + esct_dev->magic = PIOS_ESCTELEMETRY_MAGIC; + + *esctelem_id = (uintptr_t)esct_dev; + esct_dev->usart_id = usart_id; + esct_dev->usart_driver = driver; + + PIOS_ESCTelemetry_ResetBuffer(esct_dev); + + if (!PIOS_RTC_RegisterTickCallback(PIOS_ESCTelemetry_Supervisor, *esctelem_id)) + PIOS_Assert(0); + + (driver->bind_rx_cb)(usart_id, PIOS_ESCTelemetry_Receive, *esctelem_id); + + return 0; +} + +static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, + uint16_t *headroom, bool *task_woken) +{ + struct pios_esctelemetry_dev *dev = (struct pios_esctelemetry_dev *)context; + + if (!PIOS_ESCTelemetry_Validate(dev)) + goto out_fail; + + for (int i = 0; i < buf_len; i++) { + // Ignore any stuff beyond what's expected. + if(dev->buf_pos >= ESC_TELEMETRY_LENGTH) + break; + + dev->rx_buf[dev->buf_pos++] = buf[i]; + + if (dev->buf_pos == ESC_TELEMETRY_LENGTH) { + // Frame complete, decode. + if(PIOS_ESCTelemetry_UnpackFrame(dev)) { + // Unfreeze telemetry driver. + break; + } + } + } + + dev->rx_timer = 0; + + // Keep pumping data. + if(headroom) *headroom = ESC_TELEMETRY_LENGTH; + if(task_woken) *task_woken = false; + return buf_len; + +out_fail: + if(headroom) *headroom = 0; + if(task_woken) *task_woken = false; + return 0; +} + +static void PIOS_ESCTelemetry_ResetBuffer(struct pios_esctelemetry_dev *dev) +{ + dev->buf_pos = 0; +} + +static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev) +{ + PIOS_ESCTelemetry_ResetBuffer(dev); + + uint8_t crc = PIOS_CRC_updateCRC(0, dev->rx_buf, ESC_TELEMETRY_LENGTH-1); + + if (crc == dev->rx_buf[ESC_TELEMETRY_LENGTH-1]) { + + dev->telem.temperature = dev->rx_buf[0]; + dev->telem.voltage = (float)(dev->rx_buf[1]<<8 | dev->rx_buf[2]) * 0.01f; + dev->telem.current = (float)(dev->rx_buf[3]<<8 | dev->rx_buf[4]); + dev->telem.mAh = (uint16_t)(dev->rx_buf[5]<<8 | dev->rx_buf[6]); + dev->telem.rpm = (dev->rx_buf[7]<<8 | dev->rx_buf[8]) * 100; + + dev->telem_available = 1; + + } + + return false; +} + +static void PIOS_ESCTelemetry_Supervisor(uintptr_t context) +{ + struct pios_esctelemetry_dev *dev = (struct pios_esctelemetry_dev *)context; + PIOS_Assert(PIOS_ESCTelemetry_Validate(dev)); + + /* ESC telemetry sends 10 bytes with no parity or stop bits at 115200baud. */ + if (++dev->rx_timer > 2) + PIOS_ESCTelemetry_ResetBuffer(dev); +} + +bool PIOS_ESCTelemetry_IsAvailable() +{ + return PIOS_ESCTelemetry_Validate(esct_dev); +} + +bool PIOS_ESCTelemetry_DataAvailable() +{ + if (PIOS_ESCTelemetry_Validate(esct_dev)) { + return esct_dev->telem_available; + } else { + /* Eh, don't blow up anything, if this fails. */ + return false; + } +} + +void PIOS_ESCTelemetry_Get(struct pios_esctelemetry_info *t) +{ + if (PIOS_ESCTelemetry_Validate(esct_dev) && t) { + memcpy(t, &esct_dev->telem, sizeof(*t)); + esct_dev->telem_available = 0; + } +} + +#endif // PIOS_INCLUDE_CROSSFIRE + + /** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_esctelemetry.h b/flight/PiOS/inc/pios_esctelemetry.h new file mode 100644 index 0000000000..85a09d9e80 --- /dev/null +++ b/flight/PiOS/inc/pios_esctelemetry.h @@ -0,0 +1,59 @@ +/** + ****************************************************************************** + * @file pios_esctelemetry.c + * @author dRonin, http://dRonin.org/, Copyright (C) 2017 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_ESCTelemetry PiOS TBS ESC telemetry decoder + * @{ + * @brief Receives and decodes ESC telemetry packages + *****************************************************************************/ +/* + * 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 3 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, see + * + * Additional note on redistribution: The copyright and license notices above + * must be maintained in each individual source file that is a derivative work + * of this source file; otherwise redistribution is prohibited. + */ + +#include "pios.h" + +#ifndef PIOS_ESCTELEMETRY_H +#define PIOS_ESCTELEMETRY_H + +#define ESC_TELEMETRY_LENGTH 10 + +struct pios_esctelemetry_info { + float voltage; + float current; + uint16_t mAh; + uint32_t rpm; + uint8_t temperature; +}; + +int PIOS_ESCTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, + uintptr_t usart_id); + +bool PIOS_ESCTelemetry_IsAvailable(); + +bool PIOS_ESCTelemetry_DataAvailable(); + +void PIOS_ESCTelemetry_Get(struct pios_esctelemetry_info *t); + +#endif // PIOS_ESCTELEMETRY_H + + /** + * @} + * @} + */ From 489a98620745cdc7df0b1218b2f56dd0cccf942c Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 23 Sep 2017 18:38:54 +0200 Subject: [PATCH 07/73] pios_hal: Add DShot telemetry driver. --- flight/PiOS/Common/pios_hal.c | 37 +++++++++++++++++++++++++ flight/PiOS/pios.h | 4 +++ shared/uavobjectdefinition/hwshared.xml | 1 + 3 files changed, 42 insertions(+) diff --git a/flight/PiOS/Common/pios_hal.c b/flight/PiOS/Common/pios_hal.c index 6ba46eef4b..82785c2cd8 100644 --- a/flight/PiOS/Common/pios_hal.c +++ b/flight/PiOS/Common/pios_hal.c @@ -569,6 +569,28 @@ static void PIOS_HAL_ConfigureTbsCrossfire(const struct pios_usart_cfg *usart_cr } #endif // PIOS_INCLUDE_CROSSFIRE +#ifdef PIOS_INCLUDE_ESCTELEMETRY +/** + * @brief Configures a TBS Crossfire receiver + * + * @param[in] usart_crsf_cfg Configuration for the USART for the TBS Crossfire + * @param[in] usart_port_params USART port parameters + * @param[in] usart_com_driver The COM driver for this USART + */ +static void PIOS_HAL_ConfigureESCTelemetry(const struct pios_usart_cfg *usart_crsf_cfg, + struct pios_usart_params *usart_port_params, + const struct pios_com_driver *usart_com_driver) +{ + uintptr_t usart_telem_id; + if (PIOS_USART_Init(&usart_telem_id, usart_crsf_cfg, usart_port_params)) + PIOS_Assert(0); + + uintptr_t telem_id; + if (PIOS_ESCTelemetry_Init(&telem_id, usart_com_driver, usart_telem_id)) + PIOS_Assert(0); +} +#endif // PIOS_INCLUDE_ESCTELEMETRY + /** @brief Configure a [flexi/main/rcvr/etc] port. * * Not all of these parameters will be defined for each port. Caller may pass @@ -955,6 +977,21 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type, } #endif /* PIOS_INCLUDE_CROSSFIRE */ break; + + case HWSHARED_PORTTYPES_DSHOTESCTELEMETRY: +#if defined(PIOS_INCLUDE_ESCTELEMETRY) + if (usart_port_cfg) { + usart_port_params.init.USART_BaudRate = 115200; + usart_port_params.init.USART_WordLength = USART_WordLength_8b; + usart_port_params.init.USART_Parity = USART_Parity_No; + usart_port_params.init.USART_StopBits = USART_StopBits_1; + usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None; + usart_port_params.init.USART_Mode = USART_Mode_Rx; + + PIOS_HAL_ConfigureESCTelemetry(usart_port_cfg, &usart_port_params, com_driver); + } +#endif + break; } /* port_type */ PIOS_HAL_SetTarget(target, port_driver_id); diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index cbc1ce9830..d85852812c 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -177,6 +177,10 @@ #include #endif +#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#include +#endif + #if defined(PIOS_INCLUDE_MAX7456) #include #endif diff --git a/shared/uavobjectdefinition/hwshared.xml b/shared/uavobjectdefinition/hwshared.xml index 682672643f..5f75f7dc64 100644 --- a/shared/uavobjectdefinition/hwshared.xml +++ b/shared/uavobjectdefinition/hwshared.xml @@ -32,6 +32,7 @@ + From f5764061f8708f23bad29ef4ea38d5367cda67c8 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 23 Sep 2017 18:39:31 +0200 Subject: [PATCH 08/73] actuator: Request and process DShot telemetry. --- flight/Modules/Actuator/actuator.c | 111 ++++++++++++++++++ .../uavobjectdefinition/actuatortelemetry.xml | 25 ++++ 2 files changed, 136 insertions(+) create mode 100644 shared/uavobjectdefinition/actuatortelemetry.xml diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 8c332936a9..2637f45f53 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -53,6 +53,12 @@ #include "pios_queue.h" #include "misc_math.h" +#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#include "pios_delay.h" +#include "pios_esctelemetry.h" +#include "actuatortelemetry.h" +#endif + // Private constants #define MAX_QUEUE_SIZE 2 @@ -92,6 +98,31 @@ static volatile bool settings_updated = true; static MixerSettingsMixer1TypeOptions types_mixer[MAX_MIX_ACTUATORS]; +#if defined(PIOS_INCLUDE_ESCTELEMETRY) + +#define ESC_TELEM_CYCLE_uS 200000 /* Poll ESCs every 200ms. */ +#define ESC_TELEM_TIMEOUT_uS 5000 /* Transmission is supposed to take 900us. Timeout at 5ms. */ + +struct telemetry_state { + + uint32_t cycle_start; /* Timestamp of when the current round of requests started. */ + uint32_t req_start; /* Timestamp of ongoing request on single ESC. */ + uint8_t push; /* Flag whether to push the UAVO. */ + uint8_t servo; /* Servo counter. */ + uint8_t active; /* Active servo number. */ + + uint8_t ok; /* Successful response counter, flag. */ + float voltage; /* Accumulated voltages, will be divided by value in 'ok'. */ + float consumed; /* Accumulated reported consumption. */ + + ActuatorTelemetryData telemetry; + +}; + +static struct telemetry_state *tlm; + +#endif + /* In the mixer, a row consists of values for one output actuator. * A column consists of values for scaling one axis's desired command. */ @@ -258,6 +289,12 @@ int32_t ActuatorInitialize() } #endif +#if defined(PIOS_INCLUDE_ESCTELEMETRY) + if (ActuatorTelemetryInitialize() == -1) { + return -1; + } +#endif + return 0; } MODULE_HIPRI_INITCALL(ActuatorInitialize, ActuatorStart); @@ -660,6 +697,80 @@ static void post_process_scale_and_commit(float *motor_vect, ActuatorCommandGet(&command); } +#if defined(PIOS_INCLUDE_ESCTELEMETRY) + if (PIOS_ESCTelemetry_IsAvailable()) { + + /* Process telemetry request stuff before servo settings. */ + + if (!tlm) { + tlm = PIOS_malloc_no_dma(sizeof(*tlm)); + if (!tlm) + PIOS_Assert(0); + + tlm->servo = 0xFF; + tlm->active = 0xFF; + + ActuatorTelemetryGet(&tlm->telemetry); + } + + /* Just cycle naively through all servos. */ + if (tlm->servo >= MAX_MIX_ACTUATORS && PIOS_DELAY_GetuSSince(tlm->cycle_start) > ESC_TELEM_CYCLE_uS) { + tlm->servo = 0; + tlm->ok = 0; + tlm->cycle_start = PIOS_DELAY_GetuS(); + } + + if ((tlm->active == 0xFF) && (tlm->servo < MAX_MIX_ACTUATORS)) { + /* If active servo is 0xFF, no request is active, either because we're starting over, + the servo doesn't exists, or isn't configured to DShot. */ + + tlm->active = tlm->servo; + tlm->servo++; + + tlm->req_start = PIOS_DELAY_GetuS(); + + /* We don't care about ongoing requests, because we shouldn't even be here, if one is. */ + if (PIOS_Servo_RequestTelemetry(tlm->active) < -1) + tlm->active = 0xFF; + + /* If this is the last servo being polled, push the UAVO, once the request finishes. */ + if (tlm->servo >= MAX_MIX_ACTUATORS) + tlm->push = 1; + + } else if (tlm->active < 0xFF) { + if (PIOS_ESCTelemetry_DataAvailable()) { + /* Parse and stick info UAVO. */ + struct pios_esctelemetry_info t; + PIOS_ESCTelemetry_Get(&t); + + tlm->voltage += t.voltage; + tlm->consumed += t.mAh; + tlm->telemetry.Temperature[tlm->active] = t.temperature; + tlm->telemetry.Current[tlm->active] = t.current * 0.01f; + tlm->telemetry.eRPM[tlm->active] = t.rpm; + tlm->ok++; + + tlm->active = 0xFF; + } else if (PIOS_DELAY_GetuSSince(tlm->req_start) > ESC_TELEM_TIMEOUT_uS) { + /* Just hold values on a timeout. */ + tlm->active = 0xFF; + } + } + + if (tlm && tlm->push && tlm->active == 0xFF && tlm->ok) { + tlm->telemetry.Voltage = tlm->voltage / (float)tlm->ok; + /* Only replace the Consumed value in the UAVO, if the readout is larger. + Because timeouts and all that. */ + if (tlm->consumed > tlm->telemetry.Consumed) tlm->telemetry.Consumed = tlm->consumed; + + ActuatorTelemetrySet(&tlm->telemetry); + tlm->push = 0; + tlm->voltage = 0; + tlm->consumed = 0; + } + } +#endif + for (int n = 0; n < MAX_MIX_ACTUATORS; ++n) { PIOS_Servo_Set(n, command.Channel[n]); } diff --git a/shared/uavobjectdefinition/actuatortelemetry.xml b/shared/uavobjectdefinition/actuatortelemetry.xml new file mode 100644 index 0000000000..0af7c6e61e --- /dev/null +++ b/shared/uavobjectdefinition/actuatortelemetry.xml @@ -0,0 +1,25 @@ + + + + Basic actuator telemetry received via servo channels. + + Temperature readout for each telemetry capable ESC. + + + Average voltage over all telemetry capable ESCs. + + + Current usage for each telemetry capable ESC. + + + Total energy consumed from all telemetry capable ESCs. + + + Electrical RPM for each telemetry capable ESC. Values are equivalent to a two pole motor, please convert accordingly (e.g. divide by 7 for your typical miniquad brushless motor.) + + + + + + + \ No newline at end of file From 1a97b9b4e0877f52f858764504ab0542ef33dd1d Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Wed, 3 Jan 2018 19:33:41 +0100 Subject: [PATCH 09/73] pios_servo: Changes. --- flight/PiOS/STM32/pios_servo.c | 29 +++++++++++++++++++++++++++-- flight/PiOS/inc/pios_servo.h | 1 + 2 files changed, 28 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/STM32/pios_servo.c b/flight/PiOS/STM32/pios_servo.c index 3239a829f3..30905bcb98 100644 --- a/flight/PiOS/STM32/pios_servo.c +++ b/flight/PiOS/STM32/pios_servo.c @@ -55,6 +55,7 @@ static const struct pios_servo_cfg *servo_cfg; static uint32_t channel_mask = 0; +static uint32_t telemetry_request = 0; //! The counter rate for the channel, used to calculate compare values. @@ -696,7 +697,7 @@ static int DSHOT_Update() case SYNC_DSHOT_DMA: #if defined(PIOS_INCLUDE_DMASHOT) PIOS_DMAShot_WriteValue(&servo_cfg->channels[i], - info->value); + info->value, telemetry_request & (1 << i)); continue; #endif default: @@ -720,7 +721,7 @@ static int DSHOT_Update() uint16_t message = info->value << 5; /* Set telem bit on commands */ - if ((info->value > 0) && (info->value < 48)) { + if ( ((info->value > 0) && (info->value < 48)) || (telemetry_request & (1 << i)) ) { message |= 16; } @@ -894,6 +895,9 @@ void PIOS_Servo_Update(void) dshot_in_use = false; } } + + /* Clear any ongoing requests. */ + telemetry_request = 0; } /** @@ -974,6 +978,27 @@ static uint32_t max_timer_clock(TIM_TypeDef *timer) return apb_clock * 2; } +/** + * @brief Requests telemetry from a servo. Can only request from one servo at a time. + * @param[in] servo Which servo. + * @retval Zero on success, -1 if there's an ongoing request, -2 is telemetry isn't supported on the servo. + */ +int PIOS_Servo_RequestTelemetry(uint8_t servo) +{ + if (servo >= servo_cfg->num_channels || output_channels[servo].mode < SYNC_DSHOT_300) { + /* Currently only DShot supported. */ + return -2; + } + + if (telemetry_request) { + /* There's already a request going. */ + return -1; + } + + telemetry_request = 1 << servo; + return 0; +} + /* * @} * @} diff --git a/flight/PiOS/inc/pios_servo.h b/flight/PiOS/inc/pios_servo.h index 532fa53e2b..ddaee156fa 100644 --- a/flight/PiOS/inc/pios_servo.h +++ b/flight/PiOS/inc/pios_servo.h @@ -71,6 +71,7 @@ extern void PIOS_Servo_PrepareForReset(); extern void PIOS_Servo_Set(uint8_t servo, float position); extern void PIOS_Servo_Update(void); extern bool PIOS_Servo_IsDshot(uint8_t servo); +extern int PIOS_Servo_RequestTelemetry(uint8_t servo); #endif /* PIOS_SERVO_H */ From 8eccfc1b98520a2b7009ebdf2c8aa73d535e3b8f Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Wed, 3 Jan 2018 19:33:55 +0100 Subject: [PATCH 10/73] pios_dmashot: Telemetry bit option. --- flight/PiOS/STM32F4xx/inc/pios_dmashot.h | 2 +- flight/PiOS/STM32F4xx/pios_dmashot.c | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/flight/PiOS/STM32F4xx/inc/pios_dmashot.h b/flight/PiOS/STM32F4xx/inc/pios_dmashot.h index d214f0130b..89d7dbbe2c 100644 --- a/flight/PiOS/STM32F4xx/inc/pios_dmashot.h +++ b/flight/PiOS/STM32F4xx/inc/pios_dmashot.h @@ -137,7 +137,7 @@ void PIOS_DMAShot_Validate(); * @param[in] throttle The desired throttle value (0-2047). * @retval TRUE on success, FALSE if the channel's not set up for DMA. */ -void PIOS_DMAShot_WriteValue(const struct pios_tim_channel *servo_channel, uint16_t throttle); +void PIOS_DMAShot_WriteValue(const struct pios_tim_channel *servo_channel, uint16_t throttle, bool telem_bit); /** * @brief Triggers the configured DMA channels to fire and send throttle values to the timer DMAR and optional CCRx registers. diff --git a/flight/PiOS/STM32F4xx/pios_dmashot.c b/flight/PiOS/STM32F4xx/pios_dmashot.c index 8ec559eb60..d51bd8654e 100644 --- a/flight/PiOS/STM32F4xx/pios_dmashot.c +++ b/flight/PiOS/STM32F4xx/pios_dmashot.c @@ -140,7 +140,7 @@ static struct servo_timer *PIOS_DMAShot_GetServoTimer(const struct pios_tim_chan return NULL; } -void PIOS_DMAShot_WriteValue(const struct pios_tim_channel *servo_channel, uint16_t throttle) +void PIOS_DMAShot_WriteValue(const struct pios_tim_channel *servo_channel, uint16_t throttle, bool telem_bit) { // Fail hard if trying to write values without configured DMAShot. We shouldn't be getting to // this point in that case. @@ -154,8 +154,6 @@ void PIOS_DMAShot_WriteValue(const struct pios_tim_channel *servo_channel, uint1 int shift = (servo_channel->timer_chan - s_timer->low_channel) >> 2; int channels = PIOS_DMAShot_GetNumChannels(s_timer); - bool telem_bit = false; - /* Set telem bit on commands */ if ((throttle > 0) && (throttle < 48)) { telem_bit = true; From 2de88a8cd7005798718b48c2b283c26aa805d8f8 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Tue, 6 Feb 2018 23:19:57 +0100 Subject: [PATCH 11/73] pios_flight_library: Include pios_esctelemetry.c --- flight/PiOS/pios_flight_library.mk | 1 + 1 file changed, 1 insertion(+) diff --git a/flight/PiOS/pios_flight_library.mk b/flight/PiOS/pios_flight_library.mk index 6bf2dca2fc..f8e5a2dcde 100644 --- a/flight/PiOS/pios_flight_library.mk +++ b/flight/PiOS/pios_flight_library.mk @@ -36,3 +36,4 @@ SRC += pios_reset.c SRC += pios_annunc.c SRC += pios_crossfire.c SRC += pios_i2c.c +SRC += pios_esctelemetry.c \ No newline at end of file From 451f8ed0302846fc38d6ff42d42d7b8b1738554d Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Tue, 6 Feb 2018 23:20:28 +0100 Subject: [PATCH 12/73] seppuku: Enable DShot ESC telemetry on anything that looks like an UART. --- flight/targets/seppuku/fw/pios_config.h | 2 +- shared/uavobjectdefinition/hwseppuku.xml | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/flight/targets/seppuku/fw/pios_config.h b/flight/targets/seppuku/fw/pios_config.h index d85f0f2ae7..00b845b855 100644 --- a/flight/targets/seppuku/fw/pios_config.h +++ b/flight/targets/seppuku/fw/pios_config.h @@ -67,7 +67,7 @@ /* Com systems to include */ #define PIOS_INCLUDE_MAVLINK #define PIOS_INCLUDE_LIGHTTELEMETRY - +#define PIOS_INCLUDE_ESCTELEMETRY /* Supported receiver interfaces */ #define PIOS_INCLUDE_PWM diff --git a/shared/uavobjectdefinition/hwseppuku.xml b/shared/uavobjectdefinition/hwseppuku.xml index ce3e940c15..b591949375 100644 --- a/shared/uavobjectdefinition/hwseppuku.xml +++ b/shared/uavobjectdefinition/hwseppuku.xml @@ -18,6 +18,7 @@ + @@ -46,6 +47,7 @@ + @@ -74,6 +76,7 @@ + @@ -103,6 +106,7 @@ + @@ -138,6 +142,7 @@ + From a20430985d9f95dedbf6b55f8598e5445ab09a60 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 24 Feb 2018 01:05:12 +0100 Subject: [PATCH 13/73] actuator: Change telemetry polling speed, and some units. --- flight/Modules/Actuator/actuator.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 2637f45f53..adcd0683cd 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -100,7 +100,7 @@ static MixerSettingsMixer1TypeOptions types_mixer[MAX_MIX_ACTUATORS]; #if defined(PIOS_INCLUDE_ESCTELEMETRY) -#define ESC_TELEM_CYCLE_uS 200000 /* Poll ESCs every 200ms. */ +#define ESC_TELEM_CYCLE_uS 100000 /* Poll ESCs every 200ms. */ #define ESC_TELEM_TIMEOUT_uS 5000 /* Transmission is supposed to take 900us. Timeout at 5ms. */ struct telemetry_state { @@ -743,11 +743,11 @@ static void post_process_scale_and_commit(float *motor_vect, struct pios_esctelemetry_info t; PIOS_ESCTelemetry_Get(&t); - tlm->voltage += t.voltage; + tlm->voltage += (uint16_t)(t.voltage * 1000); tlm->consumed += t.mAh; tlm->telemetry.Temperature[tlm->active] = t.temperature; - tlm->telemetry.Current[tlm->active] = t.current * 0.01f; - tlm->telemetry.eRPM[tlm->active] = t.rpm; + tlm->telemetry.Current[tlm->active] = (uint16_t)(t.current*100); + tlm->telemetry.eRPM[tlm->active] = (uint16_t)t.rpm; tlm->ok++; tlm->active = 0xFF; @@ -758,7 +758,7 @@ static void post_process_scale_and_commit(float *motor_vect, } if (tlm && tlm->push && tlm->active == 0xFF && tlm->ok) { - tlm->telemetry.Voltage = tlm->voltage / (float)tlm->ok; + tlm->telemetry.Voltage = tlm->voltage / tlm->ok; /* Only replace the Consumed value in the UAVO, if the readout is larger. Because timeouts and all that. */ if (tlm->consumed > tlm->telemetry.Consumed) tlm->telemetry.Consumed = tlm->consumed; From 3f31bbf8ee217dcdf2f4518fab63df8036c7c669 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 24 Feb 2018 01:05:30 +0100 Subject: [PATCH 14/73] actuatortelemetry: Change datatypes to reduce UAVO size. --- shared/uavobjectdefinition/actuatortelemetry.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/shared/uavobjectdefinition/actuatortelemetry.xml b/shared/uavobjectdefinition/actuatortelemetry.xml index 0af7c6e61e..6fffe44341 100644 --- a/shared/uavobjectdefinition/actuatortelemetry.xml +++ b/shared/uavobjectdefinition/actuatortelemetry.xml @@ -5,17 +5,17 @@ Temperature readout for each telemetry capable ESC. - + Average voltage over all telemetry capable ESCs. - + Current usage for each telemetry capable ESC. Total energy consumed from all telemetry capable ESCs. - - Electrical RPM for each telemetry capable ESC. Values are equivalent to a two pole motor, please convert accordingly (e.g. divide by 7 for your typical miniquad brushless motor.) + + Electrical RPM, in units of 100, for each telemetry capable ESC. Values are equivalent to a two pole motor, please convert accordingly (e.g. divide by 7 for your typical miniquad brushless motor.) From 778754c090709085d820945c3eb3e0ed79e8306b Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 24 Feb 2018 01:05:58 +0100 Subject: [PATCH 15/73] pios_esctelemetry: Change current to A, eRPM to x100. --- flight/PiOS/Common/pios_esctelemetry.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/Common/pios_esctelemetry.c b/flight/PiOS/Common/pios_esctelemetry.c index 01fa40a7a1..a2c89c2ceb 100644 --- a/flight/PiOS/Common/pios_esctelemetry.c +++ b/flight/PiOS/Common/pios_esctelemetry.c @@ -192,9 +192,9 @@ static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev) dev->telem.temperature = dev->rx_buf[0]; dev->telem.voltage = (float)(dev->rx_buf[1]<<8 | dev->rx_buf[2]) * 0.01f; - dev->telem.current = (float)(dev->rx_buf[3]<<8 | dev->rx_buf[4]); + dev->telem.current = (float)(dev->rx_buf[3]<<8 | dev->rx_buf[4]) * 0.01f; dev->telem.mAh = (uint16_t)(dev->rx_buf[5]<<8 | dev->rx_buf[6]); - dev->telem.rpm = (dev->rx_buf[7]<<8 | dev->rx_buf[8]) * 100; + dev->telem.rpm = (dev->rx_buf[7]<<8 | dev->rx_buf[8]); dev->telem_available = 1; From a83dfd350699630a818c3008ea0573b6ea3cc2d0 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Sat, 24 Feb 2018 01:06:15 +0100 Subject: [PATCH 16/73] pios_servo: Telemetry servo request field to volatile. --- flight/PiOS/STM32/pios_servo.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/STM32/pios_servo.c b/flight/PiOS/STM32/pios_servo.c index 30905bcb98..7e8c015b80 100644 --- a/flight/PiOS/STM32/pios_servo.c +++ b/flight/PiOS/STM32/pios_servo.c @@ -55,7 +55,7 @@ static const struct pios_servo_cfg *servo_cfg; static uint32_t channel_mask = 0; -static uint32_t telemetry_request = 0; +static volatile uint32_t telemetry_request = 0; //! The counter rate for the channel, used to calculate compare values. From a0414cbaaaaf6c831b01269d707e24dc98493736 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Tue, 10 Jul 2018 17:16:17 +0200 Subject: [PATCH 17/73] pios_dshottelemetry,actuator: Renamed *ESCTelemetry to *DShotTelemetry. Applied requested changes. Fixup comments. --- flight/Modules/Actuator/actuator.c | 34 +++--- ...s_esctelemetry.c => pios_dshottelemetry.c} | 104 +++++++++--------- flight/PiOS/Common/pios_hal.c | 52 ++++----- flight/PiOS/STM32/pios_servo.c | 10 +- ...s_esctelemetry.h => pios_dshottelemetry.h} | 16 +-- flight/PiOS/inc/pios_servo.h | 28 +++-- flight/PiOS/pios.h | 4 +- flight/PiOS/pios_flight_library.mk | 2 +- flight/targets/seppuku/fw/pios_config.h | 2 +- .../uavobjectdefinition/actuatortelemetry.xml | 2 +- 10 files changed, 130 insertions(+), 124 deletions(-) rename flight/PiOS/Common/{pios_esctelemetry.c => pios_dshottelemetry.c} (55%) rename flight/PiOS/inc/{pios_esctelemetry.h => pios_dshottelemetry.h} (80%) diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index adcd0683cd..c5fe566dfa 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -53,9 +53,9 @@ #include "pios_queue.h" #include "misc_math.h" -#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) #include "pios_delay.h" -#include "pios_esctelemetry.h" +#include "pios_dshottelemetry.h" #include "actuatortelemetry.h" #endif @@ -98,9 +98,9 @@ static volatile bool settings_updated = true; static MixerSettingsMixer1TypeOptions types_mixer[MAX_MIX_ACTUATORS]; -#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) -#define ESC_TELEM_CYCLE_uS 100000 /* Poll ESCs every 200ms. */ +#define ESC_TELEM_CYCLE_uS 100000 /* Poll ESCs every 100ms. */ #define ESC_TELEM_TIMEOUT_uS 5000 /* Transmission is supposed to take 900us. Timeout at 5ms. */ struct telemetry_state { @@ -289,7 +289,7 @@ int32_t ActuatorInitialize() } #endif -#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) if (ActuatorTelemetryInitialize() == -1) { return -1; } @@ -697,15 +697,13 @@ static void post_process_scale_and_commit(float *motor_vect, ActuatorCommandGet(&command); } -#if defined(PIOS_INCLUDE_ESCTELEMETRY) - if (PIOS_ESCTelemetry_IsAvailable()) { +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) + if (PIOS_DShotTelemetry_IsAvailable()) { /* Process telemetry request stuff before servo settings. */ - if (!tlm) { tlm = PIOS_malloc_no_dma(sizeof(*tlm)); - if (!tlm) - PIOS_Assert(0); + PIOS_Assert(tlm); tlm->servo = 0xFF; tlm->active = 0xFF; @@ -729,8 +727,8 @@ static void post_process_scale_and_commit(float *motor_vect, tlm->req_start = PIOS_DELAY_GetuS(); - /* We don't care about ongoing requests, because we shouldn't even be here, if one is. */ - if (PIOS_Servo_RequestTelemetry(tlm->active) < -1) + /* If the servo isn't busy or OK, it doesn't do telemetry in any supported way. Go to next. */ + if (PIOS_Servo_RequestTelemetry(tlm->active) < TELEM_BUSY) tlm->active = 0xFF; /* If this is the last servo being polled, push the UAVO, once the request finishes. */ @@ -738,15 +736,15 @@ static void post_process_scale_and_commit(float *motor_vect, tlm->push = 1; } else if (tlm->active < 0xFF) { - if (PIOS_ESCTelemetry_DataAvailable()) { + if (PIOS_DShotTelemetry_DataAvailable()) { /* Parse and stick info UAVO. */ - struct pios_esctelemetry_info t; - PIOS_ESCTelemetry_Get(&t); + struct pios_dshottelemetry_info t; + PIOS_DShotTelemetry_Get(&t); - tlm->voltage += (uint16_t)(t.voltage * 1000); + tlm->voltage += (uint16_t)(t.voltage * 1000.0f); tlm->consumed += t.mAh; tlm->telemetry.Temperature[tlm->active] = t.temperature; - tlm->telemetry.Current[tlm->active] = (uint16_t)(t.current*100); + tlm->telemetry.Current[tlm->active] = (uint16_t)(t.current*100.0f); tlm->telemetry.eRPM[tlm->active] = (uint16_t)t.rpm; tlm->ok++; @@ -899,7 +897,7 @@ static void actuator_task(void* parameters) uint32_t last_systime = PIOS_Thread_Systime(); float desired_vect[MIXERSETTINGS_MIXER1VECTOR_NUMELEM] = { 0 }; float dT = 0.0f; - + float maxpoweradd_bucket = 0.0f; bool prev_armed = false; diff --git a/flight/PiOS/Common/pios_esctelemetry.c b/flight/PiOS/Common/pios_dshottelemetry.c similarity index 55% rename from flight/PiOS/Common/pios_esctelemetry.c rename to flight/PiOS/Common/pios_dshottelemetry.c index a2c89c2ceb..48768fe3b6 100644 --- a/flight/PiOS/Common/pios_esctelemetry.c +++ b/flight/PiOS/Common/pios_dshottelemetry.c @@ -1,12 +1,12 @@ /** ****************************************************************************** - * @file pios_esctelemetry.c + * @file pios_dshottelemetry.c * @author dRonin, http://dRonin.org/, Copyright (C) 2017 * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * @addtogroup PIOS_ESCTelemetry PiOS TBS ESC telemetry decoder + * @addtogroup PIOS_DShotTelemetry PiOS DShot ESC telemetry decoder * @{ - * @brief Receives and decodes ESC telemetry packages + * @brief Receives and decodes DShot ESC telemetry packages *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -27,9 +27,9 @@ * of this source file; otherwise redistribution is prohibited. */ -#include "pios_esctelemetry.h" +#include "pios_dshottelemetry.h" -#ifdef PIOS_INCLUDE_ESCTELEMETRY +#ifdef PIOS_INCLUDE_DSHOTTELEMETRY #include "pios_crc.h" #include "pios_com.h" @@ -53,12 +53,12 @@ */ // Internal use. Random number. -#define PIOS_ESCTELEMETRY_MAGIC 0x3e3f4182 +#define PIOS_DSHOTTELEMETRY_MAGIC 0x3e3f4182 /** * @brief TBS ESC telemetry internal state data */ -struct pios_esctelemetry_dev { +struct pios_dshottelemetry_dev { uint32_t magic; uintptr_t usart_id; @@ -66,9 +66,9 @@ struct pios_esctelemetry_dev { uint16_t rx_timer; uint8_t buf_pos; - uint8_t rx_buf[ESC_TELEMETRY_LENGTH]; + uint8_t rx_buf[DSHOT_TELEMETRY_LENGTH]; - struct pios_esctelemetry_info telem; + struct pios_dshottelemetry_info telem; uint8_t telem_available; }; @@ -77,7 +77,7 @@ struct pios_esctelemetry_dev { * @param[in] dev device driver instance pointer * @retval true on success, false on failure */ -static bool PIOS_ESCTelemetry_Validate(const struct pios_esctelemetry_dev *dev); +static bool PIOS_DShotTelemetry_Validate(const struct pios_dshottelemetry_dev *dev); /** * @brief Serial receive callback * @param[in] context Driver instance handle @@ -87,77 +87,77 @@ static bool PIOS_ESCTelemetry_Validate(const struct pios_esctelemetry_dev *dev); * @param[out] task_woken Did we awake a task? * @retval Number of bytes consumed from the buffer */ -static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, +static uint16_t PIOS_DShotTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken); /** * @brief Reset the internal receive buffer state * @param[in] dev device driver instance pointer */ -static void PIOS_ESCTelemetry_ResetBuffer(struct pios_esctelemetry_dev *dev); +static void PIOS_DShotTelemetry_ResetBuffer(struct pios_dshottelemetry_dev *dev); /** * @brief Unpack a frame from the internal receive buffer to the channel buffer * @param[in] dev device driver instance pointer */ -static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev); +static bool PIOS_DShotTelemetry_UnpackFrame(struct pios_dshottelemetry_dev *dev); /** * @brief RTC tick callback * @param[in] context Driver instance handle */ -static void PIOS_ESCTelemetry_Supervisor(uintptr_t context); +static void PIOS_DShotTelemetry_Supervisor(uintptr_t context); -static struct pios_esctelemetry_dev *esct_dev; +static struct pios_dshottelemetry_dev *esct_dev; -static bool PIOS_ESCTelemetry_Validate(const struct pios_esctelemetry_dev *dev) +static bool PIOS_DShotTelemetry_Validate(const struct pios_dshottelemetry_dev *dev) { - return dev && dev->magic == PIOS_ESCTELEMETRY_MAGIC; + return dev && dev->magic == PIOS_DSHOTTELEMETRY_MAGIC; } -int PIOS_ESCTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, +int PIOS_DShotTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, uintptr_t usart_id) { if (esct_dev) return -1; - esct_dev = PIOS_malloc_no_dma(sizeof(struct pios_esctelemetry_dev)); + esct_dev = PIOS_malloc_no_dma(sizeof(struct pios_dshottelemetry_dev)); if (!esct_dev) return -1; memset(esct_dev, 0, sizeof(*esct_dev)); - esct_dev->magic = PIOS_ESCTELEMETRY_MAGIC; + esct_dev->magic = PIOS_DSHOTTELEMETRY_MAGIC; *esctelem_id = (uintptr_t)esct_dev; esct_dev->usart_id = usart_id; esct_dev->usart_driver = driver; - PIOS_ESCTelemetry_ResetBuffer(esct_dev); + PIOS_DShotTelemetry_ResetBuffer(esct_dev); - if (!PIOS_RTC_RegisterTickCallback(PIOS_ESCTelemetry_Supervisor, *esctelem_id)) + if (!PIOS_RTC_RegisterTickCallback(PIOS_DShotTelemetry_Supervisor, *esctelem_id)) PIOS_Assert(0); - (driver->bind_rx_cb)(usart_id, PIOS_ESCTelemetry_Receive, *esctelem_id); + (driver->bind_rx_cb)(usart_id, PIOS_DShotTelemetry_Receive, *esctelem_id); return 0; } -static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, +static uint16_t PIOS_DShotTelemetry_Receive(uintptr_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken) { - struct pios_esctelemetry_dev *dev = (struct pios_esctelemetry_dev *)context; + struct pios_dshottelemetry_dev *dev = (struct pios_dshottelemetry_dev *)context; - if (!PIOS_ESCTelemetry_Validate(dev)) + if (!PIOS_DShotTelemetry_Validate(dev)) goto out_fail; for (int i = 0; i < buf_len; i++) { // Ignore any stuff beyond what's expected. - if(dev->buf_pos >= ESC_TELEMETRY_LENGTH) + if(dev->buf_pos >= DSHOT_TELEMETRY_LENGTH) break; dev->rx_buf[dev->buf_pos++] = buf[i]; - if (dev->buf_pos == ESC_TELEMETRY_LENGTH) { + if (dev->buf_pos == DSHOT_TELEMETRY_LENGTH) { // Frame complete, decode. - if(PIOS_ESCTelemetry_UnpackFrame(dev)) { + if(PIOS_DShotTelemetry_UnpackFrame(dev)) { // Unfreeze telemetry driver. break; } @@ -167,8 +167,10 @@ static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint1 dev->rx_timer = 0; // Keep pumping data. - if(headroom) *headroom = ESC_TELEMETRY_LENGTH; - if(task_woken) *task_woken = false; + if(headroom) + *headroom = DSHOT_TELEMETRY_LENGTH; + if(task_woken) + *task_woken = false; return buf_len; out_fail: @@ -177,24 +179,24 @@ static uint16_t PIOS_ESCTelemetry_Receive(uintptr_t context, uint8_t *buf, uint1 return 0; } -static void PIOS_ESCTelemetry_ResetBuffer(struct pios_esctelemetry_dev *dev) +static void PIOS_DShotTelemetry_ResetBuffer(struct pios_dshottelemetry_dev *dev) { dev->buf_pos = 0; } -static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev) +static bool PIOS_DShotTelemetry_UnpackFrame(struct pios_dshottelemetry_dev *dev) { - PIOS_ESCTelemetry_ResetBuffer(dev); + PIOS_DShotTelemetry_ResetBuffer(dev); - uint8_t crc = PIOS_CRC_updateCRC(0, dev->rx_buf, ESC_TELEMETRY_LENGTH-1); + uint8_t crc = PIOS_CRC_updateCRC(0, dev->rx_buf, DSHOT_TELEMETRY_LENGTH-1); - if (crc == dev->rx_buf[ESC_TELEMETRY_LENGTH-1]) { + if (crc == dev->rx_buf[DSHOT_TELEMETRY_LENGTH-1]) { dev->telem.temperature = dev->rx_buf[0]; - dev->telem.voltage = (float)(dev->rx_buf[1]<<8 | dev->rx_buf[2]) * 0.01f; - dev->telem.current = (float)(dev->rx_buf[3]<<8 | dev->rx_buf[4]) * 0.01f; - dev->telem.mAh = (uint16_t)(dev->rx_buf[5]<<8 | dev->rx_buf[6]); - dev->telem.rpm = (dev->rx_buf[7]<<8 | dev->rx_buf[8]); + dev->telem.voltage = (float)(dev->rx_buf[1] << 8 | dev->rx_buf[2]) * 0.01f; + dev->telem.current = (float)(dev->rx_buf[3] << 8 | dev->rx_buf[4]) * 0.01f; + dev->telem.mAh = (uint16_t)(dev->rx_buf[5] << 8 | dev->rx_buf[6]); + dev->telem.rpm = (dev->rx_buf[7] << 8 | dev->rx_buf[8]); dev->telem_available = 1; @@ -203,24 +205,24 @@ static bool PIOS_ESCTelemetry_UnpackFrame(struct pios_esctelemetry_dev *dev) return false; } -static void PIOS_ESCTelemetry_Supervisor(uintptr_t context) +static void PIOS_DShotTelemetry_Supervisor(uintptr_t context) { - struct pios_esctelemetry_dev *dev = (struct pios_esctelemetry_dev *)context; - PIOS_Assert(PIOS_ESCTelemetry_Validate(dev)); + struct pios_dshottelemetry_dev *dev = (struct pios_dshottelemetry_dev *)context; + PIOS_Assert(PIOS_DShotTelemetry_Validate(dev)); /* ESC telemetry sends 10 bytes with no parity or stop bits at 115200baud. */ if (++dev->rx_timer > 2) - PIOS_ESCTelemetry_ResetBuffer(dev); + PIOS_DShotTelemetry_ResetBuffer(dev); } -bool PIOS_ESCTelemetry_IsAvailable() +bool PIOS_DShotTelemetry_IsAvailable() { - return PIOS_ESCTelemetry_Validate(esct_dev); + return PIOS_DShotTelemetry_Validate(esct_dev); } -bool PIOS_ESCTelemetry_DataAvailable() +bool PIOS_DShotTelemetry_DataAvailable() { - if (PIOS_ESCTelemetry_Validate(esct_dev)) { + if (PIOS_DShotTelemetry_Validate(esct_dev)) { return esct_dev->telem_available; } else { /* Eh, don't blow up anything, if this fails. */ @@ -228,15 +230,15 @@ bool PIOS_ESCTelemetry_DataAvailable() } } -void PIOS_ESCTelemetry_Get(struct pios_esctelemetry_info *t) +void PIOS_DShotTelemetry_Get(struct pios_dshottelemetry_info *t) { - if (PIOS_ESCTelemetry_Validate(esct_dev) && t) { + if (PIOS_DShotTelemetry_Validate(esct_dev) && t) { memcpy(t, &esct_dev->telem, sizeof(*t)); esct_dev->telem_available = 0; } } -#endif // PIOS_INCLUDE_CROSSFIRE +#endif // PIOS_INCLUDE_DSHOTTELEMETRY /** * @} diff --git a/flight/PiOS/Common/pios_hal.c b/flight/PiOS/Common/pios_hal.c index 82785c2cd8..e258e67dc4 100644 --- a/flight/PiOS/Common/pios_hal.c +++ b/flight/PiOS/Common/pios_hal.c @@ -569,7 +569,7 @@ static void PIOS_HAL_ConfigureTbsCrossfire(const struct pios_usart_cfg *usart_cr } #endif // PIOS_INCLUDE_CROSSFIRE -#ifdef PIOS_INCLUDE_ESCTELEMETRY +#ifdef PIOS_INCLUDE_DSHOTTELEMETRY /** * @brief Configures a TBS Crossfire receiver * @@ -577,7 +577,7 @@ static void PIOS_HAL_ConfigureTbsCrossfire(const struct pios_usart_cfg *usart_cr * @param[in] usart_port_params USART port parameters * @param[in] usart_com_driver The COM driver for this USART */ -static void PIOS_HAL_ConfigureESCTelemetry(const struct pios_usart_cfg *usart_crsf_cfg, +static void PIOS_HAL_ConfigureDShotTelemetry(const struct pios_usart_cfg *usart_crsf_cfg, struct pios_usart_params *usart_port_params, const struct pios_com_driver *usart_com_driver) { @@ -586,10 +586,10 @@ static void PIOS_HAL_ConfigureESCTelemetry(const struct pios_usart_cfg *usart_cr PIOS_Assert(0); uintptr_t telem_id; - if (PIOS_ESCTelemetry_Init(&telem_id, usart_com_driver, usart_telem_id)) + if (PIOS_DShotTelemetry_Init(&telem_id, usart_com_driver, usart_telem_id)) PIOS_Assert(0); } -#endif // PIOS_INCLUDE_ESCTELEMETRY +#endif // PIOS_INCLUDE_DSHOTTELEMETRY /** @brief Configure a [flexi/main/rcvr/etc] port. * @@ -979,7 +979,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type, break; case HWSHARED_PORTTYPES_DSHOTESCTELEMETRY: -#if defined(PIOS_INCLUDE_ESCTELEMETRY) +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) if (usart_port_cfg) { usart_port_params.init.USART_BaudRate = 115200; usart_port_params.init.USART_WordLength = USART_WordLength_8b; @@ -988,7 +988,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type, usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None; usart_port_params.init.USART_Mode = USART_Mode_Rx; - PIOS_HAL_ConfigureESCTelemetry(usart_port_cfg, &usart_port_params, com_driver); + PIOS_HAL_ConfigureDShotTelemetry(usart_port_cfg, &usart_port_params, com_driver); } #endif break; @@ -1202,10 +1202,10 @@ void PIOS_HAL_ConfigureSerialSpeed(uintptr_t com_id, PIOS_Thread_Sleep(BT_COMMAND_DELAY); PIOS_COM_ChangeBaud(com_id, 9600); - PIOS_COM_SendString(com_id,"AT+BAUD8"); + PIOS_COM_SendString(com_id,"AT+BAUD8"); PIOS_Thread_Sleep(BT_COMMAND_DELAY); - PIOS_COM_ChangeBaud(com_id, 115200); + PIOS_COM_ChangeBaud(com_id, 115200); PIOS_COM_SendString(com_id,"AT+NAMEdRonin"); PIOS_Thread_Sleep(BT_COMMAND_DELAY); PIOS_COM_SendString(com_id,"AT+PIN0000"); @@ -1365,15 +1365,15 @@ int PIOS_HAL_ConfigureExternalMag(HwSharedMagOptions mag, * Note: drivers rotate around vehicle Z-axis, this rotates around ?? * This is dubious because both the sensor and vehicle Z-axis point down * in bottom orientation, whereas this is rotating around an upwards vector. */ - enum pios_hmc5883_orientation hmc5883_orientation = - (orientation == HWSHARED_MAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : + enum pios_hmc5883_orientation hmc5883_orientation = + (orientation == HWSHARED_MAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : external_hmc5883_cfg.Default_Orientation; PIOS_HMC5883_SetOrientation(hmc5883_orientation); @@ -1392,15 +1392,15 @@ int PIOS_HAL_ConfigureExternalMag(HwSharedMagOptions mag, * Note: drivers rotate around vehicle Z-axis, this rotates around ?? * This is dubious because both the sensor and vehicle Z-axis point down * in bottom orientation, whereas this is rotating around an upwards vector. */ - enum pios_hmc5983_orientation hmc5983_orientation = - (orientation == HWSHARED_MAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5983_TOP_0DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5983_TOP_90DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5983_TOP_180DEG : - (orientation == HWSHARED_MAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5983_TOP_270DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5983_BOTTOM_0DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5983_BOTTOM_270DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5983_BOTTOM_180DEG : - (orientation == HWSHARED_MAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5983_BOTTOM_90DEG : + enum pios_hmc5983_orientation hmc5983_orientation = + (orientation == HWSHARED_MAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5983_TOP_0DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5983_TOP_90DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5983_TOP_180DEG : + (orientation == HWSHARED_MAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5983_TOP_270DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5983_BOTTOM_0DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5983_BOTTOM_270DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5983_BOTTOM_180DEG : + (orientation == HWSHARED_MAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5983_BOTTOM_90DEG : external_hmc5983_cfg.Orientation; PIOS_HMC5983_SetOrientation(hmc5983_orientation); diff --git a/flight/PiOS/STM32/pios_servo.c b/flight/PiOS/STM32/pios_servo.c index 7e8c015b80..25b5386371 100644 --- a/flight/PiOS/STM32/pios_servo.c +++ b/flight/PiOS/STM32/pios_servo.c @@ -235,7 +235,7 @@ static int BankSetup_DShot(struct timer_bank *bank) static int BankSetup_OneShot(struct timer_bank *bank, int32_t max_tim_clock) { - /* + /* * Ensure a dead time of 2% + 10 us, e.g. 15us for 250us * long pulses, 50 us for 2000us long pulses */ @@ -725,7 +725,7 @@ static int DSHOT_Update() message |= 16; } - message |= + message |= ((message >> 4 ) & 0xf) ^ ((message >> 8 ) & 0xf) ^ ((message >> 12) & 0xf); @@ -987,16 +987,16 @@ int PIOS_Servo_RequestTelemetry(uint8_t servo) { if (servo >= servo_cfg->num_channels || output_channels[servo].mode < SYNC_DSHOT_300) { /* Currently only DShot supported. */ - return -2; + return TELEM_NOT_SUPPORTED; } if (telemetry_request) { /* There's already a request going. */ - return -1; + return TELEM_BUSY; } telemetry_request = 1 << servo; - return 0; + return TELEM_OK; } /* diff --git a/flight/PiOS/inc/pios_esctelemetry.h b/flight/PiOS/inc/pios_dshottelemetry.h similarity index 80% rename from flight/PiOS/inc/pios_esctelemetry.h rename to flight/PiOS/inc/pios_dshottelemetry.h index 85a09d9e80..bb2f8ce220 100644 --- a/flight/PiOS/inc/pios_esctelemetry.h +++ b/flight/PiOS/inc/pios_dshottelemetry.h @@ -29,12 +29,12 @@ #include "pios.h" -#ifndef PIOS_ESCTELEMETRY_H -#define PIOS_ESCTELEMETRY_H +#ifndef PIOS_DSHOTTELEMETRY_H +#define PIOS_DSHOTTELEMETRY_H -#define ESC_TELEMETRY_LENGTH 10 +#define DSHOT_TELEMETRY_LENGTH 10 -struct pios_esctelemetry_info { +struct pios_dshottelemetry_info { float voltage; float current; uint16_t mAh; @@ -42,14 +42,14 @@ struct pios_esctelemetry_info { uint8_t temperature; }; -int PIOS_ESCTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, +int PIOS_DShotTelemetry_Init(uintptr_t *esctelem_id, const struct pios_com_driver *driver, uintptr_t usart_id); -bool PIOS_ESCTelemetry_IsAvailable(); +bool PIOS_DShotTelemetry_IsAvailable(); -bool PIOS_ESCTelemetry_DataAvailable(); +bool PIOS_DShotTelemetry_DataAvailable(); -void PIOS_ESCTelemetry_Get(struct pios_esctelemetry_info *t); +void PIOS_DShotTelemetry_Get(struct pios_dshottelemetry_info *t); #endif // PIOS_ESCTELEMETRY_H diff --git a/flight/PiOS/inc/pios_servo.h b/flight/PiOS/inc/pios_servo.h index ddaee156fa..fc1c005fa1 100644 --- a/flight/PiOS/inc/pios_servo.h +++ b/flight/PiOS/inc/pios_servo.h @@ -5,25 +5,25 @@ * @addtogroup PIOS_SERVO RC Servo Functions * @{ * - * @file pios_servo.h + * @file pios_servo.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author Tau Labs, http://taulabs.org, Copyright (C) 2015 * @brief RC Servo functions header. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * 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 3 of the License, or +/* + * 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 3 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 + * + * 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 + * + * You should have received a copy of the GNU General Public License along * with this program; if not, see */ @@ -44,6 +44,12 @@ enum pios_servo_shot_type { SHOT_DSHOT1200 = 65534 }; +enum pios_servo_telem_status { + TELEM_OK = 0, + TELEM_BUSY = -1, + TELEM_NOT_SUPPORTED = -2 +}; + struct pios_servo_callbacks { int (*set_mode)(const uint16_t *out_rate, const int banks, const uint16_t *channel_max, const uint16_t *channel_min); diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index d85852812c..c8084b1234 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -177,8 +177,8 @@ #include #endif -#if defined(PIOS_INCLUDE_ESCTELEMETRY) -#include +#if defined(PIOS_INCLUDE_DSHOTTELEMETRY) +#include #endif #if defined(PIOS_INCLUDE_MAX7456) diff --git a/flight/PiOS/pios_flight_library.mk b/flight/PiOS/pios_flight_library.mk index f8e5a2dcde..eca5adb469 100644 --- a/flight/PiOS/pios_flight_library.mk +++ b/flight/PiOS/pios_flight_library.mk @@ -36,4 +36,4 @@ SRC += pios_reset.c SRC += pios_annunc.c SRC += pios_crossfire.c SRC += pios_i2c.c -SRC += pios_esctelemetry.c \ No newline at end of file +SRC += pios_dshottelemetry.c \ No newline at end of file diff --git a/flight/targets/seppuku/fw/pios_config.h b/flight/targets/seppuku/fw/pios_config.h index 00b845b855..fa730a41a0 100644 --- a/flight/targets/seppuku/fw/pios_config.h +++ b/flight/targets/seppuku/fw/pios_config.h @@ -67,7 +67,7 @@ /* Com systems to include */ #define PIOS_INCLUDE_MAVLINK #define PIOS_INCLUDE_LIGHTTELEMETRY -#define PIOS_INCLUDE_ESCTELEMETRY +#define PIOS_INCLUDE_DSHOTTELEMETRY /* Supported receiver interfaces */ #define PIOS_INCLUDE_PWM diff --git a/shared/uavobjectdefinition/actuatortelemetry.xml b/shared/uavobjectdefinition/actuatortelemetry.xml index 6fffe44341..435666e789 100644 --- a/shared/uavobjectdefinition/actuatortelemetry.xml +++ b/shared/uavobjectdefinition/actuatortelemetry.xml @@ -22,4 +22,4 @@ - \ No newline at end of file + From 64c62a4523254a44e27790d00c939f135dd64120 Mon Sep 17 00:00:00 2001 From: Mario Goebbels Date: Tue, 10 Jul 2018 18:18:02 +0200 Subject: [PATCH 18/73] battery,gcs: Support "Actuator pins" for V/A to get data from ActuatorTelemetry. --- flight/Modules/Battery/battery.c | 93 ++++++++++++++----- .../src/plugins/config/configmodulewidget.cpp | 9 ++ .../flightbatterysettings.xml | 2 + 3 files changed, 82 insertions(+), 22 deletions(-) diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index bb2397ab0c..44c84b2b6d 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -37,6 +37,7 @@ #include "flightbatterystate.h" #include "flightbatterysettings.h" +#include "actuatortelemetry.h" #include "modulesettings.h" #include "pios_thread.h" @@ -94,6 +95,9 @@ int32_t BatteryInitialize(void) return 0; } #endif + if (ActuatorTelemetryInitialize() == -1) { + return -1; + } if (FlightBatteryStateInitialize() == -1) { module_enabled = true; return -1; @@ -120,6 +124,8 @@ static void batteryTask(void * parameters) FlightBatteryStateGet(&flightBatteryData); + ActuatorTelemetryData *actuator_telem = NULL; + // Main task loop uint32_t lastSysTime; lastSysTime = PIOS_Thread_Systime(); @@ -140,25 +146,46 @@ static void batteryTask(void * parameters) currentADCPin = -1; cells_calculated = false; + + if (voltageADCPin == FLIGHTBATTERYSETTINGS_VOLTAGEPIN_ACTUATOR || currentADCPin == FLIGHTBATTERYSETTINGS_CURRENTPIN_ACTUATOR) { + if (!actuator_telem) { + actuator_telem = PIOS_malloc_no_dma(sizeof(*actuator_telem)); + if (actuator_telem) + memset(actuator_telem, 0, sizeof(*actuator_telem)); + } + } } - bool adc_pin_invalid = false; + bool voltage_adc_pin_invalid = false; + bool current_adc_pin_invalid = false; bool adc_offset_invalid = false; + if (actuator_telem) { + ActuatorTelemetryGet(actuator_telem); + } + // handle voltage if (voltageADCPin >= 0) { - float adc_voltage = (float)PIOS_ADC_GetChannelVolt(voltageADCPin); float scaled_voltage = 0.0f; + if (voltageADCPin == FLIGHTBATTERYSETTINGS_VOLTAGEPIN_ACTUATOR) { + scaled_voltage = actuator_telem ? (float)actuator_telem->Voltage * 0.001f : 0; + if (scaled_voltage > 0) + scaled_voltage += batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_VOLTAGE]; + } else { + float adc_voltage = (float)PIOS_ADC_GetChannelVolt(voltageADCPin); + + // A negative result indicates an error (PIOS_ADC_GetChannelVolt returns negative on error) + if (adc_voltage < 0.0f) { + voltage_adc_pin_invalid = true; + } else { + // scale to actual voltage + scaled_voltage = (adc_voltage * 1000.0f + / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_VOLTAGE]) + + batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_VOLTAGE]; //in Volts + } + } - // A negative result indicates an error (PIOS_ADC_GetChannelVolt returns negative on error) - if(adc_voltage < 0.0f) - adc_pin_invalid = true; - else { - // scale to actual voltage - scaled_voltage = (adc_voltage * 1000.0f - / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_VOLTAGE]) - + batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_VOLTAGE]; //in Volts - + if (!voltage_adc_pin_invalid) { // disallow negative values as these are cast to unsigned integral types // in some telemetry layers if (scaled_voltage < 0.0f) { @@ -203,18 +230,33 @@ static void batteryTask(void * parameters) // handle current if (currentADCPin >= 0) { - float adc_voltage = (float)PIOS_ADC_GetChannelVolt(currentADCPin); float scaled_current = 0.0f; - // A negative result indicates an error (PIOS_ADC_GetChannelVolt returns -1 on error) - if(adc_voltage < 0.0f) - adc_pin_invalid = true; - else { - // scale to actual current - scaled_current = (adc_voltage * 1000.0f - / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_CURRENT]) - + batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_CURRENT]; //in Amps + if (currentADCPin == FLIGHTBATTERYSETTINGS_CURRENTPIN_ACTUATOR) { + if (actuator_telem) { + for (int i = 0; i < ACTUATORTELEMETRY_CURRENT_NUMELEM; i++) { + scaled_current += (float)actuator_telem->Current[i]; + } + /* Scale in UAVO is hundredth of amp. */ + scaled_current *= 0.01f; + if (scaled_current > 0) + scaled_current += batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_CURRENT]; + } + } else { + float adc_voltage = (float)PIOS_ADC_GetChannelVolt(currentADCPin); + // A negative result indicates an error (PIOS_ADC_GetChannelVolt returns -1 on error) + if (adc_voltage < 0.0f) { + current_adc_pin_invalid = true; + } else { + // scale to actual current + scaled_current = (adc_voltage * 1000.0f + / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_CURRENT]) + + batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_CURRENT]; //in Amps + } + } + + if (!current_adc_pin_invalid) { // disallow negative values as these are cast to unsigned integral types // in some telemetry layers if(scaled_current < 0.0f) { @@ -228,7 +270,14 @@ static void batteryTask(void * parameters) if (flightBatteryData.Current > flightBatteryData.PeakCurrent) flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps - flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); //in mAh + if (currentADCPin == FLIGHTBATTERYSETTINGS_CURRENTPIN_ACTUATOR) { + if (actuator_telem) + flightBatteryData.ConsumedEnergy = actuator_telem->Consumed; + else + flightBatteryData.ConsumedEnergy = 0; + } else { + flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); //in mAh + } //Apply a 2 second rise time low-pass filter to average the current float alpha = 1.0f - dT / (dT + 2.0f); @@ -262,7 +311,7 @@ static void batteryTask(void * parameters) flightBatteryData.Current = 0; } - if(adc_pin_invalid) + if(voltage_adc_pin_invalid || current_adc_pin_invalid) AlarmsSet(SYSTEMALARMS_ALARM_ADC, SYSTEMALARMS_ALARM_CRITICAL); else if(adc_offset_invalid) AlarmsSet(SYSTEMALARMS_ALARM_ADC, SYSTEMALARMS_ALARM_WARNING); diff --git a/ground/gcs/src/plugins/config/configmodulewidget.cpp b/ground/gcs/src/plugins/config/configmodulewidget.cpp index 796675e277..a1b7d142e9 100644 --- a/ground/gcs/src/plugins/config/configmodulewidget.cpp +++ b/ground/gcs/src/plugins/config/configmodulewidget.cpp @@ -259,10 +259,19 @@ void ConfigModuleWidget::toggleBatteryMonitoringGb() else ui->gb_measureVoltage->setChecked(false); + bool voltage_settings = ui->cbVoltagePin->currentText().compare("ACTUATOR") != 0; + + ui->sb_voltageRatio->setEnabled(voltage_settings); + ui->sb_voltageFactor->setEnabled(voltage_settings); + if (ui->cbCurrentPin->currentText().compare("NONE") != 0) ui->gb_measureCurrent->setChecked(true); else ui->gb_measureCurrent->setChecked(false); + + bool current_settings = ui->cbCurrentPin->currentText().compare("ACTUATOR") != 0; + + ui->sb_currentOffSet->setEnabled(current_settings); } /** diff --git a/shared/uavobjectdefinition/flightbatterysettings.xml b/shared/uavobjectdefinition/flightbatterysettings.xml index 581afec141..3b402cd420 100644 --- a/shared/uavobjectdefinition/flightbatterysettings.xml +++ b/shared/uavobjectdefinition/flightbatterysettings.xml @@ -18,6 +18,7 @@ + @@ -33,6 +34,7 @@ + From 626e4ff89ced7e054e75cf7ef5574b96c03a4afd Mon Sep 17 00:00:00 2001 From: John Ihlein Date: Tue, 10 Jul 2018 19:15:41 -0600 Subject: [PATCH 19/73] Correct flightd build erros on macos --- flight/Modules/Stabilization/stabilization.c | 2 +- flight/Modules/Triflight/triflight.c | 39 +++++++++++--------- 2 files changed, 23 insertions(+), 18 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 80a044fd80..70d748b246 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -1470,7 +1470,7 @@ static void stabilizationTask(void* parameters) #if defined(STABILIZATION_LQG) /* If there's a LQG controller running, dump the RTKF state for logging. */ if (lqg_in_use && (lqg[0] || lqg[1] || lqg[2])) { - RTKFEstimateData est = { 0 }; + RTKFEstimateData est = { {0} }; if (lqg[0]) { lqg_get_rtkf_state(lqg[0], &est.Rate[RTKFESTIMATE_RATE_ROLL], &est.Torque[RTKFESTIMATE_TORQUE_ROLL], &est.Bias[RTKFESTIMATE_BIAS_ROLL]); diff --git a/flight/Modules/Triflight/triflight.c b/flight/Modules/Triflight/triflight.c index 8b26c1c877..63c459f106 100644 --- a/flight/Modules/Triflight/triflight.c +++ b/flight/Modules/Triflight/triflight.c @@ -570,9 +570,10 @@ typedef enum { } servoSetupCalibState_e; typedef enum { - SS_C_MIN = 0, - SS_C_MID, - SS_C_MAX, + SS_C_S_IDLE = 0, + SS_C_S_MIN, + SS_C_S_MID, + SS_C_S_MAX, } servoSetupCalibSubState_e; typedef struct tailTune_s { @@ -812,14 +813,14 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, if (pSS->cal.state == SS_C_IDLE) { pSS->cal.state = SS_C_CALIB_MIN_MID_MAX; - pSS->cal.subState = SS_C_MIN; + pSS->cal.subState = SS_C_S_MIN; pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; sample_delta = 0; } else if (pSS->cal.state == SS_C_CALIB_SPEED) { pSS->state = SS_IDLE; - pSS->cal.subState = SS_C_IDLE; + pSS->cal.subState = SS_C_S_IDLE; } else { @@ -827,15 +828,15 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, { switch (pSS->cal.subState) { - case SS_C_MIN: + case SS_C_S_MIN: triflightSettings->AdcServoFdbkMin = pSS->cal.avg.result; - pSS->cal.subState = SS_C_MID; + pSS->cal.subState = SS_C_S_MID; pSS->servoVal = actuatorSettings->ChannelNeutral[triflightStatus->ServoChannel]; sample_delta = 0; break; - case SS_C_MID: + case SS_C_S_MID: triflightSettings->AdcServoFdbkMid = pSS->cal.avg.result; if (fabs(triflightSettings->AdcServoFdbkMin - triflightSettings->AdcServoFdbkMid) < 100) @@ -844,27 +845,30 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, // Most likely the feedback signal is not connected. pSS->state = SS_IDLE; - pSS->cal.subState = SS_C_IDLE; + pSS->cal.subState = SS_C_S_IDLE; triflight_blink_string = "0"; // ----- done fail } else { - pSS->cal.subState = SS_C_MAX; + pSS->cal.subState = SS_C_S_MAX; pSS->servoVal = actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; sample_delta = 0; } break; - case SS_C_MAX: + case SS_C_S_MAX: triflightSettings->AdcServoFdbkMax = pSS->cal.avg.result; pSS->cal.state = SS_C_CALIB_SPEED; - pSS->cal.subState = SS_C_MIN; + pSS->cal.subState = SS_C_S_MIN; pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; pSS->cal.waitingServoToStop = false; break; + + case SS_C_S_IDLE: + break; } } } @@ -902,7 +906,7 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, case SS_C_CALIB_SPEED: switch (pSS->cal.subState) { - case SS_C_MIN: + case SS_C_S_MIN: // Wait for the servo to reach min position adc_min_lt_adc_max = triflightSettings->AdcServoFdbkMin < triflightSettings->AdcServoFdbkMax; @@ -939,14 +943,14 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, else if (PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 200000) { pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); - pSS->cal.subState = SS_C_MAX; + pSS->cal.subState = SS_C_S_MAX; pSS->cal.waitingServoToStop = false; pSS->servoVal = actuatorSettings->ChannelMax[triflightStatus->ServoChannel]; } } break; - case SS_C_MAX: + case SS_C_S_MAX: // Wait for the servo to reach max position adc_min_lt_adc_max = triflightSettings->AdcServoFdbkMin < triflightSettings->AdcServoFdbkMax; @@ -963,14 +967,15 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, else if (PIOS_DELAY_GetuSSince(pSS->cal.timestamp_us) >= 200000) { pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); - pSS->cal.subState = SS_C_MIN; + pSS->cal.subState = SS_C_S_MIN; pSS->cal.waitingServoToStop = false; pSS->servoVal = actuatorSettings->ChannelMin[triflightStatus->ServoChannel]; } } break; - case SS_C_MID: + case SS_C_S_IDLE: + case SS_C_S_MID: // Should not come here break; } From e9cb1418746b2a0e07746578203b107e74b193bd Mon Sep 17 00:00:00 2001 From: jihlein Date: Thu, 19 Jul 2018 15:40:48 -0600 Subject: [PATCH 20/73] Add Matek405Ctr target --- flight/targets/matek405ctr/bl/pios_board.c | 99 ++ flight/targets/matek405ctr/bl/pios_config.h | 51 + .../matek405ctr/board-info/board-info.mk | 31 + .../matek405ctr/board-info/board_hw_defs.c | 1306 +++++++++++++++++ .../matek405ctr/board-info/cmsis_system.c | 554 +++++++ .../matek405ctr/board-info/pios_board.h | 234 +++ .../targets/matek405ctr/board-info/usb_conf.h | 326 ++++ flight/targets/matek405ctr/fw/Makefile | 281 ++++ flight/targets/matek405ctr/fw/memory.ld | 10 + flight/targets/matek405ctr/fw/pios_board.c | 474 ++++++ flight/targets/matek405ctr/fw/pios_config.h | 92 ++ flight/targets/matek405ctr/target-defs.mk | 10 + .../src/plugins/boards_matek/Matek.pluginspec | 11 + .../src/plugins/boards_matek/boards_matek.pro | 19 + .../boards_matek/images/matek405ctr.png | Bin 0 -> 311425 bytes ground/gcs/src/plugins/boards_matek/matek.qrc | 5 + .../src/plugins/boards_matek/matek405ctr.cpp | 254 ++++ .../src/plugins/boards_matek/matek405ctr.h | 68 + .../src/plugins/boards_matek/matekplugin.cpp | 61 + .../src/plugins/boards_matek/matekplugin.h | 47 + ground/gcs/src/plugins/plugins.pro | 8 +- shared/uavobjectdefinition/hwmatek405ctr.xml | 214 +++ 22 files changed, 4154 insertions(+), 1 deletion(-) create mode 100644 flight/targets/matek405ctr/bl/pios_board.c create mode 100644 flight/targets/matek405ctr/bl/pios_config.h create mode 100644 flight/targets/matek405ctr/board-info/board-info.mk create mode 100644 flight/targets/matek405ctr/board-info/board_hw_defs.c create mode 100644 flight/targets/matek405ctr/board-info/cmsis_system.c create mode 100644 flight/targets/matek405ctr/board-info/pios_board.h create mode 100644 flight/targets/matek405ctr/board-info/usb_conf.h create mode 100644 flight/targets/matek405ctr/fw/Makefile create mode 100644 flight/targets/matek405ctr/fw/memory.ld create mode 100644 flight/targets/matek405ctr/fw/pios_board.c create mode 100644 flight/targets/matek405ctr/fw/pios_config.h create mode 100644 flight/targets/matek405ctr/target-defs.mk create mode 100644 ground/gcs/src/plugins/boards_matek/Matek.pluginspec create mode 100644 ground/gcs/src/plugins/boards_matek/boards_matek.pro create mode 100644 ground/gcs/src/plugins/boards_matek/images/matek405ctr.png create mode 100644 ground/gcs/src/plugins/boards_matek/matek.qrc create mode 100644 ground/gcs/src/plugins/boards_matek/matek405ctr.cpp create mode 100644 ground/gcs/src/plugins/boards_matek/matek405ctr.h create mode 100644 ground/gcs/src/plugins/boards_matek/matekplugin.cpp create mode 100644 ground/gcs/src/plugins/boards_matek/matekplugin.h create mode 100644 shared/uavobjectdefinition/hwmatek405ctr.xml diff --git a/flight/targets/matek405ctr/bl/pios_board.c b/flight/targets/matek405ctr/bl/pios_board.c new file mode 100644 index 0000000000..dfe75a4f1d --- /dev/null +++ b/flight/targets/matek405ctr/bl/pios_board.c @@ -0,0 +1,99 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/bl/pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @brief Board specific initialization for the bootloader + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ +#include "board_hw_defs.c" + +#include +#include + +uintptr_t pios_com_telem_usb_id; + +void PIOS_Board_Init() { + + /* Delay system */ + PIOS_DELAY_Init(); + + const struct pios_board_info * bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_ANNUNC) + const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_ANNUNC_Init(led_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + + PWR_BackupAccessCmd(ENABLE); + RCC_LSEConfig(RCC_LSE_OFF); + + PIOS_ANNUNC_On(PIOS_LED_HEARTBEAT); + PIOS_ANNUNC_On(PIOS_LED_ALARM); + +#if defined(PIOS_INCLUDE_FLASH) + /* Initialize all flash drivers */ + PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg); + + /* Register the partition table */ + PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table)); +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) + uintptr_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ + + PIOS_USBHOOK_Activate(); + +#endif /* PIOS_INCLUDE_USB */ +} + +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/bl/pios_config.h b/flight/targets/matek405ctr/bl/pios_config.h new file mode 100644 index 0000000000..57b46bc4c9 --- /dev/null +++ b/flight/targets/matek405ctr/bl/pios_config.h @@ -0,0 +1,51 @@ +/** + ****************************************************************************** + * @addtogroup Bootloader Bootloaders + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/bl/pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dRonin.org/, Copyright (C) 2015 + * @brief Board specific bootloader configuration file for PiOS + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_ANNUNC +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_IAP +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_COM_MSG +#define PIOS_INCLUDE_FLASH +#define PIOS_INCLUDE_FLASH_INTERNAL +#define PIOS_INCLUDE_FLASH_JEDEC + +#endif /* PIOS_CONFIG_H */ + +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/board-info/board-info.mk b/flight/targets/matek405ctr/board-info/board-info.mk new file mode 100644 index 0000000000..33a207fea3 --- /dev/null +++ b/flight/targets/matek405ctr/board-info/board-info.mk @@ -0,0 +1,31 @@ +BOARD_TYPE := 0x95 +BOARD_REVISION := 0x01 +BOOTLOADER_VERSION := 0x88 +HW_TYPE := 0x00 + +CHIP := STM32F405RGT6 +BOARD := STM32F405_CTR +MODEL := HD +MODEL_SUFFIX := + +USB_VEND := "Matek" +USB_PROD := "MATEK405CTR" + +# Note: These must match the values in link_$(BOARD)_memory.ld +BL_BANK_BASE := 0x08000000 # Start of bootloader flash +BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region (32kb) + +# Leave the remaining 16KB and 64KB sectors for other uses +FW_BANK_BASE := 0x08020000 # Start of firmware flash (128kb) +FW_BANK_SIZE := 0x00060000 # Should include FW_DESC_SIZE (384kb) + +FW_DESC_SIZE := 0x00000064 + +EE_BANK_BASE := 0x00000000 +EE_BANK_SIZE := 0x00000000 + +EF_BANK_BASE := 0x08000000 # Start of entire flash image (usually start of bootloader as well) +EF_BANK_SIZE := 0x00080000 # Size of the entire flash image (from bootloader until end of firmware) + +OSCILLATOR_FREQ := 8000000 +SYSCLK_FREQ := 168000000 diff --git a/flight/targets/matek405ctr/board-info/board_hw_defs.c b/flight/targets/matek405ctr/board-info/board_hw_defs.c new file mode 100644 index 0000000000..9261af039a --- /dev/null +++ b/flight/targets/matek405ctr/board-info/board_hw_defs.c @@ -0,0 +1,1306 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/board-info/board_hw_defs.c + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 + * @author dRonin, http://dronin.org Copyright (C) 2015 + * @brief Defines board specific static initializers for hardware for the + * MATEK405CTR board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + */ + +#include +#include + +#if defined(PIOS_INCLUDE_ANNUNC) + +#include +static const struct pios_annunc pios_annuncs[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .remap = 0, + .active_high = true, + }, + [PIOS_LED_ALARM] = { + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .remap = 0, + .active_high = true, + }, + [PIOS_ANNUNCIATOR_BUZZER] = { + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .active_high = false, + }, +}; + +static const struct pios_annunc_cfg pios_annunc_cfg = { + .annunciators = pios_annuncs, + .num_annunciators = NELEMENTS(pios_annuncs), +}; + +const struct pios_annunc_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision) +{ + return &pios_annunc_cfg; +} + +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_SPI) +#include + +/* SPI2 Interface + * - Used for OSD + */ + +static const struct pios_spi_cfg pios_spi_osd_cfg = { + .regs = SPI2, + .remap = GPIO_AF_SPI2, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_Low, + .SPI_CPHA = SPI_CPHA_1Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource13, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource14, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource15, + }, + .slave_count = 1, + .ssel = { { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + } }, +}; + +pios_spi_t pios_spi_osd_id; + +/* SPI3 Interface + * - Used for gyro communications + */ + +static const struct pios_spi_cfg pios_spi_gyro_cfg = { + .regs = SPI1, + .remap = GPIO_AF_SPI1, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32, //@ APB2 PCLK1 82MHz / 32 == 2.6MHz + }, + .sclk = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource5, + }, + .miso = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource6, + }, + .mosi = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource7, + }, + .slave_count = 1, + .ssel = { { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + } }, +}; + +pios_spi_t pios_spi_gyro_id; + +#endif /* PIOS_INCLUDE_SPI */ + +#if defined(PIOS_INCLUDE_I2C) + +#include + +void PIOS_I2C_internal_ev_irq_handler(void); +void PIOS_I2C_internal_er_irq_handler(void); + +void I2C1_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_ev_irq_handler"))); +void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_internal_cfg = { + .regs = I2C1, + .remap = GPIO_AF_I2C1, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_ClockSpeed = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource6, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource7, + }, + .event = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +pios_i2c_t pios_i2c_internal_id; +void PIOS_I2C_internal_ev_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_EV_IRQ_Handler(pios_i2c_internal_id); +} + +void PIOS_I2C_internal_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_internal_id); +} + +void PIOS_I2C_external_ev_irq_handler(void); +void PIOS_I2C_external_er_irq_handler(void); + +void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_ev_irq_handler"))); +void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_external_cfg = { + .regs = I2C2, + .remap = GPIO_AF_I2C2, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_ClockSpeed = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource10, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_UP, + }, + .pin_source = GPIO_PinSource11, + }, + .event = { + .flags = 0, /* FIXME: check this */ + . init = { + .NVIC_IRQChannel = I2C2_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +pios_i2c_t pios_i2c_external_id; +void PIOS_I2C_external_ev_irq_handler(void) +{ +/* Call into the generic code to handle the IRQ for this specific device */ +PIOS_I2C_EV_IRQ_Handler(pios_i2c_external_id); +} + +void PIOS_I2C_external_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_external_id); +} + +#endif /* PIOS_INCLUDE_I2C */ + +#if defined(PIOS_INCLUDE_FLASH) +#include "pios_flashfs_logfs_priv.h" + +static const struct flashfs_logfs_cfg flashfs_settings_cfg = { + .fs_magic = 0x3b1b14cf, + .arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */ + .slot_size = 0x00000100, /* 256 bytes */ +}; + +#include "pios_flash_internal_priv.h" + +static const struct pios_flash_internal_cfg flash_internal_cfg = { +}; + +#include "pios_flash_priv.h" + +static const struct pios_flash_sector_range stm32f4_sectors[] = { + { + .base_sector = 0, + .last_sector = 3, + .sector_size = FLASH_SECTOR_16KB, + }, + { + .base_sector = 4, + .last_sector = 4, + .sector_size = FLASH_SECTOR_64KB, + }, + { + .base_sector = 5, + .last_sector = 11, + .sector_size = FLASH_SECTOR_128KB, + }, + +}; + +uintptr_t pios_internal_flash_id; +static const struct pios_flash_chip pios_flash_chip_internal = { + .driver = &pios_internal_flash_driver, + .chip_id = &pios_internal_flash_id, + .page_size = 16, /* 128-bit rows */ + .sector_blocks = stm32f4_sectors, + .num_blocks = NELEMENTS(stm32f4_sectors), +}; + +static const struct pios_flash_partition pios_flash_partition_table[] = { + { + .label = FLASH_PARTITION_LABEL_BL, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 0, + .last_sector = 1, + .chip_offset = 0, // 0x0800 0000 + .size = (1 - 0 + 1) * FLASH_SECTOR_16KB, // 32KB + }, + + { + .label = FLASH_PARTITION_LABEL_SETTINGS, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 2, + .last_sector = 3, + .chip_offset = (2 * FLASH_SECTOR_16KB), // 0x0800 8000 + .size = (3 - 2 + 1) * FLASH_SECTOR_16KB, // 32KB + }, + + /* NOTE: sector 4 of internal flash is currently unallocated */ + + { + .label = FLASH_PARTITION_LABEL_FW, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 5, + .last_sector = 7, + .chip_offset = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB), // 0x0802 0000 + .size = (7 - 5 + 1) * FLASH_SECTOR_128KB, // 384KB + }, + + /* NOTE: sectors 8-9 of the internal flash are currently unallocated */ + + { + .label = FLASH_PARTITION_LABEL_AUTOTUNE, + .chip_desc = &pios_flash_chip_internal, + .first_sector = 10, + .last_sector = 10, + .chip_offset = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB) + (5 * FLASH_SECTOR_128KB), // 0x080C 0000 + .size = (10 - 10 + 1) * FLASH_SECTOR_128KB, // 128KB + }, + + /* Sector 11 is unallocated, but in old bootloaders was allocated to + * waypoints/autotune. + */ +}; + +const struct pios_flash_partition * PIOS_BOARD_HW_DEFS_GetPartitionTable (uint32_t board_revision, uint32_t * num_partitions) +{ + PIOS_Assert(num_partitions); + + *num_partitions = NELEMENTS(pios_flash_partition_table); + return pios_flash_partition_table; +} + +#endif /* PIOS_INCLUDE_FLASH */ + +#if defined(PIOS_INCLUDE_USART) + +#include "pios_usart_priv.h" + +#if defined(PIOS_INCLUDE_DSM) +/* + * Spektrum/JR DSM USART + */ +#include + +static const struct pios_dsm_cfg pios_usart1_dsm_aux_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_usart2_dsm_aux_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_usart3_dsm_aux_cfg = { + .bind = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_usart4_dsm_aux_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +static const struct pios_dsm_cfg pios_usart5_dsm_aux_cfg = { + .bind = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_DSM */ + +static const struct pios_usart_cfg pios_usart1_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource10, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, +}; + +static const struct pios_usart_cfg pios_usart2_cfg = { + .regs = USART2, + .remap = GPIO_AF_USART2, + .irq = { + .init = { + .NVIC_IRQChannel = USART2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource2, + }, +}; + +static const struct pios_usart_cfg pios_usart3_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource11, + }, + .tx = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource10, + }, +}; + +static const struct pios_usart_cfg pios_usart4_cfg = { + .regs = UART4, + .remap = GPIO_AF_UART4, + .irq = { + .init = { + .NVIC_IRQChannel = UART4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, +}; + +static const struct pios_usart_cfg pios_usart5_cfg = { + .regs = UART5, + .remap = GPIO_AF_UART5, + .irq = { + .init = { + .NVIC_IRQChannel = UART5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource2, + }, + .tx = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource12, + }, +}; + +#endif /* PIOS_INCLUDE_USART */ + +#if defined(PIOS_INCLUDE_COM) + +#include "pios_com_priv.h" + +#endif /* PIOS_INCLUDE_COM */ + +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +static const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 MHz HSE by 8 = 1 MHz + // 1 MHz resulting clock is then divided + // by another 16 to give a nominal 62.5 kHz clock + .prescaler = 100, // Every 100 cycles gives 625 Hz + .irq = { + .init = { + .NVIC_IRQChannel = RTC_WKUP_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + +#include "pios_tim_priv.h" + +//Timers used for inputs (5) + +// Set up timers that only have outputs on APB1 +static const TIM_TimeBaseInitTypeDef tim_5_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_5_cfg = { + .timer = TIM5, + .time_base_init = &tim_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +// Timers used for outputs (3,8) + +// Set up timers that only have outputs on APB1 +static const TIM_TimeBaseInitTypeDef tim_2_3_4_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +// Set up timers that only have outputs on APB2 +static const TIM_TimeBaseInitTypeDef tim_1_8_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_8_cfg = { + .timer = TIM8, + .time_base_init = &tim_1_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM8_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +/** + * Pios servo configuration structures + */ + +/* + * Outputs + 1: TIM3_CH1 (PC6) DMA1 Stream 2 Channel 5 + 2: TIM8_CH2 (PC7) DMA2 Stream 1 Channel 7 + 3: TIM8_CH3 (PC8) + 4: TIM8_CH4 (PC9) + */ + + static const struct pios_tim_channel pios_tim_outputs_pins[] = { + { + .timer = TIM3, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_TIM3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource6, + }, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_TIM8, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource7, + }, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_3, + .remap = GPIO_AF_TIM8, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource8, + }, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_TIM8, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource9, + }, + }, +}; + +#if defined(PIOS_INCLUDE_DMASHOT) + +#include + +/* + * Outputs + 1: TIM3_CH1 (PC6) DMA1 Stream 2 Channel 5 + 2: TIM8_CH2 (PC7) DMA2 Stream 1 Channel 7 + 3: TIM8_CH3 (PC8) + 4: TIM8_CH4 (PC9) + */ + + static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = { + { + .timer = TIM3, + .stream = DMA1_Stream2, + .channel = DMA_Channel_5, + .tcif = DMA_FLAG_TCIF2 + }, + { + .timer = TIM8, + .stream = DMA2_Stream1, + .channel = DMA_Channel_7, + .tcif = DMA_FLAG_TCIF1 + }, +}; + +static const struct pios_dmashot_cfg dmashot_config = { + .timer_cfg = &dmashot_tim_cfg[0], + .num_timers = NELEMENTS(dmashot_tim_cfg) +}; + +#endif // defined(PIOS_INCLUDE_DMASHOT) + +#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) +/* + * Servo outputs + */ +#include + +const struct pios_servo_cfg pios_servo_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_outputs_pins, + .num_channels = NELEMENTS(pios_tim_outputs_pins), +}; + +#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ + +/* + * PPM INPUT + 1: TIM5_CH4 (PA3) + */ +static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = { + { + .timer = TIM5, + .timer_chan = TIM_Channel_4, + .remap = GPIO_AF_TIM5, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, + }, +}; + +/* + * PPM Input + */ +#if defined(PIOS_INCLUDE_PPM) +#include + +/* + * PPM Input + */ +const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + .TIM_Channel = TIM_Channel_4, + }, + .channels = &pios_tim_rcvrport_ppm[0], + .num_channels = 1, +}; + +#endif + +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" +#endif /* PIOS_INCLUDE_RCVR */ + +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" + +static const struct pios_usb_cfg pios_usb_main_cfg = { + .irq = { + .init = { + .NVIC_IRQChannel = OTG_FS_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .vsense = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, +}; + +const struct pios_usb_cfg * PIOS_BOARD_HW_DEFS_GetUsbCfg (uint32_t board_revision) +{ + return &pios_usb_main_cfg; +} + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" +#include "pios_usbhook.h" + +#endif /* PIOS_INCLUDE_USB */ + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include + +#endif /* PIOS_INCLUDE_COM_MSG */ + +#if defined(PIOS_INCLUDE_USB_HID) && !defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID && !PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { + .ctrl_if = 0, + .ctrl_tx_ep = 2, + + .data_if = 1, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; + +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 2, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_ADC) +#include "pios_adc_priv.h" +#include "pios_internal_adc_priv.h" + +void PIOS_ADC_DMA_irq_handler(void); +void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler"))); +struct pios_internal_adc_cfg pios_adc_cfg = { + .adc_dev_master = ADC1, + .dma = { + .irq = { + .flags = (DMA_FLAG_TCIF0 | DMA_FLAG_TEIF0 | DMA_FLAG_HTIF0), + .init = { + .NVIC_IRQChannel = DMA2_Stream0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .channel = DMA2_Stream0, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR + }, + } + }, + .half_flag = DMA_IT_HTIF0, + .full_flag = DMA_IT_TCIF0, + .adc_pins = { \ + { GPIOC, GPIO_Pin_4, ADC_Channel_14 }, /* Current */ \ + { GPIOC, GPIO_Pin_5, ADC_Channel_15 }, /* Voltage */ \ + { GPIOB, GPIO_Pin_1, ADC_Channel_9 }, /* RSSI */ \ + }, + .adc_pin_count = 3, +}; + +void PIOS_ADC_DMA_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_INTERNAL_ADC_DMA_Handler(); +} + +#endif /* PIOS_INCLUDE_ADC */ + +/** + * Configuration for driving a WS2811 LED out RX8 + */ + +#if defined(PIOS_INCLUDE_WS2811) +#include "pios_ws2811.h" + +ws2811_dev_t pios_ws2811; + +void DMA2_Stream6_IRQHandler() { + PIOS_WS2811_dma_interrupt_handler(pios_ws2811); +} + +static const struct pios_ws2811_cfg pios_ws2811_cfg = { + .timer = TIM1, + .clock_cfg = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 25, /* 2.083us/bit */ + }, + .interrupt = { + .NVIC_IRQChannel = DMA2_Stream6_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + .bit_clear_dma_tcif = DMA_IT_TCIF6, + .fall_time_l = 5, /* 333ns */ + .fall_time_h = 11, /* 833ns */ + .led_gpio = GPIOA, + .gpio_pin = GPIO_Pin_15, /* PA15 */ + .bit_set_dma_stream = DMA2_Stream4, + .bit_set_dma_channel = DMA_Channel_6, /* 2/S4/C6: TIM1 CH4|TRIG|COM */ + .bit_clear_dma_stream = DMA2_Stream6, + .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */ +}; +#endif + +#if defined(PIOS_INCLUDE_DAC) +#include "pios_dac.h" + +dac_dev_t pios_dac; + +void DMA1_Stream5_IRQHandler() { + PIOS_DAC_dma_interrupt_handler(pios_dac); +} + +typedef struct dac_dev_s *dac_dev_t; + +struct pios_dac_cfg pios_dac_cfg = { + .timer = TIM6, + .clock_cfg = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 600000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 25-1, /* 600000 / 25 = 24000 samples per sec */ + }, + .interrupt = { + .NVIC_IRQChannel = DMA1_Stream5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + .gpio = GPIOA, + .gpio_pin = GPIO_Pin_4, + .dma_stream = DMA1_Stream5, + .dma_channel = DMA_Channel_7, + .dac_channel = DAC_Channel_1, + .dac_trigger = DAC_Trigger_T6_TRGO, + .dac_outreg = (uintptr_t) (&DAC->DHR12L1), + .dma_tcif = DMA_IT_TCIF5, +}; + +#endif /* PIOS_INCLUDE_DAC */ + +/** + * Configuration for the MPU6000 chip + */ +#if defined(PIOS_INCLUDE_MPU) +#include "pios_mpu.h" +static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { + .vector = PIOS_MPU_IRQHandler, + .line = EXTI_Line3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line3, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static struct pios_mpu_cfg pios_mpu_cfg = { + .exti_cfg = &pios_exti_mpu_cfg, + .default_samplerate = 1000, + .orientation = PIOS_MPU_TOP_180DEG +}; +#endif /* PIOS_INCLUDE_MPU */ + +/** + * Configuration for the BMP280 + */ +#ifdef PIOS_INCLUDE_BMP280 +#include "pios_bmp280_priv.h" + +static const struct pios_bmp280_cfg pios_bmp280_cfg = { + .oversampling = BMP280_HIGH_RESOLUTION, +}; +#endif /* PIOS_INCLUDE_BMP280 */ + +#ifdef PIOS_INCLUDE_HMC5883 +#include "pios_hmc5883_priv.h" +static const struct pios_hmc5883_cfg pios_hmc5883_external_cfg = { + .exti_cfg = NULL, + .M_ODR = PIOS_HMC5883_ODR_75, + .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL, + .Gain = PIOS_HMC5883_GAIN_1_9, + .Mode = PIOS_HMC5883_MODE_CONTINUOUS, + .Default_Orientation = PIOS_HMC5883_TOP_0DEG, +}; +#endif + +#ifdef PIOS_INCLUDE_HMC5983_I2C +#include "pios_hmc5983.h" + +static const struct pios_hmc5983_cfg pios_hmc5983_external_cfg = { + .exti_cfg = NULL, + .M_ODR = PIOS_HMC5983_ODR_75, + .Meas_Conf = PIOS_HMC5983_MEASCONF_NORMAL, + .Gain = PIOS_HMC5983_GAIN_1_9, + .Mode = PIOS_HMC5983_MODE_CONTINUOUS, + .Averaging = PIOS_HMC5983_AVERAGING_1, + .Orientation = PIOS_HMC5983_TOP_0DEG, +}; + +#endif +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/board-info/cmsis_system.c b/flight/targets/matek405ctr/board-info/cmsis_system.c new file mode 100644 index 0000000000..27d54672d0 --- /dev/null +++ b/flight/targets/matek405ctr/board-info/cmsis_system.c @@ -0,0 +1,554 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/board-info/cmsis_system.c + * @author MCD Application Team + * @version V1.0.1 + * @date 25-December-2014 + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * This file contains the system clock configuration for STM32F4xx devices, + * and is generated by the clock configuration tool + * stm32f4xx_Clock_Configuration_V1.0.1.xls + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * and Divider factors, AHB/APBx prescalers and Flash settings), + * depending on the configuration made in the clock xls tool. + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f4xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (16 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 25MHz, refer to "HSE_VALUE" define + * in "stm32f4xx.h" file. When HSE is used as system clock source, directly or + * through PLL, and you are using different crystal you have to adapt the HSE + * value to your own configuration. + * + * 5. This file configures the system clock as follows: + *============================================================================= + *============================================================================= + * Supported STM32F4xx device revision | Rev A + *----------------------------------------------------------------------------- + * System Clock source | PLL (HSE) + *----------------------------------------------------------------------------- + * SYSCLK(Hz) | 168000000 + *----------------------------------------------------------------------------- + * HCLK(Hz) | 168000000 + *----------------------------------------------------------------------------- + * AHB Prescaler | 1 + *----------------------------------------------------------------------------- + * APB1 Prescaler | 4 + *----------------------------------------------------------------------------- + * APB2 Prescaler | 2 + *----------------------------------------------------------------------------- + * HSE Frequency(Hz) | 8000000 + *----------------------------------------------------------------------------- + * PLL_M | 8 + *----------------------------------------------------------------------------- + * PLL_N | 336 + *----------------------------------------------------------------------------- + * PLL_P | 2 + *----------------------------------------------------------------------------- + * PLL_Q | 7 + *----------------------------------------------------------------------------- + * PLLI2S_N | NA + *----------------------------------------------------------------------------- + * PLLI2S_R | NA + *----------------------------------------------------------------------------- + * I2S input clock | NA + *----------------------------------------------------------------------------- + * VDD(V) | 3.3 + *----------------------------------------------------------------------------- + * Main regulator output voltage | Scale1 mode + *----------------------------------------------------------------------------- + * Flash Latency(WS) | 5 + *----------------------------------------------------------------------------- + * Prefetch Buffer | OFF + *----------------------------------------------------------------------------- + * Instruction cache | ON + *----------------------------------------------------------------------------- + * Data cache | ON + *----------------------------------------------------------------------------- + * Require 48MHz for USB OTG FS, | Enabled + * SDIO and RNG clock | + *----------------------------------------------------------------------------- + *============================================================================= + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f4xx_system + * @{ + */ + +/** @addtogroup STM32F4xx_System_Private_Includes + * @{ + */ + +#include "stm32f4xx.h" + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Defines + * @{ + */ + +/************************* Miscellaneous Configuration ************************/ +/*!< Uncomment the following line if you need to use external SRAM mounted + on STM324xG_EVAL board as data memory */ +/* #define DATA_IN_ExtSRAM */ + +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +/******************************************************************************/ + +/************************* PLL Parameters *************************************/ +/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */ +#define PLL_M 8 +#define PLL_N 336 + +/* SYSCLK = PLL_VCO / PLL_P */ +#define PLL_P 2 + +/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */ +#define PLL_Q 7 + +/******************************************************************************/ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Variables + * @{ + */ + + uint32_t SystemCoreClock = 168000000; + + __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); +#ifdef DATA_IN_ExtSRAM + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + /* Reset the RCC clock configuration to the default reset state ------------*/ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset CFGR register */ + RCC->CFGR = 0x00000000; + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset PLLCFGR register */ + RCC->PLLCFGR = 0x24003010; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Disable all interrupts */ + RCC->CIR = 0x00000000; + +#ifdef DATA_IN_ExtSRAM + SystemInit_ExtMemCtl(); +#endif /* DATA_IN_ExtSRAM */ + + /* Configure the System clock source, PLL Multiplier and Divider factors, + AHB/APBx prescalers and Flash settings ----------------------------------*/ + SetSysClock(); + + /* Configure the Vector Table location add offset address ------------------*/ +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value + * 16 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value + * 25 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @retval None + */ +void SystemCoreClockUpdate(void) +{ + uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock source */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock source */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock source */ + + /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N + SYSCLK = PLL_VCO / PLL_P + */ + pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; + pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; + + if (pllsource != 0) + { + /* HSE used as PLL clock source */ + pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + else + { + /* HSI used as PLL clock source */ + pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + + pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; + SystemCoreClock = pllvco/pllp; + break; + default: + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK frequency --------------------------------------------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock source, PLL Multiplier and Divider factors, + * AHB/APBx prescalers and Flash settings + * @Note This function should be called only once the RCC clock configuration + * is reset to the default reset state (done in SystemInit() function). + * @retval None + */ +static void SetSysClock(void) +{ +/******************************************************************************/ +/* PLL (clocked by HSE) used as System clock source */ +/******************************************************************************/ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Select regulator voltage output Scale 1 mode, System frequency up to 168 MHz */ + RCC->APB1ENR |= RCC_APB1ENR_PWREN; + PWR->CR |= PWR_CR_VOS; + + /* HCLK = SYSCLK / 1*/ + RCC->CFGR |= RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK / 2*/ + RCC->CFGR |= RCC_CFGR_PPRE2_DIV2; + + /* PCLK1 = HCLK / 4*/ + RCC->CFGR |= RCC_CFGR_PPRE1_DIV4; + + /* Configure the main PLL */ + RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) | + (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24); + + /* Enable the main PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till the main PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0); + + /* Configure Flash prefetch, Instruction cache, Data cache and wait state */ + FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS; + + /* Select the main PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= RCC_CFGR_SW_PLL; + + /* Wait till the main PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL); + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } + +} + +/** + * @brief Setup the external memory controller. Called in startup_stm32f4xx.s + * before jump to __main + * @retval None + */ +#ifdef DATA_IN_ExtSRAM +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f4xx.s before jump to main. + * This function configures the external SRAM mounted on STM324xG_EVAL board + * This SRAM will be used as program data memory (including heap and stack). + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ +/*-- GPIOs Configuration -----------------------------------------------------*/ +/* + +-------------------+--------------------+------------------+------------------+ + + SRAM pins assignment + + +-------------------+--------------------+------------------+------------------+ + | PD0 <-> FSMC_D2 | PE0 <-> FSMC_NBL0 | PF0 <-> FSMC_A0 | PG0 <-> FSMC_A10 | + | PD1 <-> FSMC_D3 | PE1 <-> FSMC_NBL1 | PF1 <-> FSMC_A1 | PG1 <-> FSMC_A11 | + | PD4 <-> FSMC_NOE | PE3 <-> FSMC_A19 | PF2 <-> FSMC_A2 | PG2 <-> FSMC_A12 | + | PD5 <-> FSMC_NWE | PE4 <-> FSMC_A20 | PF3 <-> FSMC_A3 | PG3 <-> FSMC_A13 | + | PD8 <-> FSMC_D13 | PE7 <-> FSMC_D4 | PF4 <-> FSMC_A4 | PG4 <-> FSMC_A14 | + | PD9 <-> FSMC_D14 | PE8 <-> FSMC_D5 | PF5 <-> FSMC_A5 | PG5 <-> FSMC_A15 | + | PD10 <-> FSMC_D15 | PE9 <-> FSMC_D6 | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 | + | PD11 <-> FSMC_A16 | PE10 <-> FSMC_D7 | PF13 <-> FSMC_A7 |------------------+ + | PD12 <-> FSMC_A17 | PE11 <-> FSMC_D8 | PF14 <-> FSMC_A8 | + | PD13 <-> FSMC_A18 | PE12 <-> FSMC_D9 | PF15 <-> FSMC_A9 | + | PD14 <-> FSMC_D0 | PE13 <-> FSMC_D10 |------------------+ + | PD15 <-> FSMC_D1 | PE14 <-> FSMC_D11 | + | | PE15 <-> FSMC_D12 | + +-------------------+--------------------+ +*/ + /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */ + RCC->AHB1ENR = 0x00000078; + + /* Connect PDx pins to FSMC Alternate function */ + GPIOD->AFR[0] = 0x00cc00cc; + GPIOD->AFR[1] = 0xcc0ccccc; + /* Configure PDx pins in Alternate function mode */ + GPIOD->MODER = 0xaaaa0a0a; + /* Configure PDx pins speed to 100 MHz */ + GPIOD->OSPEEDR = 0xffff0f0f; + /* Configure PDx pins Output type to push-pull */ + GPIOD->OTYPER = 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOD->PUPDR = 0x00000000; + + /* Connect PEx pins to FSMC Alternate function */ + GPIOE->AFR[0] = 0xc00cc0cc; + GPIOE->AFR[1] = 0xcccccccc; + /* Configure PEx pins in Alternate function mode */ + GPIOE->MODER = 0xaaaa828a; + /* Configure PEx pins speed to 100 MHz */ + GPIOE->OSPEEDR = 0xffffc3cf; + /* Configure PEx pins Output type to push-pull */ + GPIOE->OTYPER = 0x00000000; + /* No pull-up, pull-down for PEx pins */ + GPIOE->PUPDR = 0x00000000; + + /* Connect PFx pins to FSMC Alternate function */ + GPIOF->AFR[0] = 0x00cccccc; + GPIOF->AFR[1] = 0xcccc0000; + /* Configure PFx pins in Alternate function mode */ + GPIOF->MODER = 0xaa000aaa; + /* Configure PFx pins speed to 100 MHz */ + GPIOF->OSPEEDR = 0xff000fff; + /* Configure PFx pins Output type to push-pull */ + GPIOF->OTYPER = 0x00000000; + /* No pull-up, pull-down for PFx pins */ + GPIOF->PUPDR = 0x00000000; + + /* Connect PGx pins to FSMC Alternate function */ + GPIOG->AFR[0] = 0x00cccccc; + GPIOG->AFR[1] = 0x000000c0; + /* Configure PGx pins in Alternate function mode */ + GPIOG->MODER = 0x00080aaa; + /* Configure PGx pins speed to 100 MHz */ + GPIOG->OSPEEDR = 0x000c0fff; + /* Configure PGx pins Output type to push-pull */ + GPIOG->OTYPER = 0x00000000; + /* No pull-up, pull-down for PGx pins */ + GPIOG->PUPDR = 0x00000000; + +/*-- FSMC Configuration ------------------------------------------------------*/ + /* Enable the FSMC interface clock */ + RCC->AHB3ENR = 0x00000001; + + /* Configure and enable Bank1_SRAM2 */ + FSMC_Bank1->BTCR[2] = 0x00001015; + FSMC_Bank1->BTCR[3] = 0x00010603; + FSMC_Bank1E->BWTR[2] = 0x0fffffff; + /* + Bank1_SRAM2 is configured as follow: + + p.FSMC_AddressSetupTime = 3; + p.FSMC_AddressHoldTime = 0; + p.FSMC_DataSetupTime = 6; + p.FSMC_BusTurnAroundDuration = 1; + p.FSMC_CLKDivision = 0; + p.FSMC_DataLatency = 0; + p.FSMC_AccessMode = FSMC_AccessMode_A; + + FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2; + FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable; + FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_PSRAM; + FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b; + FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low; + FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState; + FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable; + FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable; + FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p; + FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p; +*/ +} +#endif /* DATA_IN_ExtSRAM */ + + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ + diff --git a/flight/targets/matek405ctr/board-info/pios_board.h b/flight/targets/matek405ctr/board-info/pios_board.h new file mode 100644 index 0000000000..8ea51e00f5 --- /dev/null +++ b/flight/targets/matek405ctr/board-info/pios_board.h @@ -0,0 +1,234 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/board-info/pios_board.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2013 + * @author dRonin, http://dronin.org Copyright (C) 2015 + * @brief Board specific defines for MATEK405CTR + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * 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 3 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, see + */ + +#ifndef STM3210E_INS_H_ +#define STM3210E_INS_H_ + +#include + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define DEBUG_LEVEL 0 +#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_debug_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_debug_id, __VA_ARGS__); }} +#else +#define DEBUG_PRINTF(level, ...) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +//------------------------ +// Timers and Channels Used +//------------------------ +/* +Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 +------+-----------+-----------+-----------+---------- +TIM1 | | | | +TIM2 | --------------- PIOS_DELAY ----------------- +TIM3 | | | | +TIM4 | | | | +TIM5 | | | | +TIM6 | | | | +TIM7 | | | | +TIM8 | | | | +------+-----------+-----------+-----------+---------- +*/ + +//------------------------ +// DMA Channels Used +//------------------------ +/* Channel 1 - */ +/* Channel 2 - */ +/* Channel 3 - */ +/* Channel 4 - */ +/* Channel 5 - */ +/* Channel 6 - */ +/* Channel 7 - */ +/* Channel 8 - */ +/* Channel 9 - */ +/* Channel 10 - */ +/* Channel 11 - */ +/* Channel 12 - */ + +//------------------------ +// BOOTLOADER_SETTINGS +//------------------------ +#define BOARD_READABLE true +#define BOARD_WRITABLE true +#define MAX_DEL_RETRYS 3 + +//------------------------ +// PIOS_LED +//------------------------ +#define PIOS_LED_HEARTBEAT 0 +#define PIOS_LED_ALARM 1 +#define PIOS_ANNUNCIATOR_BUZZER 2 + +//------------------------ +// PIOS_WDG +//------------------------ +#define PIOS_WATCHDOG_TIMEOUT 250 +#define PIOS_WDG_REGISTER RTC_BKP_DR4 + +//------------------------- +// PIOS_COM +// +// See also pios_board.c +//------------------------- +extern uintptr_t pios_com_telem_serial_id; +extern uintptr_t pios_com_gps_id; +extern uintptr_t pios_com_telem_usb_id; +extern uintptr_t pios_com_bridge_id; +extern uintptr_t pios_com_vcp_id; +extern uintptr_t pios_com_mavlink_id; +extern uintptr_t pios_com_hott_id; +extern uintptr_t pios_com_frsky_sensor_hub_id; +extern uintptr_t pios_com_lighttelemetry_id; +extern uintptr_t pios_com_frsky_sport_id; +extern uintptr_t pios_com_openlog_logging_id; +extern uintptr_t pios_com_storm32bgc_id; + +#define PIOS_COM_GPS (pios_com_gps_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_BRIDGE (pios_com_bridge_id) +#define PIOS_COM_VCP (pios_com_vcp_id) +#define PIOS_COM_MAVLINK (pios_com_mavlink_id) +#define PIOS_COM_HOTT (pios_com_hott_id) +#define PIOS_COM_FRSKY_SENSOR_HUB (pios_com_frsky_sensor_hub_id) +#define PIOS_COM_LIGHTTELEMETRY (pios_com_lighttelemetry_id) +#define PIOS_COM_FRSKY_SPORT (pios_com_frsky_sport_id) +#define PIOS_COM_OPENLOG (pios_com_openlog_logging_id) +#define PIOS_COM_STORM32BGC (pios_com_storm32bgc_id) + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +extern uintptr_t pios_com_debug_id; +#define PIOS_COM_DEBUG (pios_com_debug_id) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +/** @todo: come up with a better solution to get pios types into here */ +#ifdef PIOS_INCLUDE_MAX7456 +#include + +extern max7456_dev_t pios_max7456_id; +#endif + +#if defined(PIOS_INCLUDE_WS2811) +#include + +extern ws2811_dev_t pios_ws2811; +#endif + +#define PIOS_SYSCLK 168000000 +// Peripherals that belongs to APB1 are: +// DAC |PWR |CAN1,2 +// I2C1,2,3 |UART4,5 |USART3,2 +// I2S3Ext |SPI3/I2S3 |SPI2/I2S2 +// I2S2Ext |IWDG |WWDG +// RTC/BKP reg +// TIM2,3,4,5,6,7,12,13,14 + +// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2) +// Default APB1 Prescaler = 4 +#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 4) + +// Peripherals belonging to APB2 +// SDIO |EXTI |SYSCFG |SPI1 +// ADC1,2,3 +// USART1,6 +// TIM1,8,9,10,11 +// +// Default APB2 Prescaler = 2 +// +#define PIOS_PERIPHERAL_APB2_CLOCK (PIOS_SYSCLK / 2) + +//------------------------- +// Interrupt Priorities +//------------------------- +#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS +#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS +#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... +#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... + +//------------------------ +// PIOS_RCVR +// See also pios_board.c +//------------------------ +#define PIOS_RCVR_MAX_CHANNELS 12 + +//------------------------- +// Receiver PPM input +//------------------------- +#define PIOS_PPM_NUM_INPUTS 12 + +//------------------------- +// Receiver PWM input +//------------------------- +#define PIOS_PWM_NUM_INPUTS 8 + +//------------------------- +// Receiver DSM input +//------------------------- +#define PIOS_DSM_NUM_INPUTS 12 + +//------------------------- +// Receiver HSUM input +//------------------------- +#define PIOS_HSUM_MAX_DEVS 2 +#define PIOS_HSUM_NUM_INPUTS 32 + +//------------------------- +// Receiver S.Bus input +//------------------------- +#define PIOS_SBUS_NUM_INPUTS (16+2) + +//------------------------- +// Servo outputs +//------------------------- +#define PIOS_SERVO_UPDATE_HZ 50 +#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ + +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 8 + +//------------------------- +// ADC +//------------------------- +#define PIOS_ADC_SUB_DRIVER_MAX_INSTANCES 3 +#define PIOS_ADC_MAX_OVERSAMPLING 2 +#define VREF_PLUS 3.3 + +//------------------------- +// USB +//------------------------- +#define PIOS_USB_ENABLED 1 /* Should remove all references to this */ + +#endif /* STM3210E_INS_H_ */ + +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/board-info/usb_conf.h b/flight/targets/matek405ctr/board-info/usb_conf.h new file mode 100644 index 0000000000..d7dc053622 --- /dev/null +++ b/flight/targets/matek405ctr/board-info/usb_conf.h @@ -0,0 +1,326 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/board-info/usb_conf.h + * @author MCD Application Team + * @version V2.1.0 + * @date 19-March-2012 + * @brief General low level driver configuration + ****************************************************************************** + * @attention + * + *

© COPYRIGHT 2012 STMicroelectronics

+ * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __USB_CONF__H__ +#define __USB_CONF__H__ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f4xx.h" + + +/** @addtogroup USB_OTG_DRIVER + * @{ + */ + +/** @defgroup USB_CONF + * @brief USB low level driver configuration file + * @{ + */ + +/** @defgroup USB_CONF_Exported_Defines + * @{ + */ + +/* USB Core and PHY interface configuration. + Tip: To avoid modifying these defines each time you need to change the USB + configuration, you can declare the needed define in your toolchain + compiler preprocessor. + */ +/****************** USB OTG FS PHY CONFIGURATION ******************************* +* The USB OTG FS Core supports one on-chip Full Speed PHY. +* +* The USE_EMBEDDED_PHY symbol is defined in the project compiler preprocessor +* when FS core is used. +*******************************************************************************/ +#ifndef USE_USB_OTG_FS + #define USE_USB_OTG_FS +#endif /* USE_USB_OTG_FS */ + +#ifdef USE_USB_OTG_FS + #define USB_OTG_FS_CORE +#endif + +/****************** USB OTG HS PHY CONFIGURATION ******************************* +* The USB OTG HS Core supports two PHY interfaces: +* (i) An ULPI interface for the external High Speed PHY: the USB HS Core will +* operate in High speed mode +* (ii) An on-chip Full Speed PHY: the USB HS Core will operate in Full speed mode +* +* You can select the PHY to be used using one of these two defines: +* (i) USE_ULPI_PHY: if the USB OTG HS Core is to be used in High speed mode +* (ii) USE_EMBEDDED_PHY: if the USB OTG HS Core is to be used in Full speed mode +* +* Notes: +* - The USE_ULPI_PHY symbol is defined in the project compiler preprocessor as +* default PHY when HS core is used. +* - On STM322xG-EVAL and STM324xG-EVAL boards, only configuration(i) is available. +* Configuration (ii) need a different hardware, for more details refer to your +* STM32 device datasheet. +*******************************************************************************/ +#ifndef USE_USB_OTG_HS + //#define USE_USB_OTG_HS +#endif /* USE_USB_OTG_HS */ + +#ifndef USE_ULPI_PHY + //#define USE_ULPI_PHY +#endif /* USE_ULPI_PHY */ + +#ifndef USE_EMBEDDED_PHY + #define USE_EMBEDDED_PHY +#endif /* USE_EMBEDDED_PHY */ + +#ifdef USE_USB_OTG_FS + #define USB_OTG_FS_CORE +#endif + +#ifdef USE_USB_OTG_HS + #define USB_OTG_HS_CORE +#endif + +/******************************************************************************* +* FIFO Size Configuration in Device mode +* +* (i) Receive data FIFO size = RAM for setup packets + +* OUT endpoint control information + +* data OUT packets + miscellaneous +* Space = ONE 32-bits words +* --> RAM for setup packets = 10 spaces +* (n is the nbr of CTRL EPs the device core supports) +* --> OUT EP CTRL info = 1 space +* (one space for status information written to the FIFO along with each +* received packet) +* --> data OUT packets = (Largest Packet Size / 4) + 1 spaces +* (MINIMUM to receive packets) +* --> OR data OUT packets = at least 2*(Largest Packet Size / 4) + 1 spaces +* (if high-bandwidth EP is enabled or multiple isochronous EPs) +* --> miscellaneous = 1 space per OUT EP +* (one space for transfer complete status information also pushed to the +* FIFO with each endpoint's last packet) +* +* (ii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for +* that particular IN EP. More space allocated in the IN EP Tx FIFO results +* in a better performance on the USB and can hide latencies on the AHB. +* +* (iii) TXn min size = 16 words. (n : Transmit FIFO index) +* (iv) When a TxFIFO is not used, the Configuration should be as follows: +* case 1 : n > m and Txn is not used (n,m : Transmit FIFO indexes) +* --> Txm can use the space allocated for Txn. +* case2 : n < m and Txn is not used (n,m : Transmit FIFO indexes) +* --> Txn should be configured with the minimum space of 16 words +* (v) The FIFO is used optimally when used TxFIFOs are allocated in the top +* of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones. +*******************************************************************************/ + +/******************************************************************************* +* FIFO Size Configuration in Host mode +* +* (i) Receive data FIFO size = (Largest Packet Size / 4) + 1 or +* 2x (Largest Packet Size / 4) + 1, If a +* high-bandwidth channel or multiple isochronous +* channels are enabled +* +* (ii) For the host nonperiodic Transmit FIFO is the largest maximum packet size +* for all supported nonperiodic OUT channels. Typically, a space +* corresponding to two Largest Packet Size is recommended. +* +* (iii) The minimum amount of RAM required for Host periodic Transmit FIFO is +* the largest maximum packet size for all supported periodic OUT channels. +* If there is at least one High Bandwidth Isochronous OUT endpoint, +* then the space must be at least two times the maximum packet size for +* that channel. +*******************************************************************************/ + +/****************** USB OTG HS CONFIGURATION **********************************/ +#ifdef USB_OTG_HS_CORE + #define RX_FIFO_HS_SIZE 512 + #define TX0_FIFO_HS_SIZE 512 + #define TX1_FIFO_HS_SIZE 512 + #define TX2_FIFO_HS_SIZE 0 + #define TX3_FIFO_HS_SIZE 0 + #define TX4_FIFO_HS_SIZE 0 + #define TX5_FIFO_HS_SIZE 0 + #define TXH_NP_HS_FIFOSIZ 96 + #define TXH_P_HS_FIFOSIZ 96 + +// #define USB_OTG_HS_LOW_PWR_MGMT_SUPPORT +// #define USB_OTG_HS_SOF_OUTPUT_ENABLED + +// #define USB_OTG_INTERNAL_VBUS_ENABLED + #define USB_OTG_EXTERNAL_VBUS_ENABLED + + #ifdef USE_ULPI_PHY + #define USB_OTG_ULPI_PHY_ENABLED + #endif + #ifdef USE_EMBEDDED_PHY + #define USB_OTG_EMBEDDED_PHY_ENABLED + #endif + #define USB_OTG_HS_INTERNAL_DMA_ENABLED + #define USB_OTG_HS_DEDICATED_EP1_ENABLED +#endif + +/****************** USB OTG FS CONFIGURATION **********************************/ +#ifdef USB_OTG_FS_CORE + #define RX_FIFO_FS_SIZE 128 + #define TX0_FIFO_FS_SIZE 64 + #define TX1_FIFO_FS_SIZE 32 + #define TX2_FIFO_FS_SIZE 32 + #define TX3_FIFO_FS_SIZE 64 + #define TXH_NP_HS_FIFOSIZ 96 + #define TXH_P_HS_FIFOSIZ 96 + +// #define USB_OTG_FS_LOW_PWR_MGMT_SUPPORT +// #define USB_OTG_FS_SOF_OUTPUT_ENABLED +#endif + +/****************** USB OTG MISC CONFIGURATION ********************************/ +//#define VBUS_SENSING_ENABLED + +/****************** USB OTG MODE CONFIGURATION ********************************/ +//#define USE_HOST_MODE +#define USE_DEVICE_MODE +//#define USE_OTG_MODE + +#ifndef USB_OTG_FS_CORE + #ifndef USB_OTG_HS_CORE + #error "USB_OTG_HS_CORE or USB_OTG_FS_CORE should be defined" + #endif +#endif + +#ifndef USE_DEVICE_MODE + #ifndef USE_HOST_MODE + #error "USE_DEVICE_MODE or USE_HOST_MODE should be defined" + #endif +#endif + +#ifndef USE_USB_OTG_HS + #ifndef USE_USB_OTG_FS + #error "USE_USB_OTG_HS or USE_USB_OTG_FS should be defined" + #endif +#else //USE_USB_OTG_HS + #ifndef USE_ULPI_PHY + #ifndef USE_EMBEDDED_PHY + #error "USE_ULPI_PHY or USE_EMBEDDED_PHY should be defined" + #endif + #endif +#endif + +/****************** C Compilers dependant keywords ****************************/ +/* In HS mode and when the DMA is used, all variables and data structures dealing + with the DMA during the transaction process should be 4-bytes aligned */ +#ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED + #if defined (__GNUC__) /* GNU Compiler */ + #define __ALIGN_END __attribute__ ((aligned (4))) + #define __ALIGN_BEGIN + #else + #define __ALIGN_END + #if defined (__CC_ARM) /* ARM Compiler */ + #define __ALIGN_BEGIN __align(4) + #elif defined (__ICCARM__) /* IAR Compiler */ + #define __ALIGN_BEGIN + #elif defined (__TASKING__) /* TASKING Compiler */ + #define __ALIGN_BEGIN __align(4) + #endif /* __CC_ARM */ + #endif /* __GNUC__ */ +#else + #define __ALIGN_BEGIN + #define __ALIGN_END +#endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */ + +/* __packed keyword used to decrease the data type alignment to 1-byte */ +#if !defined(__packed) + +#if defined (__CC_ARM) /* ARM Compiler */ + #define __packed __packed +#elif defined (__ICCARM__) /* IAR Compiler */ + #define __packed __packed +#elif defined ( __GNUC__ ) /* GNU Compiler */ + #define __packed __attribute__ ((__packed__)) +#elif defined (__TASKING__) /* TASKING Compiler */ + #define __packed __unaligned +#endif /* __CC_ARM */ + +#endif /* __packed **/ + +/** + * @} + */ + + +/** @defgroup USB_CONF_Exported_Types + * @{ + */ +/** + * @} + */ + + +/** @defgroup USB_CONF_Exported_Macros + * @{ + */ +/** + * @} + */ + +/** @defgroup USB_CONF_Exported_Variables + * @{ + */ +/** + * @} + */ + +/** @defgroup USB_CONF_Exported_FunctionsPrototype + * @{ + */ +/** + * @} + */ + + +#endif //__USB_CONF__H__ + + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + * @} + */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ + diff --git a/flight/targets/matek405ctr/fw/Makefile b/flight/targets/matek405ctr/fw/Makefile new file mode 100644 index 0000000000..dfae69895f --- /dev/null +++ b/flight/targets/matek405ctr/fw/Makefile @@ -0,0 +1,281 @@ +############################################################################### +# @file Makefile +# @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009. +# @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 +# @author dRonin, http://dronin.org Copyright (C) 2015-2016 +# @addtogroup +# @{ +# @addtogroup +# @{ +# @brief Makefile to build firmware for the MATEK405CTR board. +############################################################################### +# +# 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 3 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, see +# +# Additional note on redistribution: The copyright and license notices above +# must be maintained in each individual source file that is a derivative work +# of this source file; otherwise redistribution is prohibited. + +include $(MAKE_INC_DIR)/firmware-defs.mk + +# Set developer code and compile options +# Set to YES for debugging +DEBUG ?= NO + +# List of modules to include +MODULES = Attitude +MODULES += Actuator +MODULES += ManualControl +MODULES += Stabilization +MODULES += FirmwareIAP +MODULES += Telemetry + +OPTMODULES += GPS +OPTMODULES += VtolPathFollower +OPTMODULES += FixedWingPathFollower +OPTMODULES += PathPlanner +OPTMODULES += CameraStab +OPTMODULES += Autotune +OPTMODULES += TxPID +OPTMODULES += VibrationAnalysis +OPTMODULES += UAVOMavlinkBridge +OPTMODULES += UAVOMSPBridge +OPTMODULES += Battery +OPTMODULES += ComUsbBridge +OPTMODULES += Airspeed +OPTMODULES += UAVOHoTTBridge +OPTMODULES += UAVOFrSKYSensorHubBridge +OPTMODULES += UAVOLighttelemetryBridge +OPTMODULES += UAVOFrSKYSPortBridge +OPTMODULES += Geofence +OPTMODULES += Logging +OPTMODULES += Storm32Bgc +OPTMODULES += CharacterOSD +OPTMODULES += UAVOCrossfireTelemetry +OPTMODULES += OpenAeroVtol +OPTMODULES += Triflight + +# Paths +OPUAVOBJINC = $(OPUAVOBJ)/inc +PIOSINC = $(PIOS)/inc +FLIGHTLIBINC = $(FLIGHTLIB)/inc +MATHLIB = $(FLIGHTLIB)/math +MATHLIBINC = $(FLIGHTLIB)/math +PIOSSTM32F4XX = $(PIOS)/STM32F4xx +PIOSCOMMON = $(PIOS)/Common +PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries +APPLIBDIR = $(PIOSSTM32F4XX)/Libraries +STMLIBDIR = $(APPLIBDIR) +STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver +STMSPDSRCDIR = $(STMSPDDIR)/src +STMSPDINCDIR = $(STMSPDDIR)/inc +DEBUG_CM3_DIR = $(PIOSCOMMONLIB)/Debug +DEBUG_CM3_DIR_INC = $(DEBUG_CM3_DIR)/inc +OPUAVOBJINC = $(OPUAVOBJ)/inc +MAVLINKINC = $(FLIGHTLIB)/mavlink/v1.0/common + +# optional component libraries +include $(APPLIBDIR)/ChibiOS/library.mk + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files + +## OPENPILOT CORE: +SRC += ${OPMODULEDIR}/System/systemmod.c +SRC += ${OPMODULEDIR}/System/rgbleds.c +SRC += chibi_main.c +SRC += pios_board.c +SRC += pios_usb_board_data.c +SRC += $(OPUAVOBJ)/uavobjectmanager.c + +ifeq ($(DEBUG),YES) +SRC += $(DEBUG_CM3_DIR)/dcc_stdio.c +SRC += $(DEBUG_CM3_DIR)/cm3_fault_handlers.c +endif + +SRC += taskmonitor.c + +## PIOS Hardware (STM32F4xx) +include $(PIOS)/STM32F4xx/library_chibios.mk + +## PIOS Hardware (Common) +include $(PIOS)/pios_flight_library.mk + +SRC += pios_mpu.c +SRC += pios_bmp280.c +SRC += pios_hmc5883.c +SRC += pios_hmc5983_i2c.c +SRC += pios_fskdac.c +SRC += pios_annuncdac.c +SRC += pios_max7456.c + +# List C++ source files here. +# use file-extension .cpp for C++-files (not .C) +CPPSRC = + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +EXTRAINCDIRS += $(SHAREDAPIDIR) +EXTRAINCDIRS += $(PIOS) +EXTRAINCDIRS += $(PIOSINC) +EXTRAINCDIRS += $(OPUAVOBJ) +EXTRAINCDIRS += $(OPUAVOBJINC) +EXTRAINCDIRS += $(OPUAVSYNTHDIR) +EXTRAINCDIRS += $(FLIGHTLIBINC) +EXTRAINCDIRS += $(MATHLIBINC) +EXTRAINCDIRS += $(PIOSSTM32F4XX) +EXTRAINCDIRS += $(PIOSCOMMON) +EXTRAINCDIRS += $(STMSPDINCDIR) +EXTRAINCDIRS += $(CMSISDIR) +EXTRAINCDIRS += $(BOOTINC) +EXTRAINCDIRS += $(DEBUG_CM3_DIR_INC) +EXTRAINCDIRS += $(MAVLINKINC) + +EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${OPTMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc + +# List any extra directories to look for library files here. +# Also add directories where the linker should search for +# includes from linker-script to the list +# Each directory must be seperated by a space. +EXTRA_LIBDIRS = + +# Extra Libraries +# Each library-name must be seperated by a space. +# i.e. to link with libxyz.a, libabc.a and libefsl.a: +# EXTRA_LIBS = xyz abc efsl +# for newlib-lpc (file: libnewlibc-lpc.a): +# EXTRA_LIBS = newlib-lpc +EXTRA_LIBS = + +# Path to Linker-Scripts +LINKERSCRIPTPATH = $(PIOSSTM32F4XX) + +# debug (un)optimization, see gcc docs +ifeq ($(DEBUG),YES) +CFLAGS += -Og +CFLAGS += -ffixed-r10 +# finstrument-functions adds __cyg_profile_func_enter/exit to every function +# we currently don't have that symbol implemented anywhere +#CFLAGS += -finstrument-functions +else +CFLAGS += -Os -fconserve-stack +endif + +# common architecture-specific flags from the device-specific library makefile +CFLAGS += $(ARCHFLAGS) +CFLAGS += -DDIAGNOSTICS +CFLAGS += -DDIAG_TASKS + +# configure CMSIS DSP Library +CDEFS += -DARM_MATH_CM4 +CDEFS += -DARM_MATH_MATRIX_CHECK +CDEFS += -DARM_MATH_ROUNDING +CDEFS += -D__FPU_PRESENT=1 +CDEFS += -DUNALIGNED_SUPPORT_DISABLE +CFLAGS += -D$(STM32_TYPE) + +# Debugging format. +DEBUGF = dwarf-2 + +# Place project-specific -D (define) and/or +# -U options for C here. +CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) +CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) +CDEFS += -DUSE_STDPERIPH_DRIVER +CDEFS += -DUSE_$(BOARD) +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif +CDEFS += '-DCORTEX_VTOR_INIT=($(FW_BANK_BASE)-$(EF_BANK_BASE))' + +ifeq ($(ENABLE_DEBUG_CONSOLE), YES) +CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE +endif + +# Declare all non-optional modules as built-in to force inclusion, strip off any appended varieties of module +get_mod_name = $(shell echo $(1) | sed "s/\/[^\/]*$///") +BUILTIN_DEFS := ${foreach MOD, ${MODULES}, -DMODULE_$(call get_mod_name, $(MOD))_BUILTIN } +CDEFS += ${BUILTIN_DEFS} + +# Place project-specific -D and/or -U options for +# Assembler with preprocessor here. +#ADEFS = -DUSE_IRQ_ASM_WRAPPER +ADEFS = -D__ASSEMBLY__ + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +#----- + +# Compiler flags. + +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +# +# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) + +CFLAGS += -g$(DEBUGF) +CFLAGS += -mcpu=$(MCU) +CFLAGS += $(CDEFS) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. +CFLAGS += -mapcs-frame +CFLAGS += -fomit-frame-pointer +CFLAGS += -ffunction-sections -fdata-sections +CFLAGS += -Wdouble-promotion + +CFLAGS += -Wall +CFLAGS += -Werror +CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +# Compiler flags to generate dependency files: +CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d + +# flags only for C +#CONLYFLAGS += -Wnested-externs +CONLYFLAGS += $(CSTANDARD) + +# Assembler flags. +# -Wa,...: tell GCC to pass this to the assembler. +# -ahlns: create listing +ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp +ASFLAGS += $(ADEFS) +ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) + +LIBS += $(UAVOBJLIB) +LIBS += $(FLIGHTLIBFILE) + +# Linker flags. +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections +LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) +LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) +LDFLAGS += -lc_nano -lgcc -lm +LDFLAGS += -Wl,--warn-common +LDFLAGS += -Wl,--fatal-warnings +LDFLAGS += -u _printf_float + +# Linker scripts +LDFLAGS += -T memory.ld $(addprefix -T,$(LINKER_SCRIPTS_APP)) + +include $(MAKE_INC_DIR)/firmware-common.mk diff --git a/flight/targets/matek405ctr/fw/memory.ld b/flight/targets/matek405ctr/fw/memory.ld new file mode 100644 index 0000000000..a761380559 --- /dev/null +++ b/flight/targets/matek405ctr/fw/memory.ld @@ -0,0 +1,10 @@ +__main_stack_size__ = 0x0400; +__process_stack_size__ = 0x0400; + +MEMORY +{ + bd_info (r) : org = 0x08008000 - 0x80, len = 0x000080 + flash : org = 0x08000000 + 128k, len = 384k + ram : org = 0x20000000, len = 128k + ccmram : org = 0x10000000, len = 64k +} diff --git a/flight/targets/matek405ctr/fw/pios_board.c b/flight/targets/matek405ctr/fw/pios_board.c new file mode 100644 index 0000000000..2685f9b67d --- /dev/null +++ b/flight/targets/matek405ctr/fw/pios_board.c @@ -0,0 +1,474 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/fw/pios_board.c + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 + * @author dRonin, http://dronin.org Copyright (C) 2015 + * @brief The board specific initialization routines + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ + +/* + * 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 3 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, see + */ + +/* Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ + +#include "board_hw_defs.c" + +#include +#include +#include +#include +#include "hwmatek405ctr.h" +#include "manualcontrolsettings.h" +#include "modulesettings.h" +#include "rgbledsettings.h" + +uintptr_t pios_com_openlog_logging_id; +uintptr_t pios_uavo_settings_fs_id; +uintptr_t pios_internal_adc_id; + +#ifdef PIOS_INCLUDE_MAX7456 +max7456_dev_t pios_max7456_id; +#endif + +/** + * PIOS_Board_Init() + * initializes all the core subsystems on this specific hardware + * called from System/openpilot.c + */ + +#include + +void PIOS_Board_Init(void) { + const struct pios_board_info * bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_ANNUNC) + const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_ANNUNC_Init(led_cfg); +#endif /* PIOS_INCLUDE_ANNUNC */ + +#if defined(PIOS_INCLUDE_SPI) + if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) { + PIOS_Assert(0); + } +#endif + +#if defined(PIOS_INCLUDE_FLASH) + /* Initialize all flash drivers */ + if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH); + + /* Register the partition table */ + const struct pios_flash_partition * flash_partition_table; + uint32_t num_partitions; + flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions); + PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions); + + /* Mount all filesystems */ + if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS); +#endif /* PIOS_INCLUDE_FLASH */ + + HwMatek405CtrInitialize(); + ModuleSettingsInitialize(); + +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + + /* Initialize watchdog as early as possible to catch faults during init + * but do it only if there is no debugger connected + */ + if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) { + PIOS_WDG_Init(); + } + + /* Set up pulse timers */ + + // Timers used for inputs (5) + PIOS_TIM_InitClock(&tim_5_cfg); + + // Timers used for outputs (3, 8) + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_8_cfg); + +#ifdef PIOS_INCLUDE_SPI + uint8_t hw_osdport; + + HwMatek405CtrOSDPortGet(&hw_osdport); + + if (hw_osdport != HWMATEK405CTR_OSDPORT_DISABLED) { + if (PIOS_SPI_Init(&pios_spi_osd_id, &pios_spi_osd_cfg)) { + PIOS_Assert(0); + } + + switch (hw_osdport) { +#ifdef PIOS_INCLUDE_MAX7456 + case HWMATEK405CTR_OSDPORT_MAX7456OSD: + if (!PIOS_MAX7456_init(&pios_max7456_id, + pios_spi_osd_id, 0)) { + // XXX do something? + } + break; +#endif + default: + PIOS_Assert(0); + break; + } + } +#endif /* PIOS_INCLUDE_SPI */ + + /* IAP System Setup */ + PIOS_IAP_Init(); + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hw config to defaults */ + HwMatek405CtrSetDefaults(HwMatek405CtrHandle(), 0); + ModuleSettingsSetDefaults(ModuleSettingsHandle(),0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + bool usb_cdc_present = false; + +#if defined(PIOS_INCLUDE_USB_CDC) + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; +#else + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; +#endif + + uintptr_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_CDC) + + uint8_t hw_usb_vcpport; + /* Configure the USB VCP port */ + HwMatek405CtrUSB_VCPPortGet(&hw_usb_vcpport); + + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hw_usb_vcpport = HWMATEK405CTR_USB_VCPPORT_DISABLED; + } + + PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg); + +#endif /* PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) + /* Configure the usb HID port */ + uint8_t hw_usb_hidport; + HwMatek405CtrUSB_HIDPortGet(&hw_usb_hidport); + + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hw_usb_hidport = HWMATEK405CTR_USB_HIDPORT_DISABLED; + } + + PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg); + +#endif /* PIOS_INCLUDE_USB_HID */ + + if (usb_hid_present || usb_cdc_present) { + PIOS_USBHOOK_Activate(); + } + + PIOS_WDG_Clear(); +#endif /* PIOS_INCLUDE_USB */ + + /* Configure the IO ports */ + +#if defined(PIOS_INCLUDE_I2C) + if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg)) + PIOS_DEBUG_Assert(0); + + if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_I2C_INT); + else + if (AlarmsGet(SYSTEMALARMS_ALARM_I2C) == SYSTEMALARMS_ALARM_UNINITIALISED) + AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_OK); +#endif // PIOS_INCLUDE_I2C + + HwMatek405CtrDSMxModeOptions hw_DSMxMode; + HwMatek405CtrDSMxModeGet(&hw_DSMxMode); + + /* UART1 Port */ + uint8_t hw_uart1; + HwMatek405CtrUart1Get(&hw_uart1); + + PIOS_HAL_ConfigurePort(hw_uart1, // port type protocol + &pios_usart1_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + NULL, // dsm_cfg + 0, // dsm_mode + NULL); // sbus_cfg + + uint8_t hw_ppm; + HwMatek405CtrPPM_ReceiverGet(&hw_ppm); + + if (hw_ppm == HWMATEK405CTR_PPM_RECEIVER_ENABLED) { + PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol + NULL, // usart_port_cfg + NULL, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + &pios_ppm_cfg, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + NULL, // dsm_cfg + 0, // dsm_mode + NULL); // sbus_cfg + } else { + /* UART2 Port */ + uint8_t hw_uart2; + HwMatek405CtrUart2Get(&hw_uart2); + + PIOS_HAL_ConfigurePort(hw_uart2, // port type protocol + &pios_usart2_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + NULL, // dsm_cfg + 0, // dsm_mode + NULL); // sbus_cfg + } + + /* UART3 Port */ + uint8_t hw_uart3; + HwMatek405CtrUart3Get(&hw_uart3); + + PIOS_HAL_ConfigurePort(hw_uart3, // port type protocol + &pios_usart3_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + NULL, // dsm_cfg + 0, // dsm_mode + NULL); // sbus_cfg + + /* UART4 Port */ + uint8_t hw_uart4; + HwMatek405CtrUart4Get(&hw_uart4); + + PIOS_HAL_ConfigurePort(hw_uart4, // port type protocol + &pios_usart4_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_usart4_dsm_aux_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + + /* UART5 Port */ + uint8_t hw_uart5; + HwMatek405CtrUart5Get(&hw_uart5); + + PIOS_HAL_ConfigurePort(hw_uart5, // port type protocol + &pios_usart5_cfg, // usart_port_cfg + &pios_usart_com_driver, // com_driver + NULL, // i2c_id + NULL, // i2c_cfg + NULL, // ppm_cfg + NULL, // pwm_cfg + PIOS_LED_ALARM, // led_id + &pios_usart5_dsm_aux_cfg, // dsm_cfg + hw_DSMxMode, // dsm_mode + NULL); // sbus_cfg + +#if defined(PIOS_INCLUDE_SERVO) & defined(PIOS_INCLUDE_DMASHOT) + PIOS_DMAShot_Init(&dmashot_config); +#endif + +#if defined(PIOS_INCLUDE_TIM) && defined(PIOS_INCLUDE_SERVO) +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_Servo_Init(&pios_servo_cfg); +#else + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif +#endif + +#ifdef PIOS_INCLUDE_WS2811 + RGBLEDSettingsInitialize(); + + uint8_t temp; + + RGBLEDSettingsNumLedsGet(&temp); + + if (temp > 0) { + PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp); + + // Drive default value (off) to strand once at startup + PIOS_WS2811_trigger_update(pios_ws2811); + } +#endif + +#ifdef PIOS_INCLUDE_DAC + PIOS_DAC_init(&pios_dac, &pios_dac_cfg); + + PIOS_HAL_ConfigureDAC(pios_dac); +#endif /* PIOS_INCLUDE_DAC */ + +/* init sensor queue registration */ + PIOS_SENSORS_Init(); + + PIOS_WDG_Clear(); + PIOS_DELAY_WaitmS(200); + PIOS_WDG_Clear(); + +#if defined(PIOS_INCLUDE_MPU) + pios_mpu_dev_t mpu_dev = NULL; + if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_gyro_id, 0, &pios_mpu_cfg) != 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU); + + HwMatek405CtrGyroRangeOptions hw_gyro_range; + HwMatek405CtrGyroRangeGet(&hw_gyro_range); + + switch(hw_gyro_range) { + case HWMATEK405CTR_GYRORANGE_250: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG); + break; + case HWMATEK405CTR_GYRORANGE_500: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG); + break; + case HWMATEK405CTR_GYRORANGE_1000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG); + break; + case HWMATEK405CTR_GYRORANGE_2000: + PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG); + break; + } + + HwMatek405CtrAccelRangeOptions hw_accel_range; + HwMatek405CtrAccelRangeGet(&hw_accel_range); + + switch(hw_accel_range) { + case HWMATEK405CTR_ACCELRANGE_2G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G); + break; + case HWMATEK405CTR_ACCELRANGE_4G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G); + break; + case HWMATEK405CTR_ACCELRANGE_8G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G); + break; + case HWMATEK405CTR_ACCELRANGE_16G: + PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G); + break; + } + + // the filter has to be set before rate else divisor calculation will fail + HwMatek405CtrMPU6000DLPFOptions hw_mpu_dlpf; + HwMatek405CtrMPU6000DLPFGet(&hw_mpu_dlpf); + + uint16_t bandwidth = \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_188) ? 188 : \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_98) ? 98 : \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_42) ? 42 : \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_20) ? 20 : \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_10) ? 10 : \ + (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_5) ? 5 : \ + 188; + PIOS_MPU_SetGyroBandwidth(bandwidth); +#endif + +#if defined(PIOS_INCLUDE_I2C) + PIOS_WDG_Clear(); + + uint8_t hw_ext_mag; + uint8_t hw_orientation; + + HwMatek405CtrMagnetometerGet(&hw_ext_mag); + HwMatek405CtrExtMagOrientationGet(&hw_orientation); + + PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_orientation, + &pios_i2c_internal_id, &pios_i2c_internal_cfg); + +#if defined(PIOS_INCLUDE_BMP280) +#include "pios_bmp280.h" +#include "pios_bmp280_priv.h" + if ((PIOS_BMP280_Init(&pios_bmp280_cfg, pios_i2c_internal_id) != 0) || (PIOS_BMP280_Test() != 0)) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_BARO); +#endif + + //I2C is slow, sensor init as well, reset watchdog to prevent reset here + PIOS_WDG_Clear(); + +#endif /* PIOS_INCLUDE_I2C */ + +#if defined(PIOS_INCLUDE_ADC) + /* Configure the adc port(s) */ + + uintptr_t internal_adc_id; + + if (PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg) < 0) { + PIOS_Assert(0); + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC); + } + + if (PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id) < 0) + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC); +#endif + + /* Make sure we have at least one telemetry link configured or else fail initialization */ + PIOS_Assert(pios_com_telem_serial_id || pios_com_telem_usb_id); +} + +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/fw/pios_config.h b/flight/targets/matek405ctr/fw/pios_config.h new file mode 100644 index 0000000000..e164be808c --- /dev/null +++ b/flight/targets/matek405ctr/fw/pios_config.h @@ -0,0 +1,92 @@ +/** + ****************************************************************************** + * @addtogroup Targets Target Boards + * @{ + * @addtogroup MATEK405CTR Matek MATEK405CTR + * @{ + * + * @file matek405ctr/fw/pios_config.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 + * @brief Board specific options that modify PiOS capabilities + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ + +/* + * 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 3 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, see + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +#include + +/* Major features */ +#define STABILIZATION_LQG +#define TRIFLIGHT + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_FLASH_JEDEC +#define PIOS_INCLUDE_I2C +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_FASTHEAP +#define PIOS_INCLUDE_MAX7456 +#define PIOS_INCLUDE_WS2811 +#define PIOS_INCLUDE_DAC +#define PIOS_INCLUDE_DAC_FSK +#define PIOS_INCLUDE_DAC_ANNUNCIATOR + +/* Select the sensors to include */ +#define PIOS_INCLUDE_MPU +#define PIOS_INCLUDE_BMP280 +#define PIOS_INCLUDE_HMC5883 +#define PIOS_INCLUDE_HMC5983_I2C +#define PIOS_TOLERATE_MISSING_SENSORS + +/* Com systems to include */ +#define PIOS_INCLUDE_MAVLINK +#define PIOS_INCLUDE_LIGHTTELEMETRY + +/* Supported receiver interfaces */ + +#define PIOS_INCLUDE_DMASHOT + +/* Flags that alter behaviours */ + +#define SYSTEMMOD_RGBLED_SUPPORT + +#define CAMERASTAB_POI_MODE + +/* Alarm Thresholds */ + +/* + * This has been calibrated 2014/03/01 using chibios @ fbd194c026098076bddd9e45e147828000f39d89. + * Calibration has been done by disabling the init task, breaking into debugger after + * approximately after 60 seconds, then doing the following math: + * + * IDLE_COUNTS_PER_SEC_AT_NO_LOAD = (uint32_t)((double)idleCounter / xTickCount * 1000 + 0.5) + * + * This has to be redone every time the toolchain, toolchain flags or RTOS + * configuration like number of task priorities or similar changes. + * A change in the cpu load calculation or the idle task handler will invalidate this as well. + */ +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (9873737) + +#define REVOLUTION + +#endif /* PIOS_CONFIG_H */ +/** + * @} + * @} + */ diff --git a/flight/targets/matek405ctr/target-defs.mk b/flight/targets/matek405ctr/target-defs.mk new file mode 100644 index 0000000000..702169ccbf --- /dev/null +++ b/flight/targets/matek405ctr/target-defs.mk @@ -0,0 +1,10 @@ +# Add this board to the list of buildable boards +ALL_BOARDS += matek405ctr + +# Set the cpu architecture here that matches your STM32 +# Should be one of: f1,f3,f4 +matek405ctr_cpuarch := f4 + +# Short name of this board (used to display board name in parallel builds) +# Should be exactly 4 characters long. +matek405ctr_short := 'mctr' diff --git a/ground/gcs/src/plugins/boards_matek/Matek.pluginspec b/ground/gcs/src/plugins/boards_matek/Matek.pluginspec new file mode 100644 index 0000000000..7d7c9d11b3 --- /dev/null +++ b/ground/gcs/src/plugins/boards_matek/Matek.pluginspec @@ -0,0 +1,11 @@ + + dRonin + (C) 2015-2016 dRonin + The GNU Public License (GPL) Version 3 + Hardware definitions for Matek boards + http://www.mateksys.com + + + + + diff --git a/ground/gcs/src/plugins/boards_matek/boards_matek.pro b/ground/gcs/src/plugins/boards_matek/boards_matek.pro new file mode 100644 index 0000000000..a814acfa1d --- /dev/null +++ b/ground/gcs/src/plugins/boards_matek/boards_matek.pro @@ -0,0 +1,19 @@ +TEMPLATE = lib +TARGET = Matek +include(../../gcsplugin.pri) +include(../../plugins/uavobjects/uavobjects.pri) +include(../../plugins/coreplugin/coreplugin.pri) +include(../../../usbids.pri) + +OTHER_FILES += Matek.pluginspec + +HEADERS += \ + matekplugin.h \ + matek405ctr.h + +SOURCES += \ + matekplugin.cpp \ + matek405ctr.cpp + +RESOURCES += \ + matek.qrc diff --git a/ground/gcs/src/plugins/boards_matek/images/matek405ctr.png b/ground/gcs/src/plugins/boards_matek/images/matek405ctr.png new file mode 100644 index 0000000000000000000000000000000000000000..a719c8ab1f47d555b208f2a1911157a6cfe4fec5 GIT binary patch literal 311425 zcmV*?KrO$CP)Px#1ZP1_K>z@;j|==^1poj532;bRa{vGi!vFvd!vV){sAK>D03mcmSad^jWnpw_ zZ*Cw|X>DZyGB7bXIxsgnF)$!8GdeLjIxsXtERXg80RMPNL_t(|UhI7bpj}1P^}4;c z*L!biFTF$Py%#Aepr9g(ilQP4hyv0qh$0}p_ZlD}5FjK#dhh-9{@(4q{A!UJSYyO!ZNDf&3ddZbp 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zs;2$cR5m*>KX<`{qVnhXSpo<>5^Q<+Gmw}x>ccqTFuusI6W@ri9l+1EE2ahom+n3J Ee<4S?vH$=8 diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index a61874607d..66a45cbdf6 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -98,6 +98,10 @@ + + + + From 354e9eca2141c0a55aa0f05ae41fd0eb67fa655c Mon Sep 17 00:00:00 2001 From: jihlein Date: Fri, 10 Aug 2018 20:06:08 -0600 Subject: [PATCH 23/73] Remove unused F3Fc modules. --- flight/targets/f3fc/bl/pios_config.h | 2 - flight/targets/f3fc/board-info/board-info.mk | 2 - .../targets/f3fc/board-info/board_hw_defs.c | 99 +------------------ flight/targets/f3fc/board-info/pios_board.h | 7 -- flight/targets/f3fc/fw/Makefile | 19 +--- flight/targets/f3fc/fw/pios_board.c | 17 +--- flight/targets/f3fc/fw/pios_config.h | 14 +-- shared/uavobjectdefinition/hwf3fc.xml | 30 +----- 8 files changed, 10 insertions(+), 180 deletions(-) diff --git a/flight/targets/f3fc/bl/pios_config.h b/flight/targets/f3fc/bl/pios_config.h index 44745ee5ea..a08df5c3ec 100644 --- a/flight/targets/f3fc/bl/pios_config.h +++ b/flight/targets/f3fc/bl/pios_config.h @@ -46,8 +46,6 @@ #define PIOS_INCLUDE_FLASH #define PIOS_INCLUDE_FLASH_INTERNAL -#define BOOTLOADER_PAUSE_DELAY 2 - #endif /* PIOS_CONFIG_H */ /** diff --git a/flight/targets/f3fc/board-info/board-info.mk b/flight/targets/f3fc/board-info/board-info.mk index eeb4eadc6a..0cdf19a65d 100644 --- a/flight/targets/f3fc/board-info/board-info.mk +++ b/flight/targets/f3fc/board-info/board-info.mk @@ -11,8 +11,6 @@ MODEL_SUFFIX := USB_VEND := "RCE" USB_PROD := "F3FC" -include $(MAKE_INC_DIR)/firmware-arches.mk - # Note: These must match the values in link_$(BOARD)_memory.ld BL_BANK_BASE := 0x08000000 # Start of bootloader flash BL_BANK_SIZE := 0x00004000 # Should include BD_INFO region (16kB) diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c index fa67959c8e..c3d763a6c5 100644 --- a/flight/targets/f3fc/board-info/board_hw_defs.c +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -162,96 +162,6 @@ static const struct pios_spi_cfg pios_spi_internal_cfg = { }; #endif /* PIOS_INCLUDE_SPI */ -#if defined(PIOS_INCLUDE_I2C) - -#include - -/* - * I2C Adapter - */ - -void PIOS_I2C_ev_irq_handler(void); -void PIOS_I2C_er_irq_handler(void); - -void I2C2_EV_EXTI24_IRQHandler() __attribute__ ((alias ("PIOS_I2C_ev_irq_handler"))); -void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_er_irq_handler"))); - -static const struct pios_i2c_adapter_cfg pios_i2c_cfg = { - .regs = I2C2, - .remap = GPIO_AF_4, - .init = { - .I2C_Mode = I2C_Mode_I2C, - .I2C_OwnAddress1 = 0x00, - .I2C_Ack = I2C_Ack_Enable, - .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, - .I2C_DigitalFilter = 0x00, - .I2C_AnalogFilter = I2C_AnalogFilter_Disable, - .I2C_Timing = 0x20400D29, // Generated from I2C_Timing_Configuration_V1.0.1.xls - // SYSCLK: 72 MHz - // Fast Mode: 400 kHz - // Rise Time: 100 nS - // Fall Time: 10 nS - // Analog Filter: Disabled - // Digital Filter: 0 - }, - .transfer_timeout_ms = 50, - .scl = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_OType = GPIO_OType_OD, - .GPIO_PuPd = GPIO_PuPd_UP, - }, - .pin_source = GPIO_PinSource9, - }, - .sda = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Mode = GPIO_Mode_AF, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_OType = GPIO_OType_OD, - .GPIO_PuPd = GPIO_PuPd_UP, - }, - .pin_source = GPIO_PinSource10, - }, - .event = { - .flags = 0, /* FIXME: check this */ - .init = { - .NVIC_IRQChannel = I2C2_EV_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .error = { - .flags = 0, /* FIXME: check this */ - .init = { - .NVIC_IRQChannel = I2C2_ER_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, -}; - -pios_i2c_t pios_i2c_id; -void PIOS_I2C_ev_irq_handler(void) -{ - /* Call into the generic code to handle the IRQ for this specific device */ - PIOS_I2C_EV_IRQ_Handler(pios_i2c_id); -} - -void PIOS_I2C_er_irq_handler(void) -{ - /* Call into the generic code to handle the IRQ for this specific device */ - PIOS_I2C_ER_IRQ_Handler(pios_i2c_id); -} - -#endif /* PIOS_INCLUDE_I2C */ - #if defined(PIOS_INCLUDE_FLASH) #include "pios_flashfs_logfs_priv.h" @@ -858,14 +768,7 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, .vsense = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_3, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IN, - .GPIO_OType = GPIO_OType_OD, - .GPIO_PuPd = GPIO_PuPd_NOPULL, - }, + .gpio = NULL, } }; diff --git a/flight/targets/f3fc/board-info/pios_board.h b/flight/targets/f3fc/board-info/pios_board.h index 553215c258..e948230be4 100644 --- a/flight/targets/f3fc/board-info/pios_board.h +++ b/flight/targets/f3fc/board-info/pios_board.h @@ -110,26 +110,19 @@ extern uintptr_t pios_com_telem_usb_id; extern uintptr_t pios_com_telem_serial_id; extern uintptr_t pios_com_bridge_id; extern uintptr_t pios_com_vcp_id; -extern uintptr_t pios_com_mavlink_id; extern uintptr_t pios_com_hott_id; extern uintptr_t pios_com_frsky_sensor_hub_id; -extern uintptr_t pios_com_lighttelemetry_id; extern uintptr_t pios_com_frsky_sport_id; extern uintptr_t pios_com_openlog_logging_id; -extern uintptr_t pios_com_storm32bgc_id; #define PIOS_COM_GPS (pios_com_gps_id) #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #define PIOS_COM_BRIDGE (pios_com_bridge_id) #define PIOS_COM_VCP (pios_com_vcp_id) -#define PIOS_COM_MAVLINK (pios_com_mavlink_id) #define PIOS_COM_HOTT (pios_com_hott_id) #define PIOS_COM_FRSKY_SENSOR_HUB (pios_com_frsky_sensor_hub_id) -#define PIOS_COM_LIGHTTELEMETRY (pios_com_lighttelemetry_id) #define PIOS_COM_FRSKY_SPORT (pios_com_frsky_sport_id) #define PIOS_COM_OPENLOG (pios_com_openlog_logging_id) -#define PIOS_COM_SPIFLASH (uintptr_t)(NULL) -#define PIOS_COM_STORM32BGC (pios_com_storm32bgc_id) #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) extern uintptr_t pios_com_debug_id; diff --git a/flight/targets/f3fc/fw/Makefile b/flight/targets/f3fc/fw/Makefile index 2b2e4ded71..12c1f1148b 100644 --- a/flight/targets/f3fc/fw/Makefile +++ b/flight/targets/f3fc/fw/Makefile @@ -41,27 +41,17 @@ MODULES += FirmwareIAP MODULES += Telemetry OPTMODULES += GPS -#OPTMODULES += CameraStab OPTMODULES += Autotune OPTMODULES += TxPID -#OPTMODULES += GenericI2CSensor -#OPTMODULES += PathPlanner -#OPTMODULES += VtolPathFollower -#OPTMODULES += FixedWingPathFollower -OPTMODULES += VibrationAnalysis -OPTMODULES += UAVOMavlinkBridge OPTMODULES += UAVOMSPBridge -OPTMODULES += UAVOLighttelemetryBridge OPTMODULES += Battery OPTMODULES += ComUsbBridge -#OPTMODULES += Airspeed/revolution OPTMODULES += UAVOHoTTBridge OPTMODULES += UAVOFrSKYSensorHubBridge OPTMODULES += UAVOFrSKYSPortBridge -OPTMODULES += Geofence OPTMODULES += Logging -OPTMODULES += Storm32Bgc OPTMODULES += UAVOCrossfireTelemetry +OPTMODULES += OpenAeroVtol OPTMODULES += Triflight # Paths @@ -91,10 +81,12 @@ include $(APPLIBDIR)/ChibiOS/library.mk ## OPENPILOT CORE: SRC += ${OPMODULEDIR}/System/systemmod.c +SRC += ${OPMODULEDIR}/System/rgbleds.c SRC += chibi_main.c SRC += pios_board.c SRC += pios_usb_board_data.c SRC += $(OPUAVOBJ)/uavobjectmanager.c +SRC += printf-stdarg.c ifeq ($(DEBUG),YES) SRC += $(DEBUG_CM3_DIR)/dcc_stdio.c @@ -110,10 +102,6 @@ include $(PIOS)/STM32F30x/library_chibios.mk include $(PIOS)/pios_flight_library.mk SRC += pios_mpu.c -#SRC += pios_hmc5883.c -#SRC += pios_hmc5983_i2c.c -#SRC += pios_ms5611.c -#SRC += pios_bmp280.c SRC += pios_usbhook.c # List C++ source files here. @@ -132,7 +120,6 @@ EXTRAINCDIRS += $(FLIGHTLIBINC) EXTRAINCDIRS += $(MATHLIBINC) EXTRAINCDIRS += $(PIOSSTM32F30X) EXTRAINCDIRS += $(PIOSCOMMON) -EXTRAINCDIRS += $(BOARD_INFO_DIR) EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(BOOTINC) diff --git a/flight/targets/f3fc/fw/pios_board.c b/flight/targets/f3fc/fw/pios_board.c index b96c2a011a..6781a15e6b 100644 --- a/flight/targets/f3fc/fw/pios_board.c +++ b/flight/targets/f3fc/fw/pios_board.c @@ -87,7 +87,7 @@ void PIOS_Board_Init(void) #if defined(PIOS_INCLUDE_FLASH) /* Inititialize all flash drivers */ if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0) - PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH);; + PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH); /* Register the partition table */ @@ -280,6 +280,7 @@ void PIOS_Board_Init(void) #if defined(PIOS_INCLUDE_MPU) pios_mpu_dev_t mpu_dev = NULL; + if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_internal_id, 0, &pios_mpu_cfg) != 0) PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU); @@ -334,21 +335,7 @@ void PIOS_Board_Init(void) //I2C is slow, sensor init as well, reset watchdog to prevent reset here PIOS_WDG_Clear(); -/* HJI - uint8_t hw_ext_mag; - uint8_t hw_ext_mag_orientation; - HwF3FcI2CExtMagGet(&hw_ext_mag); - HwF3FcExtMagOrientationGet(&hw_ext_mag_orientation); - - PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_ext_mag_orientation, &pios_i2c_id, &pios_i2c_cfg); - - uint8_t hw_ext_baro; - - HwF3FcI2CExtBaroGet(&hw_ext_baro); - - PIOS_HAL_ConfigureExternalBaro(hw_ext_baro, &pios_i2c_id, &pios_i2c_cfg); -HJI */ /* Make sure we have at least one telemetry link configured or else fail initialization */ PIOS_Assert(pios_com_telem_serial_id || pios_com_telem_usb_id); diff --git a/flight/targets/f3fc/fw/pios_config.h b/flight/targets/f3fc/fw/pios_config.h index af6a22884d..85915355ae 100644 --- a/flight/targets/f3fc/fw/pios_config.h +++ b/flight/targets/f3fc/fw/pios_config.h @@ -38,30 +38,22 @@ /* Major features */ #define STABILIZATION_LQG +#define OPENAEROVTOL #define TRIFLIGHT /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION -//#define PIOS_INCLUDE_I2C #define PIOS_INCLUDE_SPI /* Select the sensors to include */ #define PIOS_INCLUDE_MPU -//#define PIOS_INCLUDE_BMP280 -//#define PIOS_INCLUDE_MS5611 -//#define PIOS_INCLUDE_HMC5883 -//#define PIOS_INCLUDE_HMC5983_I2C -#define PIOS_TOLERATE_MISSING_SENSORS - -/* Com systems to include */ -#define PIOS_INCLUDE_MAVLINK -#define PIOS_INCLUDE_LIGHTTELEMETRY /* Flags that alter behaviors */ -#define AUTOTUNE_AVERAGING_MODE #define AUTOTUNE_AVERAGING_DECIMATION 2 +#undef STORM32BGC + /* Task stack sizes */ #define PIOS_EVENTDISPATCHER_STACK_SIZE 1024 diff --git a/shared/uavobjectdefinition/hwf3fc.xml b/shared/uavobjectdefinition/hwf3fc.xml index e09973e08c..70009d5d3a 100644 --- a/shared/uavobjectdefinition/hwf3fc.xml +++ b/shared/uavobjectdefinition/hwf3fc.xml @@ -19,18 +19,13 @@ - - - - - @@ -43,18 +38,13 @@ - - - - - @@ -67,18 +57,14 @@ - - - - - + @@ -120,19 +106,5 @@ - - - - - - - - - - - - - - From adf4c8972d6d3dbf95f885ee8267e9b809c7c46b Mon Sep 17 00:00:00 2001 From: jihlein Date: Mon, 13 Aug 2018 19:16:21 -0600 Subject: [PATCH 24/73] Reorder F3Fc PWM outputs --- .../targets/f3fc/board-info/board_hw_defs.c | 44 +++++++++---------- .../src/plugins/boards_rcexplorer/f3fc.cpp | 6 +-- 2 files changed, 25 insertions(+), 25 deletions(-) diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c index c3d763a6c5..97bc83e244 100644 --- a/flight/targets/f3fc/board-info/board_hw_defs.c +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -533,67 +533,67 @@ static const struct pios_tim_clock_cfg tim_17_cfg = { static const struct pios_tim_channel pios_tim_output_pins[] = { { // Ch1 - .timer = TIM3, - .timer_chan = TIM_Channel_2, - .remap = GPIO_AF_2, + .timer = TIM1, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_6, .pin = { .gpio = GPIOA, .init = { - .GPIO_Pin = GPIO_Pin_4, + .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, - .pin_source = GPIO_PinSource4, + .pin_source = GPIO_PinSource8, }, }, { // Ch2 - .timer = TIM3, - .timer_chan = TIM_Channel_3, - .remap = GPIO_AF_2, + .timer = TIM17, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_1, .pin = { - .gpio = GPIOB, + .gpio = GPIOA, .init = { - .GPIO_Pin = GPIO_Pin_0, + .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, - .pin_source = GPIO_PinSource0, + .pin_source = GPIO_PinSource7, }, }, { // Ch3 - .timer = TIM1, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_6, + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .remap = GPIO_AF_2, .pin = { .gpio = GPIOA, .init = { - .GPIO_Pin = GPIO_Pin_8, + .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, - .pin_source = GPIO_PinSource8, + .pin_source = GPIO_PinSource4, }, }, { // Ch4 - .timer = TIM17, - .timer_chan = TIM_Channel_1, - .remap = GPIO_AF_1, + .timer = TIM3, + .timer_chan = TIM_Channel_2, + .remap = GPIO_AF_2, .pin = { - .gpio = GPIOA, + .gpio = GPIOB, .init = { - .GPIO_Pin = GPIO_Pin_7, + .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, - .pin_source = GPIO_PinSource7, + .pin_source = GPIO_PinSource0, }, }, { // Ch5 diff --git a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp index a7977d7861..6139638720 100644 --- a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp +++ b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp @@ -48,9 +48,9 @@ F3Fc::F3Fc(void) // Define the bank of channels that are connected to a given timer channelBanks.resize(4); - channelBanks[0] = QVector () << 1 << 2 << 5; // TIM3 - channelBanks[1] = QVector () << 3; // TIM1 - channelBanks[2] = QVector () << 4; // TIM17 + channelBanks[0] = QVector () << 1; // TIM1 + channelBanks[1] = QVector () << 2; // TIM17 + channelBanks[2] = QVector () << 3 << 4 << 5; // TIM3 channelBanks[3] = QVector () << 6; // TIM2 } From 45b9b5d4d6f25e038c0ec19b14e61ac2e151e450 Mon Sep 17 00:00:00 2001 From: jihlein Date: Tue, 14 Aug 2018 19:40:06 -0600 Subject: [PATCH 25/73] F3Fc correct PWM output comments --- flight/targets/f3fc/board-info/board_hw_defs.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c index 97bc83e244..d88bb0cd6c 100644 --- a/flight/targets/f3fc/board-info/board_hw_defs.c +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -523,10 +523,10 @@ static const struct pios_tim_clock_cfg tim_17_cfg = { */ /* * OUTPUTS - 1: TIM3_CH2 (PA4) - 2: TIM3_CH3 (PB0) - 3: TIM1_CH1 (PA8) - 4: TIM17_CH1 (PA7) + 1: TIM1_CH1 (PA8) + 2: TIM17_CH1 (PA7) + 3: TIM3_CH3 (PB0) + 4: TIM3_CH2 (PA4) 5: TIM3_CH4 (PB1) 6: TIM2_CH2 (PA1) */ From 71b819e11c0703c26882afa1439174cd9e314d0c Mon Sep 17 00:00:00 2001 From: jihlein Date: Sat, 18 Aug 2018 16:44:56 -0600 Subject: [PATCH 26/73] Add 2nd Servo Fdbk to F3Fc --- .../targets/f3fc/board-info/board_hw_defs.c | 43 ++++++++++++++++-- flight/targets/f3fc/fw/pios_board.c | 19 +++++++- flight/targets/f3fc/hw/f3fc.xls | Bin 38400 -> 38400 bytes .../src/plugins/boards_rcexplorer/f3fc.cpp | 2 +- shared/uavobjectdefinition/hwf3fc.xml | 7 +++ 5 files changed, 65 insertions(+), 6 deletions(-) diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c index d88bb0cd6c..2ecf4cf270 100644 --- a/flight/targets/f3fc/board-info/board_hw_defs.c +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -266,7 +266,7 @@ static const struct pios_dsm_cfg pios_uart1_dsm_bind_cfg = { }, }; -static const struct pios_dsm_cfg pios_uart2_dsm_bind_cfg = { +static struct pios_dsm_cfg pios_uart2_dsm_bind_cfg = { .bind = { .gpio = GPIOA, .init = { @@ -329,7 +329,7 @@ static const struct pios_usart_cfg pios_uart1_cfg = { }, }; -static const struct pios_usart_cfg pios_uart2_cfg = { +static struct pios_usart_cfg pios_uart2_cfg = { .regs = USART2, .remap = GPIO_AF_7, .irq = { @@ -707,6 +707,8 @@ uintptr_t pios_internal_adc_id; void DMA2_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler"))); +void DMA1_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler"))); + void PIOS_ADC_DMA_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ @@ -717,8 +719,9 @@ void PIOS_ADC_DMA_irq_handler(void) * ADC0 : PB2 ADC2_IN12 Current * ADC1 : PA5 ADC2_IN2 Battery Voltage * ADC2 : PA6 ADC2_IN3 RSSI/Servo Feedback + * ADC3 : PA3 ADC1_IN4 Second Servo Feedback */ -static struct pios_internal_adc_cfg internal_adc_cfg = { +static struct pios_internal_adc_cfg internal_adc_3_cfg = { .dma = { .irq = { .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1 | DMA2_FLAG_GL1), @@ -749,6 +752,40 @@ static struct pios_internal_adc_cfg internal_adc_cfg = { .adc_dev_slave = NULL, }; +static struct pios_internal_adc_cfg internal_adc_4_cfg = { + .dma = { + .irq = { + .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), + .init = { + .NVIC_IRQChannel = DMA1_Channel1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .channel = DMA1_Channel1, + .init = { + .DMA_Priority = DMA_Priority_High, + }, + } + }, + .half_flag = DMA1_IT_HT1, + .full_flag = DMA1_IT_TC1, + .oversampling = 4, + .adc_pins = { + {GPIOB, GPIO_Pin_2, ADC_Channel_12, false}, + {GPIOA, GPIO_Pin_5, ADC_Channel_2, false}, + {GPIOA, GPIO_Pin_6, ADC_Channel_3, false}, + {GPIOA, GPIO_Pin_3, ADC_Channel_4, true }, + {NULL, 0, ADC_Channel_Vrefint, true }, + {NULL, 0, ADC_Channel_TempSensor, true }, + }, + .adc_pin_count = 6, + .adc_dev_master = ADC1, + .adc_dev_slave = ADC2, +}; + #endif /* PIOS_INCLUDE_ADC */ #if defined(PIOS_INCLUDE_RCVR) diff --git a/flight/targets/f3fc/fw/pios_board.c b/flight/targets/f3fc/fw/pios_board.c index 6781a15e6b..3f2bea5e8f 100644 --- a/flight/targets/f3fc/fw/pios_board.c +++ b/flight/targets/f3fc/fw/pios_board.c @@ -189,6 +189,14 @@ void PIOS_Board_Init(void) /* Configure the IO ports */ HwF3FcDSMxModeOptions hw_DSMxMode; HwF3FcDSMxModeGet(&hw_DSMxMode); + + HwF3FcFC_Pad_R2Options hw_fcPadR2; + HwF3FcFC_Pad_R2Get(&hw_fcPadR2); + + if (hw_fcPadR2 == HWF3FC_FC_PAD_R2_FDBK2) { + pios_uart2_dsm_bind_cfg.bind.gpio = NULL; + pios_uart2_cfg.rx.gpio = NULL; + } /* UART1 Port */ uint8_t hw_uart1; @@ -269,8 +277,15 @@ void PIOS_Board_Init(void) #if defined(PIOS_INCLUDE_ADC) uintptr_t unused_adc; - if(PIOS_INTERNAL_ADC_Init(&pios_internal_adc_id, &internal_adc_cfg) < 0) - PIOS_Assert(0); + + if (hw_fcPadR2 != HWF3FC_FC_PAD_R2_FDBK2) { + if(PIOS_INTERNAL_ADC_Init(&pios_internal_adc_id, &internal_adc_3_cfg) < 0) + PIOS_Assert(0); + } else { + if(PIOS_INTERNAL_ADC_Init(&pios_internal_adc_id, &internal_adc_4_cfg) < 0) + PIOS_Assert(0); + } + PIOS_ADC_Init(&unused_adc, &pios_internal_adc_driver, pios_internal_adc_id); #endif /* PIOS_INCLUDE_ADC */ diff --git a/flight/targets/f3fc/hw/f3fc.xls b/flight/targets/f3fc/hw/f3fc.xls index bac9a39f2abe96bd189c55bc8b27ab8676f93393..e4962381e00451ccdeeceea86b0ffe2fca99b321 100644 GIT binary patch delta 1485 zcmaJ=TWlLu5S{U^op}9N;yAJUaI$GDO2DlXuU%+ql5Sq$G)dh&nl=#J=4ppKjFkil zL0jdcAU;ZzK^6Q}{fxq+HG)c@7QqKWkf@Xjp;GbsKzt)WEdqtv&30)e3rjxd&YUwd z_wL?3y=*(ZY=d_I zBHrfxdw$DMi>bjCKqvLNp63T}swhAYx_p#%I?zq)uD~YG-MSl);()us}iF$Eym*P+ygm7Wus38kgGN!g`zOwUZ`ltZ&K z+1VMTHn?GlnwIX7+}yM&R&7WseI47rGZt3bM@DA~^@s-k8%>?@mb$NM03^OqRkZ;9 z%md8ln9nkQ#{4Ps-^_QIqXIx(6kv||8)i9wEq>AMJUjq!EDf-lf3@+$t$u!NvJCpA zc?sNnyAT$Glt@)#X+D$s#D*~n48CPjA zO!H$ZK0)t~Y4{}FW=zn&w1#c;BI7~2lHP(Tx|y!Vb`mohc2Fy0C%uxL3nX*$C=Kr4*Tkd)PT(azXLXR{p$bSwLiOXiCR{Fgx{`MK4_+-mW!XL2L)8z|&| W%2mpAyvcoO{`geGZ%k~AY2r9QzFrRg}eP#tY%7WFk( zUX3nyIo{O*tjj5kMa?g#g!Yi~t8mw?=TE+!g$5$5!f#rh2xHJwhlHod7yEC`DslfE z$S!O!=@0lzo_zf4%EA6=3(>n&P8C@8R<6Ll z<*?WFmDtM;d&>8J?1w9|A3M3jA(Y)V1tDVa&HZO760c&8eH9BxmTJ*mh-FNKx*o(P$TJNwoN|YGtkG7yI zUgNFGJ27y)np;sDU&|)$#AOb^%ds@$8yU%0ppgUP*tzsW~T z9_pmcM7WS#&s%XTX>vPUBPMS{o8We21b5)P!rLP$-ihs_ChtO4umkg>W~5V|(XM5X zn}YOk!PCg1G29bf7uJoLkxdR$BHu`daQUnfm9+^cM6uh61yyWI!PBJfIKC7`w-Z~X z6io%s?)3t~<7TACiIpmaJf)hglEl62+rVtV}87S(Tzp zDbgrPnZd`LSh-S|*psp%dz@H>ip2_^JzEABQYP=kHz|uBM{U~TUK|$e!(7^m^gG&W zl_@K!`c+Fmi;m!ax{>!`!-U08AS0N-!h{uh(oxk(jz#f;XWw%IzKqHH(UGaw&-#ca zT_rS_8_#^jJb>m&iw7|ycmP)gpTZx4y=XsbkMoM)5UvRx#Qmc+oJ4iDk)K9S)`~pi zG-*_0t}S@>m?N0anvrLn*hZyjD0sGF6!)?wKZkY4EctNKf`@TYa2P)eK94O^_7qcs zeYi5!&lR)N8~lcBD9PU-1LpKiEOj@`&fN6A`fa)IgWK%ReLqtl#8kI&<+VRU+>-n2 HY%%`><^ngv diff --git a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp index 6139638720..ca476b0832 100644 --- a/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp +++ b/ground/gcs/src/plugins/boards_rcexplorer/f3fc.cpp @@ -134,5 +134,5 @@ int F3Fc::queryMaxGyroRate() QStringList F3Fc::getAdcNames() { - return QStringList() << "Current" << "Battery" << "RSSI"; + return QStringList() << "Current" << "Battery" << "RSSI" << "Fdbk2"; } diff --git a/shared/uavobjectdefinition/hwf3fc.xml b/shared/uavobjectdefinition/hwf3fc.xml index 70009d5d3a..e53a266643 100644 --- a/shared/uavobjectdefinition/hwf3fc.xml +++ b/shared/uavobjectdefinition/hwf3fc.xml @@ -106,5 +106,12 @@ + + R2 Pad Function + + + + + From 3db242afeb73b15e2ced9cca67fe07ba09b1cbcc Mon Sep 17 00:00:00 2001 From: jihlein Date: Wed, 22 Aug 2018 14:51:05 -0600 Subject: [PATCH 27/73] Add S5 and S6 outputs to Matek405Ctr with optional LED Strip Selection. --- .../matek405ctr/board-info/board-info.mk | 2 +- .../matek405ctr/board-info/board_hw_defs.c | 84 +++++++++++++++++-- flight/targets/matek405ctr/fw/pios_board.c | 30 +++++-- .../src/plugins/boards_matek/matek405ctr.cpp | 4 +- shared/uavobjectdefinition/hwmatek405ctr.xml | 7 ++ 5 files changed, 111 insertions(+), 16 deletions(-) diff --git a/flight/targets/matek405ctr/board-info/board-info.mk b/flight/targets/matek405ctr/board-info/board-info.mk index 33a207fea3..318d8f623b 100644 --- a/flight/targets/matek405ctr/board-info/board-info.mk +++ b/flight/targets/matek405ctr/board-info/board-info.mk @@ -9,7 +9,7 @@ MODEL := HD MODEL_SUFFIX := USB_VEND := "Matek" -USB_PROD := "MATEK405CTR" +USB_PROD := "Matek405Ctr" # Note: These must match the values in link_$(BOARD)_memory.ld BL_BANK_BASE := 0x08000000 # Start of bootloader flash diff --git a/flight/targets/matek405ctr/board-info/board_hw_defs.c b/flight/targets/matek405ctr/board-info/board_hw_defs.c index 802039639d..b45b0eebb0 100644 --- a/flight/targets/matek405ctr/board-info/board_hw_defs.c +++ b/flight/targets/matek405ctr/board-info/board_hw_defs.c @@ -839,6 +839,32 @@ static const struct pios_tim_clock_cfg tim_8_cfg = { }, }; +static const struct pios_tim_clock_cfg tim_2_cfg = { + .timer = TIM2, + .time_base_init = &tim_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + /** * Pios servo configuration structures */ @@ -849,6 +875,8 @@ static const struct pios_tim_clock_cfg tim_8_cfg = { 2: TIM8_CH2 (PC7) DMA2 Stream 1 Channel 7 3: TIM8_CH3 (PC8) 4: TIM8_CH4 (PC9) + 5: TIM2_CH1 (PA15) DMA1 Stream 1 Channel 3 + 6: TIM1_CH1 (PA8) DAM2 Stream 5 Channel 6 */ static const struct pios_tim_channel pios_tim_outputs_pins[] = { @@ -916,6 +944,38 @@ static const struct pios_tim_clock_cfg tim_8_cfg = { .pin_source = GPIO_PinSource9, }, }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_TIM2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource15, + }, + }, + { + .timer = TIM1, + .timer_chan = TIM_Channel_1, + .remap = GPIO_AF_TIM1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + .pin_source = GPIO_PinSource8, + }, + }, }; #if defined(PIOS_INCLUDE_DMASHOT) @@ -928,8 +988,10 @@ static const struct pios_tim_clock_cfg tim_8_cfg = { 2: TIM8_CH2 (PC7) DMA2 Stream 1 Channel 7 3: TIM8_CH3 (PC8) 4: TIM8_CH4 (PC9) + 5: TIM2_CH1 (PA15) DMA1 Stream 1 Channel 3 + 6: TIM1_CH1 (PA8) DAM2 Stream 5 Channel 6 */ - + static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = { { .timer = TIM3, @@ -943,9 +1005,21 @@ static const struct pios_tim_clock_cfg tim_8_cfg = { .channel = DMA_Channel_7, .tcif = DMA_FLAG_TCIF1 }, + { + .timer = TIM2, + .stream = DMA1_Stream1, + .channel = DMA_Channel_3, + .tcif = DMA_FLAG_TCIF1 + }, + { + .timer = TIM1, + .stream = DMA2_Stream5, + .channel = DMA_Channel_6, + .tcif = DMA_FLAG_TCIF5 + }, }; -static const struct pios_dmashot_cfg dmashot_config = { +static struct pios_dmashot_cfg dmashot_config = { .timer_cfg = &dmashot_tim_cfg[0], .num_timers = NELEMENTS(dmashot_tim_cfg) }; @@ -958,7 +1032,7 @@ static const struct pios_dmashot_cfg dmashot_config = { */ #include -const struct pios_servo_cfg pios_servo_cfg = { +static struct pios_servo_cfg pios_servo_cfg = { .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, @@ -1143,7 +1217,7 @@ void PIOS_ADC_DMA_irq_handler(void) #endif /* PIOS_INCLUDE_ADC */ /** - * Configuration for driving a WS2811 LED out RX8 + * Configuration for driving a WS2811 LED out S6 (PA8) */ #if defined(PIOS_INCLUDE_WS2811) @@ -1173,7 +1247,7 @@ static const struct pios_ws2811_cfg pios_ws2811_cfg = { .fall_time_l = 5, /* 333ns */ .fall_time_h = 11, /* 833ns */ .led_gpio = GPIOA, - .gpio_pin = GPIO_Pin_15, /* PA15 */ + .gpio_pin = GPIO_Pin_8, /* PA8 */ .bit_set_dma_stream = DMA2_Stream4, .bit_set_dma_channel = DMA_Channel_6, /* 2/S4/C6: TIM1 CH4|TRIG|COM */ .bit_clear_dma_stream = DMA2_Stream6, diff --git a/flight/targets/matek405ctr/fw/pios_board.c b/flight/targets/matek405ctr/fw/pios_board.c index 2685f9b67d..e816e74206 100644 --- a/flight/targets/matek405ctr/fw/pios_board.c +++ b/flight/targets/matek405ctr/fw/pios_board.c @@ -114,9 +114,11 @@ void PIOS_Board_Init(void) { // Timers used for inputs (5) PIOS_TIM_InitClock(&tim_5_cfg); - // Timers used for outputs (3, 8) + // Timers used for outputs (3, 8, 2, 1) PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_8_cfg); + PIOS_TIM_InitClock(&tim_2_cfg); + PIOS_TIM_InitClock(&tim_1_cfg); #ifdef PIOS_INCLUDE_SPI uint8_t hw_osdport; @@ -330,6 +332,14 @@ void PIOS_Board_Init(void) { hw_DSMxMode, // dsm_mode NULL); // sbus_cfg + HwMatek405CtrFC_Pad_S6Options hw_fcPadS6; + HwMatek405CtrFC_Pad_S6Get(&hw_fcPadS6); + + if (hw_fcPadS6 != HWMATEK405CTR_FC_PAD_S6_PWM_6) { + dmashot_config.num_timers = 3; + pios_servo_cfg.num_channels = 5; + } + #if defined(PIOS_INCLUDE_SERVO) & defined(PIOS_INCLUDE_DMASHOT) PIOS_DMAShot_Init(&dmashot_config); #endif @@ -343,18 +353,20 @@ void PIOS_Board_Init(void) { #endif #ifdef PIOS_INCLUDE_WS2811 - RGBLEDSettingsInitialize(); + if (hw_fcPadS6 == HWMATEK405CTR_FC_PAD_S6_LEDSTRING) { + RGBLEDSettingsInitialize(); - uint8_t temp; + uint8_t temp; - RGBLEDSettingsNumLedsGet(&temp); + RGBLEDSettingsNumLedsGet(&temp); - if (temp > 0) { - PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp); + if (temp > 0) { + PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp); - // Drive default value (off) to strand once at startup - PIOS_WS2811_trigger_update(pios_ws2811); - } + // Drive default value (off) to strand once at startup + PIOS_WS2811_trigger_update(pios_ws2811); + } + } #endif #ifdef PIOS_INCLUDE_DAC diff --git a/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp b/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp index 6b3ad680c4..a1ba38805a 100644 --- a/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp +++ b/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp @@ -50,9 +50,11 @@ MATEK405CTR::MATEK405CTR(void) boardType = 0x95; // Define the bank of channels that are connected to a given timer - channelBanks.resize(2); + channelBanks.resize(4); channelBanks[0] = QVector() << 1; channelBanks[1] = QVector() << 2<< 3 << 4; + channelBanks[2] = QVector() << 5; + channelBanks[3] = QVector() << 6; } MATEK405CTR::~MATEK405CTR() diff --git a/shared/uavobjectdefinition/hwmatek405ctr.xml b/shared/uavobjectdefinition/hwmatek405ctr.xml index 58e8cecdf8..f2cd4cd6f9 100644 --- a/shared/uavobjectdefinition/hwmatek405ctr.xml +++ b/shared/uavobjectdefinition/hwmatek405ctr.xml @@ -210,5 +210,12 @@ + + R2 Pad Function + + + + + From 5c9d85012c902fa7a9aeeacd4733246311857e67 Mon Sep 17 00:00:00 2001 From: jihlein Date: Fri, 24 Aug 2018 21:40:56 -0600 Subject: [PATCH 28/73] Move DTFc from 1000 Hz to 500 Hz frame rate --- flight/targets/dtfc/board-info/board_hw_defs.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/targets/dtfc/board-info/board_hw_defs.c b/flight/targets/dtfc/board-info/board_hw_defs.c index e889dcb0ff..d15a3c34b4 100644 --- a/flight/targets/dtfc/board-info/board_hw_defs.c +++ b/flight/targets/dtfc/board-info/board_hw_defs.c @@ -1030,7 +1030,7 @@ static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { static struct pios_mpu_cfg pios_mpu_cfg = { .exti_cfg = &pios_exti_mpu_cfg, - .default_samplerate = 1000, + .default_samplerate = 500, .orientation = PIOS_MPU_TOP_180DEG }; #endif /* PIOS_INCLUDE_MPU */ From 0cf643fc56be621a37702dd0a5b59a8098ab60b1 Mon Sep 17 00:00:00 2001 From: jihlein Date: Sun, 26 Aug 2018 19:21:16 -0600 Subject: [PATCH 29/73] Triflight Tailtune progress beep simplification --- flight/Modules/Triflight/triflight.c | 92 ++++++++++------------------ 1 file changed, 31 insertions(+), 61 deletions(-) diff --git a/flight/Modules/Triflight/triflight.c b/flight/Modules/Triflight/triflight.c index 63c459f106..4a907b615f 100644 --- a/flight/Modules/Triflight/triflight.c +++ b/flight/Modules/Triflight/triflight.c @@ -545,7 +545,7 @@ void virtualTailMotorStep(ActuatorSettingsData *actuatorSettings, typedef enum { TT_IDLE = 0, - TT_WAIT, +// TT_WAIT, TT_ACTIVE, TT_WAIT_FOR_DISARM, TT_DONE, @@ -583,16 +583,16 @@ typedef struct tailTune_s { { tailTuneState_e state; - uint32_t startBeepDelay_us; uint32_t timestamp_us; uint32_t lastAdjTime_us; + struct servoAvgAngle_t { - float sum; - float num_of; + float sum; + uint16_t num_of; } servoAvgAngle; - }tt; + } tt; struct servoSetup_t { @@ -613,12 +613,12 @@ typedef struct tailTune_s { struct average_t { - float result; - float sum; - float num_of; + float result; + float sum; + uint16_t num_of; } avg; }cal; - }ss; + } ss; } tailTune_t; static tailTune_t tailTune = {.mode = TT_MODE_NONE}; @@ -653,44 +653,16 @@ static void tailTuneModeThrustTorque(TriflightSettingsData *triflightSettings, // Calibration has been requested, only start when throttle is up if (is_throttle_high && armed) { - triflight_blink_string = "M"; // -- throttle high - pTT->startBeepDelay_us = 1000000; // 1 second pTT->timestamp_us = PIOS_DELAY_GetuS(); pTT->lastAdjTime_us = PIOS_DELAY_GetuS(); - pTT->state = TT_WAIT; - pTT->servoAvgAngle.sum = 0; + pTT->state = TT_ACTIVE; //TT_WAIT; + pTT->servoAvgAngle.sum = 0.0f; pTT->servoAvgAngle.num_of = 0; } break; - case TT_WAIT: - if (is_throttle_high && armed) - { - // Wait for 5 seconds before activating the tuning. - // This is so that pilot has time to take off if the tail tune mode was activated on ground. - if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 5000000) // 5 seconds - { - // Longer beep when starting - triflight_blink_string = "T"; // - start - pTT->state = TT_ACTIVE; - pTT->timestamp_us = PIOS_DELAY_GetuS(); - } - else if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= pTT->startBeepDelay_us) - { - // Beep every second until start - triflight_blink_string = "I"; // .. beep every second until start - pTT->startBeepDelay_us += 1000000; // 1 second - } - } - else - { - pTT->state = TT_IDLE; - } - - break; - - case TT_ACTIVE: + case TT_ACTIVE: if (is_throttle_high && (fabsf(cmd.Roll) <= 0.05f) && (fabsf(cmd.Pitch) <= 0.05f) && @@ -700,22 +672,22 @@ static void tailTuneModeThrustTorque(TriflightSettingsData *triflightSettings, if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 250000) // 0.25 seconds { // RC commands have been within deadbands for 250 ms - if (PIOS_DELAY_GetuSSince(pTT->lastAdjTime_us) >= 20000) // 0.04 seconds + if (PIOS_DELAY_GetuSSince(pTT->lastAdjTime_us) >= 20000) // 0.02 seconds { pTT->lastAdjTime_us = PIOS_DELAY_GetuS(); pTT->servoAvgAngle.sum += triflightStatus->ServoAngle; pTT->servoAvgAngle.num_of++; - if (((uint16_t)pTT->servoAvgAngle.num_of & 0x64) == 0x64) // once every 100 samples + if (pTT->servoAvgAngle.num_of % 100 == 0) // single short beep once every 100 samples { - triflight_blink_string = "E"; // . 100 samples saved, should repeat 5 times + triflight_blink_string = "T"; // "-" 100 samples saved, should repeat 5 times } - if (pTT->servoAvgAngle.num_of >= 500) // 500 samples * 0.04 seconds = 20 seconds + if (pTT->servoAvgAngle.num_of >= 500) // 500 samples * 0.02 seconds = 10 seconds { - pTT->state = TT_WAIT_FOR_DISARM; - pTT->timestamp_us = PIOS_DELAY_GetuS(); + pTT->state = TT_WAIT_FOR_DISARM; + pTT->timestamp_us = PIOS_DELAY_GetuS(); } } } @@ -729,7 +701,7 @@ static void tailTuneModeThrustTorque(TriflightSettingsData *triflightSettings, case TT_WAIT_FOR_DISARM: if (!armed) { - float average_servo_angle = pTT->servoAvgAngle.sum / pTT->servoAvgAngle.num_of; + float average_servo_angle = pTT->servoAvgAngle.sum / (float)pTT->servoAvgAngle.num_of; if((average_servo_angle > 90.5f) && (average_servo_angle < 120.0f)) { average_servo_angle -= 90.0f; @@ -748,29 +720,28 @@ static void tailTuneModeThrustTorque(TriflightSettingsData *triflightSettings, pTT->timestamp_us = PIOS_DELAY_GetuS(); } else { - if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 1000000) // 1 second { - triflight_blink_string = "O"; // --- wait for disarmed - pTT->timestamp_us = PIOS_DELAY_GetuS(); + pTT->timestamp_us = PIOS_DELAY_GetuS(); } } break; case TT_DONE: - if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 1000000) // 1 second { - triflight_blink_string = "5"; // ..... done success - pTT->timestamp_us = PIOS_DELAY_GetuS(); + triflight_blink_string = "W"; // ".--" done success + pTT->timestamp_us = PIOS_DELAY_GetuS(); } break; case TT_FAIL: - if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 2000000) // 2 seconds + if (PIOS_DELAY_GetuSSince(pTT->timestamp_us) >= 1000000) // 1 second { - triflight_blink_string = "0"; // ----- done fail - pTT->timestamp_us = PIOS_DELAY_GetuS(); + triflight_blink_string = "G"; // "--." done fail + pTT->timestamp_us = PIOS_DELAY_GetuS(); } break; @@ -798,7 +769,6 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, if ((cmd.Roll < 0.05f) && (cmd.Roll > -0.05f) && (cmd.Pitch > 0.5f) && (pSS->state == SS_IDLE)) { pSS->state = SS_CALIB; pSS->cal.state = SS_C_IDLE; - triflight_blink_string = "T"; // - start } switch (pSS->state) @@ -847,7 +817,7 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, pSS->state = SS_IDLE; pSS->cal.subState = SS_C_S_IDLE; - triflight_blink_string = "0"; // ----- done fail + triflight_blink_string = "G"; // "--." done fail } else { @@ -875,7 +845,7 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); pSS->cal.avg.sum = 0.0f; - pSS->cal.avg.num_of = 0.0f; + pSS->cal.avg.num_of = 0; pSS->cal.done = false; } @@ -896,7 +866,7 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, if (sample_delta >= 1e6) // 1 second { - pSS->cal.avg.result = pSS->cal.avg.sum / pSS->cal.avg.num_of; + pSS->cal.avg.result = pSS->cal.avg.sum / (float)pSS->cal.avg.num_of; pSS->cal.done = true; } } @@ -933,7 +903,7 @@ static void tailTuneModeServoSetup(ActuatorSettingsData *actuatorSettings, TriflightSettingsSet(triflightSettings); UAVObjSave(TriflightSettingsHandle(), 0); - triflight_blink_string = "5"; // ..... done success + triflight_blink_string = "W"; // ".--" done success } pSS->cal.timestamp_us = PIOS_DELAY_GetuS(); From 9a6e104f7b19e6761ea4da9307b2786ef63d92df Mon Sep 17 00:00:00 2001 From: jihlein Date: Fri, 14 Sep 2018 18:42:18 -0600 Subject: [PATCH 30/73] Update Matek405Ctr target to support Matek405Std too --- flight/PiOS/Common/pios_mpu.c | 36 +++--- flight/PiOS/inc/pios_mpu.h | 47 +++---- .../{matek405ctr => matek405}/bl/pios_board.c | 4 +- .../bl/pios_config.h | 4 +- .../board-info/board-info.mk | 4 +- .../board-info/board_hw_defs.c | 13 +- .../board-info/cmsis_system.c | 4 +- .../board-info/pios_board.h | 6 +- .../board-info/usb_conf.h | 4 +- .../{matek405ctr => matek405}/fw/Makefile | 2 +- .../{matek405ctr => matek405}/fw/memory.ld | 0 .../{matek405ctr => matek405}/fw/pios_board.c | 120 +++++++++++------- .../fw/pios_config.h | 4 +- .../{matek405ctr => matek405}/target-defs.mk | 6 +- .../src/plugins/boards_matek/boards_matek.pro | 4 +- .../plugins/boards_matek/images/matek405.png | Bin 0 -> 675952 bytes .../boards_matek/images/matek405ctr.png | Bin 311425 -> 0 bytes ground/gcs/src/plugins/boards_matek/matek.qrc | 2 +- .../{matek405ctr.cpp => matek405.cpp} | 114 ++++++++--------- .../{matek405ctr.h => matek405.h} | 14 +- .../src/plugins/boards_matek/matekplugin.cpp | 6 +- .../{hwmatek405ctr.xml => hwmatek405.xml} | 26 +++- 22 files changed, 236 insertions(+), 184 deletions(-) rename flight/targets/{matek405ctr => matek405}/bl/pios_board.c (97%) rename flight/targets/{matek405ctr => matek405}/bl/pios_config.h (94%) rename flight/targets/{matek405ctr => matek405}/board-info/board-info.mk (93%) rename flight/targets/{matek405ctr => matek405}/board-info/board_hw_defs.c (99%) rename flight/targets/{matek405ctr => matek405}/board-info/cmsis_system.c (99%) rename flight/targets/{matek405ctr => matek405}/board-info/pios_board.h (97%) rename flight/targets/{matek405ctr => matek405}/board-info/usb_conf.h (99%) rename flight/targets/{matek405ctr => matek405}/fw/Makefile (99%) rename flight/targets/{matek405ctr => matek405}/fw/memory.ld (100%) rename flight/targets/{matek405ctr => matek405}/fw/pios_board.c (81%) rename flight/targets/{matek405ctr => matek405}/fw/pios_config.h (96%) rename flight/targets/{matek405ctr => matek405}/target-defs.mk (75%) create mode 100644 ground/gcs/src/plugins/boards_matek/images/matek405.png delete mode 100644 ground/gcs/src/plugins/boards_matek/images/matek405ctr.png rename ground/gcs/src/plugins/boards_matek/{matek405ctr.cpp => matek405.cpp} (63%) rename ground/gcs/src/plugins/boards_matek/{matek405ctr.h => matek405.h} (92%) rename shared/uavobjectdefinition/{hwmatek405ctr.xml => hwmatek405.xml} (89%) diff --git a/flight/PiOS/Common/pios_mpu.c b/flight/PiOS/Common/pios_mpu.c index d1455f059c..00600b3a6a 100644 --- a/flight/PiOS/Common/pios_mpu.c +++ b/flight/PiOS/Common/pios_mpu.c @@ -53,6 +53,7 @@ static const uint8_t pios_mpu_whoami[PIOS_MPU_NUM] = { [PIOS_MPU9150] = 0x68, [PIOS_MPU9250] = 0x71, [PIOS_ICM20608G] = 0xAF, + [PIOS_ICM20602] = 0x12, }; /** @@ -657,23 +658,23 @@ void PIOS_MPU_SetGyroBandwidth(uint16_t bandwidth) filter = PIOS_MPU60X0_GYRO_LOWPASS_188_HZ; } else { if (bandwidth <= 5) - filter = PIOS_ICM20608G_GYRO_LOWPASS_5_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_5_HZ; else if (bandwidth <= 10) - filter = PIOS_ICM20608G_GYRO_LOWPASS_10_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_10_HZ; else if (bandwidth <= 20) - filter = PIOS_ICM20608G_GYRO_LOWPASS_20_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_20_HZ; else if (bandwidth <= 92) - filter = PIOS_ICM20608G_GYRO_LOWPASS_92_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_92_HZ; else - filter = PIOS_ICM20608G_GYRO_LOWPASS_176_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_176_HZ; #if 0 /* Unsupported/higher sample rates */ else if (bandwidth <= 176) - filter = PIOS_ICM20608G_GYRO_LOWPASS_176_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_176_HZ; else if (bandwidth <= 250) - filter = PIOS_ICM20608G_GYRO_LOWPASS_250_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_250_HZ; else - filter = PIOS_ICM20608G_GYRO_LOWPASS_3281_HZ; + filter = PIOS_ICM2060X_GYRO_LOWPASS_3281_HZ; #endif } @@ -682,7 +683,10 @@ void PIOS_MPU_SetGyroBandwidth(uint16_t bandwidth) void PIOS_MPU_SetAccelBandwidth(uint16_t bandwidth) { - if (mpu_dev->mpu_type != PIOS_MPU6500 && mpu_dev->mpu_type != PIOS_MPU9250 && mpu_dev->mpu_type != PIOS_ICM20608G) + if (mpu_dev->mpu_type != PIOS_MPU6500 && + mpu_dev->mpu_type != PIOS_MPU9250 && + mpu_dev->mpu_type != PIOS_ICM20608G && + mpu_dev->mpu_type != PIOS_ICM20602) return; enum pios_mpu6500_accel_filter filter; @@ -703,19 +707,19 @@ void PIOS_MPU_SetAccelBandwidth(uint16_t bandwidth) filter = PIOS_MPU6500_ACCEL_LOWPASS_460_HZ; } else { if (bandwidth <= 5) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_5_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_5_HZ; else if (bandwidth <= 10) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_10_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_10_HZ; else if (bandwidth <= 21) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_21_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_21_HZ; else if (bandwidth <= 45) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_45_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_45_HZ; else if (bandwidth <= 99) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_99_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_99_HZ; else if (bandwidth <= 218) - filter = PIOS_ICM20608G_ACCEL_LOWPASS_218_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_218_HZ; else - filter = PIOS_ICM20608G_ACCEL_LOWPASS_420_HZ; + filter = PIOS_ICM2060X_ACCEL_LOWPASS_420_HZ; } PIOS_MPU_WriteReg(PIOS_MPU_ACCEL_CFG2_REG, filter); diff --git a/flight/PiOS/inc/pios_mpu.h b/flight/PiOS/inc/pios_mpu.h index ad3cd56acd..d494acf7db 100644 --- a/flight/PiOS/inc/pios_mpu.h +++ b/flight/PiOS/inc/pios_mpu.h @@ -50,12 +50,13 @@ enum pios_mpu_error { * Supported IMU devices */ enum pios_mpu_type { - PIOS_MPU60X0, /**< MPU-6000, SPI/I2C or MPU-6050, I2C */ - PIOS_MPU6500, /**< MPU-6500, SPI/I2C */ - PIOS_MPU9150, /**< MPU-9150, contains MPU-6050+AK8975C */ - PIOS_MPU9250, /**< MPU-9250, contains MPU-6500+AK8963 */ - PIOS_ICM20608G, /** #include #include -#include "hwmatek405ctr.h" +#include "hwmatek405.h" #include "manualcontrolsettings.h" #include "modulesettings.h" #include "rgbledsettings.h" @@ -94,7 +94,7 @@ void PIOS_Board_Init(void) { PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS); #endif /* PIOS_INCLUDE_FLASH */ - HwMatek405CtrInitialize(); + HwMatek405Initialize(); ModuleSettingsInitialize(); #if defined(PIOS_INCLUDE_RTC) @@ -123,16 +123,16 @@ void PIOS_Board_Init(void) { #ifdef PIOS_INCLUDE_SPI uint8_t hw_osdport; - HwMatek405CtrOSDPortGet(&hw_osdport); + HwMatek405OSDPortGet(&hw_osdport); - if (hw_osdport != HWMATEK405CTR_OSDPORT_DISABLED) { + if (hw_osdport != HWMATEK405_OSDPORT_DISABLED) { if (PIOS_SPI_Init(&pios_spi_osd_id, &pios_spi_osd_cfg)) { PIOS_Assert(0); } switch (hw_osdport) { #ifdef PIOS_INCLUDE_MAX7456 - case HWMATEK405CTR_OSDPORT_MAX7456OSD: + case HWMATEK405_OSDPORT_MAX7456OSD: if (!PIOS_MAX7456_init(&pios_max7456_id, pios_spi_osd_id, 0)) { // XXX do something? @@ -154,7 +154,7 @@ void PIOS_Board_Init(void) { AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); } else { /* Too many failed boot attempts, force hw config to defaults */ - HwMatek405CtrSetDefaults(HwMatek405CtrHandle(), 0); + HwMatek405SetDefaults(HwMatek405Handle(), 0); ModuleSettingsSetDefaults(ModuleSettingsHandle(),0); AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); } @@ -187,11 +187,11 @@ void PIOS_Board_Init(void) { uint8_t hw_usb_vcpport; /* Configure the USB VCP port */ - HwMatek405CtrUSB_VCPPortGet(&hw_usb_vcpport); + HwMatek405USB_VCPPortGet(&hw_usb_vcpport); if (!usb_cdc_present) { /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ - hw_usb_vcpport = HWMATEK405CTR_USB_VCPPORT_DISABLED; + hw_usb_vcpport = HWMATEK405_USB_VCPPORT_DISABLED; } PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg); @@ -201,11 +201,11 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_USB_HID) /* Configure the usb HID port */ uint8_t hw_usb_hidport; - HwMatek405CtrUSB_HIDPortGet(&hw_usb_hidport); + HwMatek405USB_HIDPortGet(&hw_usb_hidport); if (!usb_hid_present) { /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ - hw_usb_hidport = HWMATEK405CTR_USB_HIDPORT_DISABLED; + hw_usb_hidport = HWMATEK405_USB_HIDPORT_DISABLED; } PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg); @@ -232,12 +232,12 @@ void PIOS_Board_Init(void) { AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_OK); #endif // PIOS_INCLUDE_I2C - HwMatek405CtrDSMxModeOptions hw_DSMxMode; - HwMatek405CtrDSMxModeGet(&hw_DSMxMode); + HwMatek405DSMxModeOptions hw_DSMxMode; + HwMatek405DSMxModeGet(&hw_DSMxMode); /* UART1 Port */ uint8_t hw_uart1; - HwMatek405CtrUart1Get(&hw_uart1); + HwMatek405Uart1Get(&hw_uart1); PIOS_HAL_ConfigurePort(hw_uart1, // port type protocol &pios_usart1_cfg, // usart_port_cfg @@ -252,9 +252,9 @@ void PIOS_Board_Init(void) { NULL); // sbus_cfg uint8_t hw_ppm; - HwMatek405CtrPPM_ReceiverGet(&hw_ppm); + HwMatek405PPM_ReceiverGet(&hw_ppm); - if (hw_ppm == HWMATEK405CTR_PPM_RECEIVER_ENABLED) { + if (hw_ppm == HWMATEK405_PPM_RECEIVER_ENABLED) { PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM, // port type protocol NULL, // usart_port_cfg NULL, // com_driver @@ -269,7 +269,7 @@ void PIOS_Board_Init(void) { } else { /* UART2 Port */ uint8_t hw_uart2; - HwMatek405CtrUart2Get(&hw_uart2); + HwMatek405Uart2Get(&hw_uart2); PIOS_HAL_ConfigurePort(hw_uart2, // port type protocol &pios_usart2_cfg, // usart_port_cfg @@ -286,7 +286,7 @@ void PIOS_Board_Init(void) { /* UART3 Port */ uint8_t hw_uart3; - HwMatek405CtrUart3Get(&hw_uart3); + HwMatek405Uart3Get(&hw_uart3); PIOS_HAL_ConfigurePort(hw_uart3, // port type protocol &pios_usart3_cfg, // usart_port_cfg @@ -302,7 +302,7 @@ void PIOS_Board_Init(void) { /* UART4 Port */ uint8_t hw_uart4; - HwMatek405CtrUart4Get(&hw_uart4); + HwMatek405Uart4Get(&hw_uart4); PIOS_HAL_ConfigurePort(hw_uart4, // port type protocol &pios_usart4_cfg, // usart_port_cfg @@ -318,7 +318,7 @@ void PIOS_Board_Init(void) { /* UART5 Port */ uint8_t hw_uart5; - HwMatek405CtrUart5Get(&hw_uart5); + HwMatek405Uart5Get(&hw_uart5); PIOS_HAL_ConfigurePort(hw_uart5, // port type protocol &pios_usart5_cfg, // usart_port_cfg @@ -332,10 +332,10 @@ void PIOS_Board_Init(void) { hw_DSMxMode, // dsm_mode NULL); // sbus_cfg - HwMatek405CtrFC_Pad_S6Options hw_fcPadS6; - HwMatek405CtrFC_Pad_S6Get(&hw_fcPadS6); + HwMatek405FC_Pad_S6Options hw_fcPadS6; + HwMatek405FC_Pad_S6Get(&hw_fcPadS6); - if (hw_fcPadS6 != HWMATEK405CTR_FC_PAD_S6_PWM_6) { + if (hw_fcPadS6 != HWMATEK405_FC_PAD_S6_PWM_6) { dmashot_config.num_timers = 3; pios_servo_cfg.num_channels = 5; } @@ -353,7 +353,7 @@ void PIOS_Board_Init(void) { #endif #ifdef PIOS_INCLUDE_WS2811 - if (hw_fcPadS6 == HWMATEK405CTR_FC_PAD_S6_LEDSTRING) { + if (hw_fcPadS6 == HWMATEK405_FC_PAD_S6_LEDSTRING) { RGBLEDSettingsInitialize(); uint8_t temp; @@ -387,55 +387,81 @@ void PIOS_Board_Init(void) { if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_gyro_id, 0, &pios_mpu_cfg) != 0) PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU); - HwMatek405CtrGyroRangeOptions hw_gyro_range; - HwMatek405CtrGyroRangeGet(&hw_gyro_range); + HwMatek405GyroRangeOptions hw_gyro_range; + HwMatek405GyroRangeGet(&hw_gyro_range); switch(hw_gyro_range) { - case HWMATEK405CTR_GYRORANGE_250: + case HWMATEK405_GYRORANGE_250: PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG); break; - case HWMATEK405CTR_GYRORANGE_500: + case HWMATEK405_GYRORANGE_500: PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG); break; - case HWMATEK405CTR_GYRORANGE_1000: + case HWMATEK405_GYRORANGE_1000: PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG); break; - case HWMATEK405CTR_GYRORANGE_2000: + case HWMATEK405_GYRORANGE_2000: PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG); break; } - HwMatek405CtrAccelRangeOptions hw_accel_range; - HwMatek405CtrAccelRangeGet(&hw_accel_range); + HwMatek405AccelRangeOptions hw_accel_range; + HwMatek405AccelRangeGet(&hw_accel_range); switch(hw_accel_range) { - case HWMATEK405CTR_ACCELRANGE_2G: + case HWMATEK405_ACCELRANGE_2G: PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G); break; - case HWMATEK405CTR_ACCELRANGE_4G: + case HWMATEK405_ACCELRANGE_4G: PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G); break; - case HWMATEK405CTR_ACCELRANGE_8G: + case HWMATEK405_ACCELRANGE_8G: PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G); break; - case HWMATEK405CTR_ACCELRANGE_16G: + case HWMATEK405_ACCELRANGE_16G: PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G); break; } // the filter has to be set before rate else divisor calculation will fail - HwMatek405CtrMPU6000DLPFOptions hw_mpu_dlpf; - HwMatek405CtrMPU6000DLPFGet(&hw_mpu_dlpf); + HwMatek405MPU6000_LPF_CTROptions hw_mpu_dlpf; + HwMatek405MPU6000_LPF_CTRGet(&hw_mpu_dlpf); uint16_t bandwidth = \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_188) ? 188 : \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_98) ? 98 : \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_42) ? 42 : \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_20) ? 20 : \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_10) ? 10 : \ - (hw_mpu_dlpf == HWMATEK405CTR_MPU6000DLPF_5) ? 5 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_188) ? 188 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_98) ? 98 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_42) ? 42 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_20) ? 20 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_10) ? 10 : \ + (hw_mpu_dlpf == HWMATEK405_MPU6000_LPF_CTR_5) ? 5 : \ 188; PIOS_MPU_SetGyroBandwidth(bandwidth); + + HwMatek405ICM20602_GyroLPF_STDOptions hw_mpu_gyro_dlpf; + HwMatek405ICM20602_GyroLPF_STDGet(&hw_mpu_gyro_dlpf); + + uint16_t gyro_bandwidth = + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_176) ? 176 : + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_92) ? 92 : + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_41) ? 41 : + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_20) ? 20 : + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_10) ? 10 : + (hw_mpu_gyro_dlpf == HWMATEK405_ICM20602_GYROLPF_STD_5) ? 5 : + 176; + PIOS_MPU_SetGyroBandwidth(gyro_bandwidth); + + HwMatek405ICM20602_AccelLPF_STDOptions hw_mpu_accel_dlpf; + HwMatek405ICM20602_AccelLPF_STDGet(&hw_mpu_accel_dlpf); + + uint16_t acc_bandwidth = + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_218) ? 218 : + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_99) ? 99 : + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_45) ? 45 : + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_21) ? 21 : + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_10) ? 10 : + (hw_mpu_accel_dlpf = HWMATEK405_ICM20602_ACCELLPF_STD_5) ? 5 : + 218; + PIOS_MPU_SetAccelBandwidth(acc_bandwidth); #endif #if defined(PIOS_INCLUDE_I2C) @@ -444,8 +470,8 @@ void PIOS_Board_Init(void) { uint8_t hw_ext_mag; uint8_t hw_orientation; - HwMatek405CtrMagnetometerGet(&hw_ext_mag); - HwMatek405CtrExtMagOrientationGet(&hw_orientation); + HwMatek405MagnetometerGet(&hw_ext_mag); + HwMatek405ExtMagOrientationGet(&hw_orientation); PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_orientation, &pios_i2c_internal_id, &pios_i2c_internal_cfg); diff --git a/flight/targets/matek405ctr/fw/pios_config.h b/flight/targets/matek405/fw/pios_config.h similarity index 96% rename from flight/targets/matek405ctr/fw/pios_config.h rename to flight/targets/matek405/fw/pios_config.h index e164be808c..7e715d4af8 100644 --- a/flight/targets/matek405ctr/fw/pios_config.h +++ b/flight/targets/matek405/fw/pios_config.h @@ -2,10 +2,10 @@ ****************************************************************************** * @addtogroup Targets Target Boards * @{ - * @addtogroup MATEK405CTR Matek MATEK405CTR + * @addtogroup MATEK405 Matek MATEK405 * @{ * - * @file matek405ctr/fw/pios_config.h + * @file matek405/fw/pios_config.h * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 * @brief Board specific options that modify PiOS capabilities * @see The GNU Public License (GPL) Version 3 diff --git a/flight/targets/matek405ctr/target-defs.mk b/flight/targets/matek405/target-defs.mk similarity index 75% rename from flight/targets/matek405ctr/target-defs.mk rename to flight/targets/matek405/target-defs.mk index 702169ccbf..31883ea913 100644 --- a/flight/targets/matek405ctr/target-defs.mk +++ b/flight/targets/matek405/target-defs.mk @@ -1,10 +1,10 @@ # Add this board to the list of buildable boards -ALL_BOARDS += matek405ctr +ALL_BOARDS += matek405 # Set the cpu architecture here that matches your STM32 # Should be one of: f1,f3,f4 -matek405ctr_cpuarch := f4 +matek405_cpuarch := f4 # Short name of this board (used to display board name in parallel builds) # Should be exactly 4 characters long. -matek405ctr_short := 'mctr' +matek405_short := 'm405' diff --git a/ground/gcs/src/plugins/boards_matek/boards_matek.pro b/ground/gcs/src/plugins/boards_matek/boards_matek.pro index a814acfa1d..ea5e58a03c 100644 --- a/ground/gcs/src/plugins/boards_matek/boards_matek.pro +++ b/ground/gcs/src/plugins/boards_matek/boards_matek.pro @@ -9,11 +9,11 @@ OTHER_FILES += Matek.pluginspec HEADERS += \ matekplugin.h \ - matek405ctr.h + matek405.h SOURCES += \ matekplugin.cpp \ - matek405ctr.cpp + matek405.cpp RESOURCES += \ matek.qrc diff --git a/ground/gcs/src/plugins/boards_matek/images/matek405.png b/ground/gcs/src/plugins/boards_matek/images/matek405.png new file mode 100644 index 0000000000000000000000000000000000000000..5574390f7599c520af4b1b5e29e5c5699e5e24df GIT binary patch literal 675952 zcmX_nV{}~K+jeYBY))+3wi=_cZQD+oq_HMW8?>>F290go_M86x&w4+cb=H|Lv-dtX zF5D+tMM)YN0UrSj3=COTMnVk?3^ED~4BQ0{=JS^(s@sgu8@Q{Qv=~_RU&5o$2PjKX zMNu%YUx|pX#?YV7@J=#1u3%s&eg7`-A;)qvFtCpjSqV{fudk=M&_SAWt?ze)kjW88 zHNIJRe3B}dfLfMra%6Q0NlDB$EIUaB2{GN)Hsh$H^Yd4i{U_mzcMHspgS_Sk!o-Kb zPMmce-9{}>QscHPLq$9kI^#ziD>m<2id?tI%9R)nE zRo2#P!f8X(HA4)Z)Kj_v#gO}WMTi*8DP6}ezlrb#sDc|%ms`R@;vE}{b5ZlMI3FOe6s*GGHtw9KAgfDm=1vfuXq 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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, see + */ + +#include "matek405ctr.h" + +#include "uavobjects/uavobjectmanager.h" +#include "uavobjectutil/uavobjectutilmanager.h" +#include +#include "board_usb_ids.h" + +#include "hwmatek405ctr.h" + +/** + * @brief MATEK405CTR::MATEK405CTR + * This is the MATEK405CTR board definition + */ +MATEK405CTR::MATEK405CTR(void) +{ + // Common USB IDs + addBootloaderUSBInfo( + USBInfo(DRONIN_VID_DRONIN_BOOTLOADER, DRONIN_PID_DRONIN_BOOTLOADER, BCD_DEVICE_BOOTLOADER)); + addFirmwareUSBInfo( + USBInfo(DRONIN_VID_DRONIN_FIRMWARE, DRONIN_PID_DRONIN_FIRMWARE, BCD_DEVICE_FIRMWARE)); + + boardType = 0x95; + + // Define the bank of channels that are connected to a given timer + channelBanks.resize(5); + channelBanks[0] = QVector() << 1; + channelBanks[1] = QVector() << 2<< 3 << 4; +} + +MATEK405CTR::~MATEK405CTR() +{ +} + +QString MATEK405CTR::shortName() +{ + return QString("MATEK405CTR"); +} + +QString MATEK405CTR::boardDescription() +{ + return QString("The MATEK405CTR board"); +} + +//! Return which capabilities this board has +bool MATEK405CTR::queryCapabilities(BoardCapabilities capability) +{ + switch (capability) { + case BOARD_CAPABILITIES_GYROS: + case BOARD_CAPABILITIES_ACCELS: + case BOARD_CAPABILITIES_MAGS: + case BOARD_CAPABILITIES_BAROS: + case BOARD_CAPABILITIES_UPGRADEABLE: + return true; + default: + break; + } + + return false; +} + +QPixmap MATEK405CTR::getBoardPicture() +{ + return QPixmap(":/matek/images/matek405ctr.png"); +} + +//! Determine if this board supports configuring the receiver +bool MATEK405CTR::isInputConfigurationSupported(Core::IBoardType::InputType type) +{ + switch (type) { + case INPUT_TYPE_PWM: + case INPUT_TYPE_UNKNOWN: + return false; + default: + break; + } + + return true; +} + +QString MATEK405CTR::getHwUAVO() +{ + return "HwMatek405Ctr"; +} + +/** + * Configure the board to use a receiver input type on a port number + * @param type the type of receiver to use + * @return true if successfully configured or false otherwise + */ +bool MATEK405CTR::setInputType(Core::IBoardType::InputType type) +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwMatek405Ctr *hwMatek405Ctr = HwMatek405Ctr::GetInstance(uavoManager); + Q_ASSERT(hwMatek405Ctr); + if (!hwMatek405Ctr) + return false; + + HwMatek405Ctr::DataFields settings = hwMatek405Ctr->getData(); + + switch (type) { + case INPUT_TYPE_PPM: + settings.PPM_Receiver = HwMatek405Ctr::PPM_RECEIVER_ENABLED; + break; + case INPUT_TYPE_HOTTSUMD: + settings.Uart2 = HwMatek405Ctr::UART2_HOTTSUMD; + break; + case INPUT_TYPE_HOTTSUMH: + settings.Uart2 = HwMatek405Ctr::UART2_HOTTSUMH; + break; + case INPUT_TYPE_SBUS: + settings.Uart2 = HwMatek405Ctr::UART2_SBUS; + break; + case INPUT_TYPE_SBUSNONINVERTED: + settings.Uart2 = HwMatek405Ctr::UART2_SBUSNONINVERTED; + break; + case INPUT_TYPE_IBUS: + settings.Uart2 = HwMatek405Ctr::UART2_IBUS; + break; + case INPUT_TYPE_DSM: + settings.Uart2 = HwMatek405Ctr::UART2_DSM; + break; + case INPUT_TYPE_SRXL: + settings.Uart2 = HwMatek405Ctr::UART2_SRXL; + break; + case INPUT_TYPE_TBSCROSSFIRE: + settings.Uart2 = HwMatek405Ctr::UART2_TBSCROSSFIRE; + break; + default: + return false; + } + + // Apply these changes + hwMatek405Ctr->setData(settings); + + return true; +} + +/** + * @brief MATEK405CTR::getInputType fetch the currently selected input type + * @return the selected input type + */ +Core::IBoardType::InputType MATEK405CTR::getInputType() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwMatek405Ctr *hwMatek405Ctr = HwMatek405Ctr::GetInstance(uavoManager); + Q_ASSERT(hwMatek405Ctr); + if (!hwMatek405Ctr) + return INPUT_TYPE_UNKNOWN; + + HwMatek405Ctr::DataFields settings = hwMatek405Ctr->getData(); + + switch (settings.PPM_Receiver) { + case HwMatek405Ctr::PPM_RECEIVER_ENABLED: + return INPUT_TYPE_PPM; + default: + break; + } + + switch (settings.Uart2) { + case HwMatek405Ctr::UART2_HOTTSUMD: + return INPUT_TYPE_HOTTSUMD; + case HwMatek405Ctr::UART2_HOTTSUMH: + return INPUT_TYPE_HOTTSUMH; + case HwMatek405Ctr::UART2_SBUS: + return INPUT_TYPE_SBUS; + case HwMatek405Ctr::UART2_SBUSNONINVERTED: + return INPUT_TYPE_SBUSNONINVERTED; + case HwMatek405Ctr::UART2_IBUS: + return INPUT_TYPE_IBUS; + case HwMatek405Ctr::UART2_SRXL: + return INPUT_TYPE_SRXL; + case HwMatek405Ctr::UART2_TBSCROSSFIRE: + return INPUT_TYPE_TBSCROSSFIRE; + default: + break; + } + + return INPUT_TYPE_UNKNOWN; +} + +int MATEK405CTR::queryMaxGyroRate() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *uavoManager = pm->getObject(); + HwMatek405Ctr *hwMatek405Ctr = HwMatek405Ctr::GetInstance(uavoManager); + Q_ASSERT(hwMatek405Ctr); + if (!hwMatek405Ctr) + return 0; + + HwMatek405Ctr::DataFields settings = hwMatek405Ctr->getData(); + + switch (settings.GyroRange) { + case HwMatek405Ctr::GYRORANGE_250: + return 250; + case HwMatek405Ctr::GYRORANGE_500: + return 500; + case HwMatek405Ctr::GYRORANGE_1000: + return 1000; + case HwMatek405Ctr::GYRORANGE_2000: + return 2000; + default: + break; + } + + return 500; +} + +QStringList MATEK405CTR::getAdcNames() +{ + return QStringList() << "Current" << "Voltage" << "RSSI"; +} + +bool MATEK405CTR::hasAnnunciator(AnnunciatorType annunc) +{ + switch (annunc) { + case ANNUNCIATOR_HEARTBEAT: + case ANNUNCIATOR_ALARM: + case ANNUNCIATOR_BUZZER: + case ANNUNCIATOR_RGB: + case ANNUNCIATOR_DAC: + return true; + } + return false; +} diff --git a/ground/gcs/src/plugins/boards_matek/matek405ctr.h b/ground/gcs/src/plugins/boards_matek/matek405ctr.h new file mode 100644 index 0000000000..7367bfb035 --- /dev/null +++ b/ground/gcs/src/plugins/boards_matek/matek405ctr.h @@ -0,0 +1,68 @@ +/** + ****************************************************************************** + * @file matek405ctr.h + * @author Tau Labs, http://taulabs.org, Copyright (C) 2013 + * @author dRonin, http://dronin.org Copyright (C) 2015 + * + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup Boards_MatekPlugin Matek boards support Plugin + * @{ + * @brief Plugin to support Matek boards + *****************************************************************************/ + +/* + * 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 3 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, see + */ + +#ifndef MATEK405CTR_H +#define MATEK405CTR_H + +#include + +class MATEK405CTR : public Core::IBoardType +{ +public: + MATEK405CTR(); + virtual ~MATEK405CTR(); + + virtual QString shortName(); + virtual QString boardDescription(); + virtual bool queryCapabilities(BoardCapabilities capability); + virtual QPixmap getBoardPicture(); + virtual QString getHwUAVO(); + + //! Determine if this board supports configuring the receiver + virtual bool isInputConfigurationSupported(Core::IBoardType::InputType type); + + /** + * Configure the board to use an receiver input type on a port number + * @param type the type of receiver to use + * @param port_num which input port to configure (board specific numbering) + */ + virtual bool setInputType(Core::IBoardType::InputType type); + + /** + * @brief getInputOnPort get the current input type + * @param port_num which input port to query (board specific numbering) + * @return the currently selected input type + */ + virtual Core::IBoardType::InputType getInputType(); + + virtual int queryMaxGyroRate(); + virtual QStringList getAdcNames(); + virtual bool hasAnnunciator(AnnunciatorType annunc); +}; + +#endif // MATEK405CTR_H diff --git a/ground/gcs/src/plugins/boards_matek/matekplugin.cpp b/ground/gcs/src/plugins/boards_matek/matekplugin.cpp new file mode 100644 index 0000000000..151f538453 --- /dev/null +++ b/ground/gcs/src/plugins/boards_matek/matekplugin.cpp @@ -0,0 +1,61 @@ +/** +****************************************************************************** +* @file matekplugin.cpp +* @author Tau Labs, http://taulabs.org, Copyright (C) 2013 +* +* @addtogroup GCSPlugins GCS Plugins +* @{ +* @addtogroup Boards_MatekPlugin Matek boards support Plugin +* @{ +* @brief Plugin to support Matek boards +*****************************************************************************/ + +/* +* 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 3 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, see +*/ + +#include "matekplugin.h" +#include "matek405ctr.h" +#include + +MatekPlugin::MatekPlugin() +{ + // Do nothing +} + +MatekPlugin::~MatekPlugin() +{ + // Do nothing +} + +bool MatekPlugin::initialize(const QStringList &args, QString *errMsg) +{ + Q_UNUSED(args); + Q_UNUSED(errMsg); + return true; +} + +void MatekPlugin::extensionsInitialized() +{ + /** + * Create the board objects here. + * + */ + MATEK405CTR *matek405ctr = new MATEK405CTR(); + addAutoReleasedObject(matek405ctr); +} + +void MatekPlugin::shutdown() +{ +} diff --git a/ground/gcs/src/plugins/boards_matek/matekplugin.h b/ground/gcs/src/plugins/boards_matek/matekplugin.h new file mode 100644 index 0000000000..56ff445a48 --- /dev/null +++ b/ground/gcs/src/plugins/boards_matek/matekplugin.h @@ -0,0 +1,47 @@ +/** +****************************************************************************** +* @file matekplugin.h +* @author Tau Labs, http://taulabs.org, Copyright (C) 2013 +* +* @addtogroup GCSPlugins GCS Plugins +* @{ +* @addtogroup Boards_MatekPlugin Matek boards support Plugin +* @{ +* @brief Plugin to support Matek boards +*****************************************************************************/ + +/* +* 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 3 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, see +*/ + +#ifndef MATEKPLUGIN_H +#define MATEKPLUGIN_H + +#include + +class MatekPlugin : public ExtensionSystem::IPlugin +{ + Q_OBJECT + Q_PLUGIN_METADATA(IID "org.dronin.plugins.Matek") + +public: + MatekPlugin(); + ~MatekPlugin(); + + void extensionsInitialized(); + bool initialize(const QStringList &arguments, QString *errorString); + void shutdown(); +}; + +#endif // MATEKPLUGIN_H diff --git a/ground/gcs/src/plugins/plugins.pro b/ground/gcs/src/plugins/plugins.pro index 58b7421d5b..9eb02e07b0 100644 --- a/ground/gcs/src/plugins/plugins.pro +++ b/ground/gcs/src/plugins/plugins.pro @@ -327,4 +327,10 @@ SUBDIRS += plugin_boards_naze plugin_boards_rcexplorer.subdir = boards_rcexplorer plugin_boards_rcexplorer.depends = plugin_coreplugin plugin_boards_rcexplorer.depends = plugin_uavobjects -SUBDIRS += plugin_boards_rcexplorer \ No newline at end of file +SUBDIRS += plugin_boards_rcexplorer + +# Matek +plugin_boards_matek.subdir = boards_matek +plugin_boards_matek.depends = plugin_coreplugin +plugin_boards_matek.depends = plugin_uavobjects +SUBDIRS += plugin_boards_matek \ No newline at end of file diff --git a/shared/uavobjectdefinition/hwmatek405ctr.xml b/shared/uavobjectdefinition/hwmatek405ctr.xml new file mode 100644 index 0000000000..58e8cecdf8 --- /dev/null +++ b/shared/uavobjectdefinition/hwmatek405ctr.xml @@ -0,0 +1,214 @@ + + + Selection of optional hardware configurations. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From c5d42c6f91533eaf4dd91fa68b1f74598c728d91 Mon Sep 17 00:00:00 2001 From: jihlein Date: Sat, 21 Jul 2018 06:05:18 -0600 Subject: [PATCH 21/73] Correct Matek405Ctr GPIO sense and number of channel banks --- flight/targets/matek405ctr/board-info/board_hw_defs.c | 8 +++----- ground/gcs/src/plugins/boards_matek/matek405ctr.cpp | 2 +- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/flight/targets/matek405ctr/board-info/board_hw_defs.c b/flight/targets/matek405ctr/board-info/board_hw_defs.c index 9261af039a..802039639d 100644 --- a/flight/targets/matek405ctr/board-info/board_hw_defs.c +++ b/flight/targets/matek405ctr/board-info/board_hw_defs.c @@ -46,8 +46,7 @@ static const struct pios_annunc pios_annuncs[] = { .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, - .remap = 0, - .active_high = true, + .active_high = false, }, [PIOS_LED_ALARM] = { .pin = { @@ -60,8 +59,7 @@ static const struct pios_annunc pios_annuncs[] = { .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, - .remap = 0, - .active_high = true, + .active_high = false, }, [PIOS_ANNUNCIATOR_BUZZER] = { .pin = { @@ -74,7 +72,7 @@ static const struct pios_annunc pios_annuncs[] = { .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, - .active_high = false, + .active_high = true, }, }; diff --git a/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp b/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp index 3ba7b56134..6b3ad680c4 100644 --- a/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp +++ b/ground/gcs/src/plugins/boards_matek/matek405ctr.cpp @@ -50,7 +50,7 @@ MATEK405CTR::MATEK405CTR(void) boardType = 0x95; // Define the bank of channels that are connected to a given timer - channelBanks.resize(5); + channelBanks.resize(2); channelBanks[0] = QVector() << 1; channelBanks[1] = QVector() << 2<< 3 << 4; } From 3f7079befe2fd61ab9a0c2ffb0777c3325bcd60b Mon Sep 17 00:00:00 2001 From: jihlein Date: Thu, 26 Jul 2018 16:29:00 -0600 Subject: [PATCH 22/73] Add Triflight parameters to TXPID module, F3Fc racing changes --- flight/Modules/TxPID/txpid.c | 29 +++++++++++++++++- .../targets/f3fc/board-info/board_hw_defs.c | 2 +- .../plugins/boards_rcexplorer/images/f3fc.png | Bin 969989 -> 283032 bytes shared/uavobjectdefinition/txpidsettings.xml | 4 +++ 4 files changed, 33 insertions(+), 2 deletions(-) diff --git a/flight/Modules/TxPID/txpid.c b/flight/Modules/TxPID/txpid.c index 68cc9b913b..96a392cf40 100644 --- a/flight/Modules/TxPID/txpid.c +++ b/flight/Modules/TxPID/txpid.c @@ -55,6 +55,7 @@ #include "sensorsettings.h" #include "vbarsettings.h" #include "vtolpathfollowersettings.h" +#include "triflightsettings.h" #include "flightstatus.h" #include "modulesettings.h" @@ -79,6 +80,7 @@ struct txpid_struct { SensorSettingsData sensor; VbarSettingsData vbar; VtolPathFollowerSettingsData vtolPathFollowerSettingsData; + TriflightSettingsData triflightSettingsData; #if (TELEMETRY_UPDATE_PERIOD_MS != 0) UAVObjMetadata metadata; #endif @@ -198,12 +200,18 @@ static void updatePIDs(const UAVObjEvent *ev, VtolPathFollowerSettingsGet(&txpid_data->vtolPathFollowerSettingsData); } + if (TriflightSettingsHandle()) { + TriflightSettingsGet(&txpid_data->triflightSettingsData); + } + bool vtolPathFollowerSettingsNeedsUpdate = false; bool stabilizationSettingsNeedsUpdate = false; bool sensorSettingsNeedsUpdate = false; bool vbarSettingsNeedsUpdate = false; - + + bool triflightSettingsNeedsUpdate = false; + // Loop through every enabled instance for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) { if (txpid_data->inst.PIDs[i] != TXPIDSETTINGS_PIDS_DISABLED) { @@ -404,6 +412,18 @@ static void updatePIDs(const UAVObjEvent *ev, case TXPIDSETTINGS_PIDS_HORIZONTALVELKD: vtolPathFollowerSettingsNeedsUpdate |= update(&txpid_data->vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD], value); break; + case TXPIDSETTINGS_PIDS_DYNAMICYAWHIGH: + triflightSettingsNeedsUpdate |= update(&txpid_data->triflightSettingsData.DynamicYawMaxThrottle, value); + break; + case TXPIDSETTINGS_PIDS_DYNAMICYAWLOW: + triflightSettingsNeedsUpdate |= update(&txpid_data->triflightSettingsData.DynamicYawMinThrottle, value); + break; + case TXPIDSETTINGS_PIDS_YAWBOOST: + triflightSettingsNeedsUpdate |= update(&txpid_data->triflightSettingsData.YawBoost, value); + break; + case TXPIDSETTINGS_PIDS_MOTORACCELERATION: + triflightSettingsNeedsUpdate |= update(&txpid_data->triflightSettingsData.MotorAcceleration, value); + break; default: // Previously this would assert. But now the // object may be missing and it's not worth a @@ -432,6 +452,13 @@ static void updatePIDs(const UAVObjEvent *ev, VtolPathFollowerSettingsSet(&txpid_data->vtolPathFollowerSettingsData); } } + + if (triflightSettingsNeedsUpdate) { + // Check to make sure the settings UAVObject has been instantiated + if (TriflightSettingsHandle()) { + TriflightSettingsSet(&txpid_data->triflightSettingsData); + } + } } /** diff --git a/flight/targets/f3fc/board-info/board_hw_defs.c b/flight/targets/f3fc/board-info/board_hw_defs.c index 81fcb16c18..fa67959c8e 100644 --- a/flight/targets/f3fc/board-info/board_hw_defs.c +++ b/flight/targets/f3fc/board-info/board_hw_defs.c @@ -949,7 +949,7 @@ static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = { static const struct pios_mpu_cfg pios_mpu_cfg = { .exti_cfg = &pios_exti_mpu_cfg, .default_samplerate = 500, - .orientation = PIOS_MPU_BOTTOM_90DEG + .orientation = PIOS_MPU_TOP_90DEG }; #endif /* PIOS_INCLUDE_MPU */ diff --git 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