support for Matek F405-CTR board, causes minor changes in I2C descriptor block
This commit is contained in:
night-ghost
Andrew Tridgell
parent
f75dea34e1
commit
9f1e45509a
@ -1,5 +1,6 @@
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#include <AP_HAL_F4Light/hardware/hal/syscalls.h>
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#include <AP_HAL_F4Light/params.h>
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#include <AP_HAL_F4Light/wirish/boards.h>
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#define HAL_NEEDS_PARAM_HELPER
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@ -46,8 +46,10 @@ static F4Light::I2CDeviceManager i2c_mgr_instance;
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// XXX make sure these are assigned correctly
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static USBDriver USB_Driver(1); // ACM
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static UARTDriver uart1Driver(_USART1); // main port
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static UARTDriver uart6Driver(_USART6); // pin 7&8(REVO)/5&6(RevoMini) of input port
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#if defined(BOARD_USART6_RX_PIN) && defined(BOARD_USART6_TX_PIN)
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static UARTDriver uart6Driver(_USART6); // pin 7&8(REVO)/5&6(RevoMini) of input port
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#endif
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#ifdef BOARD_HAS_UART3
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@ -68,6 +70,10 @@ static UARTDriver uart6Driver(_USART6); // pin 7&8(REVO)/5&6(RevoMini) of input
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static UARTDriver uart4Driver(_UART4); // pin 5&6 of servo port
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#endif
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#if defined(BOARD_USART5_RX_PIN) && defined( BOARD_USART5_TX_PIN)
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static UARTDriver uart5Driver(_UART5);
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#endif
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static UART_PPM uartPPM2(1); // PPM2 input
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static UART_PPM uartPPM1(0); // PPM1 input
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@ -132,47 +138,59 @@ AP_SerialManager.cpp line 159
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HAL_F4Light::HAL_F4Light() :
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AP_HAL::HAL(
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&USB_Driver, // uartA - USB console - Serial0
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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#if BOARD_UARTS_LAYOUT == 1 // Revolution
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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&uart3Driver, // uartD - flexi port - Serial2
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&uart4Driver, // uartE - PWM pins 5&6 - Serial4
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&softDriver, // uartF - soft UART on pins 7&8 - Serial5
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#elif BOARD_UARTS_LAYOUT == 2 // Airbot
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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&uart4Driver, // uartD - PWM pins 5&6 - Serial2
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&uartPPM2, // uartE - input data from PPM2 pin - Serial4
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&uartPPM1, // uartF - input data from PPM1 pin - Serial5
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#elif BOARD_UARTS_LAYOUT == 3 // AirbotV2
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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&uartOSDdriver, // uartD - OSD emulated UART - Serial2
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&uart4Driver, // uartE - PWM pins 5&6 - Serial4
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&uartPPM2, // uartF - input data from PPM2 pin - Serial5
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#elif BOARD_UARTS_LAYOUT == 4 // MiniOSD
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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NULL,
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NULL,
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NULL,
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#elif BOARD_UARTS_LAYOUT == 5 // MicroOSD
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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NULL,
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NULL,
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NULL,
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#elif BOARD_UARTS_LAYOUT == 6 // MatekF405_OSD
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#elif BOARD_UARTS_LAYOUT == 6 // MatekF405_CTR
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NULL,
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NULL,
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NULL,
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&uart4Driver, // uartB - UART4 for GPS - Serial3
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&uart1Driver, // uartC - UART1 for telemetry - Serial1
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&uartOSDdriver, // uartD - OSD emulated UART - Serial2
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&uart3Driver, // uartE - UART3 - Serial4
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&uart5Driver, // uartF - UART5 - Serial5
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#elif BOARD_UARTS_LAYOUT == 7 // Cl_Racing F4
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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&uartOSDdriver, // uartD - OSD emulated UART - Serial2
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&uartPPM1, // uartE - input data from PPM1 pin - Serial4
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NULL, // no uartF
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@ -95,7 +95,7 @@ void I2CDevice::init(){
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switch(_bus) {
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case 0: // this is always internal bus
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#ifndef BOARD_I2C1_DISABLE
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#if defined(I2C1_SDA) && defined(I2C1_SCL) && !defined(BOARD_I2C1_DISABLE)
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_offs =0;
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#if defined(BOARD_I2C_BUS_SLOW) && BOARD_I2C_BUS_SLOW==0
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_slow=true;
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@ -103,9 +103,11 @@ void I2CDevice::init(){
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#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C1)
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if(s_i2c==NULL) s_i2c = new Soft_I2C;
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const stm32_pin_info &p_sda = PIN_MAP[_I2C1->sda_pin];
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const stm32_pin_info &p_scl = PIN_MAP[_I2C1->scl_pin];
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s_i2c->init_hw(
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_I2C1->gpio_port, _I2C1->scl_pin,
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_I2C1->gpio_port, _I2C1->sda_pin,
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p_scl.gpio_device, p_scl.gpio_bit,
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p_sda.gpio_device, p_sda.gpio_bit,
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_timers[_bus]
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);
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#else
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@ -117,7 +119,7 @@ void I2CDevice::init(){
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#endif
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case 1: // flexi port - I2C2
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#if !defined( BOARD_I2C2_DISABLE) && !defined(BOARD_HAS_UART3) // in this case I2C on FlexiPort will be bus 2
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#if defined(I2C2_SDA) && defined(I2C2_SCL) && !defined( BOARD_I2C2_DISABLE) && !defined(BOARD_HAS_UART3) // in this case I2C on FlexiPort will be bus 2
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_offs = 2;
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#if defined(BOARD_I2C_BUS_SLOW) && BOARD_I2C_BUS_SLOW==1
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@ -126,9 +128,11 @@ void I2CDevice::init(){
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#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C2)
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if(s_i2c==NULL) s_i2c = new Soft_I2C;
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const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin];
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const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin];
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s_i2c->init_hw(
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_I2C2->gpio_port, _I2C2->scl_pin,
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_I2C2->gpio_port, _I2C2->sda_pin,
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p_scl.gpio_device, p_scl.gpio_bit,
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p_sda.gpio_device, p_sda.gpio_bit,
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_timers[_bus]
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);
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#else
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@ -148,9 +152,11 @@ void I2CDevice::init(){
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if(hal_param_helper->_flexi_i2c){ // move external I2C to flexi port
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#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C3)
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if(s_i2c==NULL) s_i2c = new Soft_I2C;
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const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin];
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const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin];
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s_i2c->init_hw(
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_I2C2->gpio_port, _I2C2->scl_pin,
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_I2C2->gpio_port, _I2C2->sda_pin,
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p_scl.gpio_device, p_scl.gpio_bit,
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p_sda.gpio_device, p_sda.gpio_bit,
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_timers[_bus]
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);
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#else
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@ -170,6 +176,10 @@ void I2CDevice::init(){
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}
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break;
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// TODO
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#if defined(I2C3_SDA) && defined(I2C3_SCL)
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#endif
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default:
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return;
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}
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@ -27,8 +27,6 @@ extern const AP_HAL::HAL& hal;
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#if defined(BOARD_DSM_USART)
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UARTDriver DSM_parser::uartSDriver(BOARD_DSM_USART); // UART connected to DSM pin
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#elif defined(BOARD_USART5_RX_PIN) && defined(BOARD_USART5_TX_PIN)
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UARTDriver DSM_parser::uartSDriver(_UART5);
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#endif
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@ -584,7 +584,7 @@ void Scheduler::_print_stats(){
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if(is_zero(shed_eff)) shed_eff = eff;
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else shed_eff = shed_eff*(1 - 1/Kf) + eff*(1/Kf);
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printf("\nSched stats:\n %% of full time: %5.2f Efficiency %5.3f max loop time %ld\n", (task_time/10.0)/t /* in percent*/ , shed_eff, max_loop_time);
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printf("\nSched stats: uptime %lds\n %% of full time: %5.2f Efficiency %5.3f max loop time %ld\n", t/1000, (task_time/10.0)/t /* in percent*/ , shed_eff, max_loop_time);
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printf("delay times: in main %5.2f including in timer %5.2f", (delay_time/10.0)/t, (delay_int_time/10.0)/t);
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max_loop_time=0;
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@ -1279,9 +1279,9 @@ void SVC_Handler(){
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: "=rm" (svc_args) );
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Scheduler::SVC_Handler(svc_args);
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}
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// svc executes on same priority as Timer7 ISR so there is no need to prevent interrupts
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void Scheduler::SVC_Handler(uint32_t * svc_args){
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// * Stack contains: * r0, r1, r2, r3, r12, r14, the return address and xPSR
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@ -95,6 +95,12 @@
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#define BOARD_NR_GPIO_PINS 109
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#define I2C1_SDA PB9
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#define I2C1_SCL PB8
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#define I2C2_SDA PB11
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#define I2C2_SCL PB10
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// use soft I2C driver instead hardware
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//#define BOARD_SOFT_I2C2
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//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
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@ -166,6 +172,8 @@
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#define SERVO_PIN_5 48 // PA1
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#define SERVO_PIN_6 22 // PA8
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#define MOTOR_LAYOUT_DEFAULT 0
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#define HAL_CONSOLE USB_Driver // console on USB
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//#define HAL_CONSOLE uart1Driver // console on radio
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#define HAL_CONSOLE_PORT 0
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@ -167,6 +167,8 @@
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#define SERVO_PIN_5 48 // PA1
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#define SERVO_PIN_6 22 // PA8
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#define MOTOR_LAYOUT_DEFAULT 0
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#if 1
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#define HAL_CONSOLE USB_Driver // console on USB
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#define HAL_CONSOLE_PORT 0
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@ -0,0 +1,38 @@
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this is for Matek F405-CTR board
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# Board connection
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Just see board's documentation.
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## Default connection
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| Function | Serial |
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| ------ | ------ |
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| USB | Serial0 in MP |
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| Telemetry | UART1 (Serial1) |
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| GPS | UART6 (Serial3) |
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| Built-in OSD | Serial2 |
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| UART2 | Serial4 |
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| UART5 | Serial5 |
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This board REQUIRES external Compass via I2C bus.
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## OSD
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Built-in OSD can be configured via files in root directory of SD card:
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- eeprom.osd is configuration, exported from Configuration Tool.
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- font.mcm is font (select one of https://github.com/night-ghost/minimosd-extra/tree/master/Released/FW_%2B_Char). This file will be deleted after flashing.
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Firmware supports connection to built-in OSD with CT from my MinimOSD (https://github.com/night-ghost/minimosd-extra). To do this:
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- set BRD_CONNECT_COM parameter to OSD's Serial (usually 2), then reboot / power cycle
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- USB will be connected to OSD after reboot, supported load/store/fonts in MAVLink mode
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## Voltage and current reading
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How to get voltage/current reading(tested on omnibus, should work on other targets to):
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- BAT_MONITOR 4
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- BAT_VOLT_PIN 8
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- BAT_CURR_PIN 7
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- BAT_VOLT_MULT 11.0 (or 10.1 for apm power module)
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- BAT_AMP_PERVOLT 38.0 (or 17 for apm power module)
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Don't try to configure Curr/Vol reading from Initial setup page of MP, because VOL/CURR variables will be reset.
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@ -7,6 +7,17 @@
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using namespace F4Light;
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/*
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LQFP64
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PA0-15
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PB0-15
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PC0-12
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PD2
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*/
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extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
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/* Top header */
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@ -19,35 +30,35 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
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uint8_t adc_channel; < Pin ADC channel, or nADC if none.
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*/
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{&gpiob, NULL, NULL, 10, NO_CH, nADC}, /* D0/PB10 0 USART3_TX/I2C2-SCL */
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{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1*/
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{&gpiob, NULL, NULL, 10, NO_CH, nADC}, /* D0/PB10 0 MAX7456_SPI_CS_PIN */
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{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1 (BOOT1) */
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{&gpiob, NULL, NULL, 12, NO_CH, nADC}, /* D2/PB12 2 SDCARD CS pin */
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{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 SPI2_SCK */
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{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 SPI2_MOSI */
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{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 SPI2_MISO */
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{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 NC */
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{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 AMP */
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{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 VOLT */
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{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 freq sense - resistor to VCC, used asd MAX7456 VSYNC */
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{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 EXTI_MPU6000 */
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{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 */
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{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 SD CS */
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{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 CS_MPU6000 */
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{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 EXTI_MPU6000 */
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{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 Current */
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{&gpioc, NULL,&_adc1, 5, NO_CH, 15}, /* D11/PC5 1 Vbat */
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{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 CH3_IN / UART6_TX */
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{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 CH4_IN / UART6_RX */
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{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 CH5_IN / S_scl */
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{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 CH6_IN / S_sda */
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{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 */
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{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 */
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{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 */
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{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 */
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{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 */
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{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 */
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{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 SERVO6 */
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{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 SERVO_1 */
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{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 SERVO_2 */
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{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 SERVO_3 */
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{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 SERVO_4 */
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{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 UART3 RX */
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{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 UART3 TX */
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{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 UART5_TX */
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{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 Buzzer */
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{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 n/a */
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{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 n/a */
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{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 SERVO_6 */
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{&gpioa, &timer1,NULL, 9, TIMER_CH2, nADC}, /* D23/PA9 3 USART1_TX */
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{&gpioa, &timer1,NULL, 10, TIMER_CH3, nADC}, /* D24/PA10 4 USART1_RX */
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{&gpiob, &timer4,NULL, 9, TIMER_CH4, nADC}, /* D25/PB9 5 LED */
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{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 EXTI_RFM22B / UART5_RX */
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{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7*/
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{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8*/
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{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 UART5_RX */
|
||||
{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7 n/a */
|
||||
{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8 n/a */
|
||||
{&gpiog, NULL, NULL, 11, NO_CH, nADC}, /* D29/PG11 9*/
|
||||
{&gpiog, NULL, NULL, 12, NO_CH, nADC}, /* D30/PG12 30*/
|
||||
{&gpiog, NULL, NULL, 13, NO_CH, nADC}, /* D31/PG13 1*/
|
||||
@ -55,22 +66,22 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
|
||||
{&gpiog, NULL, NULL, 8, NO_CH, nADC}, /* D33/PG8 3*/
|
||||
{&gpiog, NULL, NULL, 7, NO_CH, nADC}, /* D34/PG7 4*/
|
||||
{&gpiog, NULL, NULL, 6, NO_CH, nADC}, /* D35/PG6 5*/
|
||||
{&gpiob, &timer3,NULL, 5, TIMER_CH2, nADC}, /* D36/PB5 6 */
|
||||
{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 RCD_CS on SPI_3*/
|
||||
{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 SD_DET */
|
||||
{&gpiob, &timer3,NULL, 5, TIMER_CH2, nADC}, /* D36/PB5 6 SPI3 MOSI */
|
||||
{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 SCL pad */
|
||||
{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 SDA pad */
|
||||
{&gpiof, NULL,&_adc3, 6, NO_CH, 4}, /* D39/PF6 9*/
|
||||
{&gpiof, NULL,&_adc3, 7, NO_CH, 5}, /* D40/PF7 40*/
|
||||
{&gpiof, NULL,&_adc3, 8, NO_CH, 6}, /* D41/PF8 1*/
|
||||
{&gpiof, NULL,&_adc3, 9, NO_CH, 7}, /* D42/PF9 2*/
|
||||
{&gpiof, NULL,&_adc3,10, NO_CH, 8}, /* D43/PF10 3*/
|
||||
{&gpiof, NULL, NULL, 11, NO_CH, nADC}, /* D44/PF11 4*/
|
||||
{&gpiob, &timer3,&_adc1,1, TIMER_CH4, 9}, /* D45/PB1 5 SERVO2 */
|
||||
{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 SERVO1 */
|
||||
{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 RSSI input */
|
||||
{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 SERVO5 / UART4_RX */
|
||||
{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 SERVO4 */
|
||||
{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 SERVO3 */
|
||||
{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 CS_MPU6000 */
|
||||
{&gpiob, &timer3,&_adc1,1, TIMER_CH4, 9}, /* D45/PB1 5 RSSI */
|
||||
{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 */
|
||||
{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 UART4 TX (wkup)*/
|
||||
{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 UART4_RX */
|
||||
{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 PPM_IN 2 */
|
||||
{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 PPM_IN 1 */
|
||||
{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 */
|
||||
{&gpioa, NULL, &_adc1,5, NO_CH, 5}, /* D52/PA5 2 SPI1_CLK */
|
||||
{&gpioa, &timer3,&_adc1,6, TIMER_CH1, 6}, /* D53/PA6 3 SPI1_MISO */
|
||||
{&gpioa, &timer3,&_adc1,7, TIMER_CH2, 7}, /* D54/PA7 4 SPI1_MOSI */
|
||||
@ -119,14 +130,14 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
|
||||
{&gpiod, NULL, NULL, 9, NO_CH, nADC}, /* D97/PD9 7*/
|
||||
{&gpiog, NULL, NULL, 5, NO_CH, nADC}, /* D98/PG5 8*/
|
||||
{&gpiod, NULL, NULL, 10, NO_CH, nADC}, /* D99/PD10 9*/
|
||||
{&gpiob, NULL, NULL, 11, NO_CH, nADC}, /* D100/PB11 100 USART3_RX/I2C2-SDA */
|
||||
{&gpiob, &timer4,NULL, 8, TIMER_CH3, nADC}, /* D101/PB8 I2C1_SCL PPM_IN */
|
||||
{&gpiob, NULL, NULL, 11, NO_CH, nADC}, /* D100/PB11 100 */
|
||||
{&gpiob, &timer4,NULL, 8, TIMER_CH3, nADC}, /* D101/PB8 */
|
||||
{&gpioe, NULL, NULL, 2, NO_CH, nADC}, /* D102/PE2 */
|
||||
{&gpioa, NULL, NULL, 15, NO_CH, nADC}, /* D103/PA15 */
|
||||
{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 */
|
||||
{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 */
|
||||
{&gpioa, &timer2,NULL, 15, TIMER_CH1, nADC}, /* D103/PA15 SERVO_5 */
|
||||
{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 SPI3 SCK */
|
||||
{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 SPI3 MISO */
|
||||
{&gpioa, NULL, NULL, 13, NO_CH, nADC}, /* D106/PA13 SWDIO */
|
||||
{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 SWCLK */
|
||||
{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 SWCLK LED */
|
||||
{&gpioa, NULL, NULL, 11, NO_CH, nADC}, /* D108/PA11 - USB D- */
|
||||
|
||||
};
|
||||
@ -135,22 +146,22 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
|
||||
extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
|
||||
//CH1 and CH2 also for PPMSUM / SBUS / DSM
|
||||
{ // 0 RC_IN1
|
||||
.pin = 50,
|
||||
.pin = PA3, // UART2 RX
|
||||
},
|
||||
{ // 1 RC_IN2
|
||||
.pin = 37,
|
||||
.pin = PA2, // UART2 TX
|
||||
},
|
||||
{ // 2 RC_IN3
|
||||
.pin = -1,
|
||||
.pin = (uint8_t)-1,
|
||||
},
|
||||
{ // 3 RC_IN4
|
||||
.pin = -1,
|
||||
.pin = (uint8_t)-1,
|
||||
},
|
||||
{ // 4 RC_IN5
|
||||
.pin = -1,
|
||||
.pin = (uint8_t)-1,
|
||||
},
|
||||
{ // 5 RC_IN6
|
||||
.pin = -1,
|
||||
.pin = (uint8_t)-1,
|
||||
},
|
||||
};
|
||||
|
||||
@ -166,9 +177,9 @@ extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
|
||||
extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
|
||||
// name device bus mode cs_pin speed_low speed_high dma priority
|
||||
{ BOARD_INS_MPU60x0_NAME, _SPI1, 1, SPI_MODE_0, BOARD_MPU6000_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_VeryHigh, 1, 5 },
|
||||
{ BOARD_SDCARD_NAME, _SPI3, 2, SPI_MODE_0, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
|
||||
{ HAL_BARO_BMP280_NAME, _SPI3, 3, SPI_MODE_3, BOARD_BMP280_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 1 },
|
||||
{ BOARD_OSD_NAME, _SPI2, 3, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
|
||||
{ BOARD_SDCARD_NAME, _SPI3, 3, SPI_MODE_3, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
|
||||
{ BOARD_OSD_NAME, _SPI2, 2, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
|
||||
// { BOARD_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 255/*device controls CS*/,SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 1 },
|
||||
};
|
||||
|
||||
extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);
|
||||
208
libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/board.h
Normal file
208
libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/board.h
Normal file
@ -0,0 +1,208 @@
|
||||
#ifndef _BOARD_STM32V1F4_H_
|
||||
#define _BOARD_STM32V1F4_H_
|
||||
|
||||
|
||||
/**
|
||||
* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
|
||||
*/
|
||||
#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
|
||||
#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
|
||||
#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
|
||||
#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
|
||||
#define __FPU_PRESENT 1 /*!< FPU present */
|
||||
|
||||
#define HSE_VALUE (8000000)
|
||||
|
||||
#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
|
||||
#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
|
||||
|
||||
#undef STM32_PCLK1
|
||||
#undef STM32_PCLK2
|
||||
#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
|
||||
#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
|
||||
|
||||
#define BOARD_BUTTON_PIN 254
|
||||
|
||||
#ifndef LOW
|
||||
# define LOW 0
|
||||
#endif
|
||||
#ifndef HIGH
|
||||
# define HIGH 1
|
||||
#endif
|
||||
|
||||
#define BOARD_BUZZER_PIN PC13
|
||||
#define HAL_BUZZER_ON 0
|
||||
#define HAL_BUZZER_OFF 1
|
||||
|
||||
#define BOARD_NR_USARTS 4
|
||||
|
||||
|
||||
#define BOARD_USART1_TX_PIN PA10
|
||||
#define BOARD_USART1_RX_PIN PA9
|
||||
|
||||
//#define BOARD_USART2_TX_PIN PA2
|
||||
//#define BOARD_USART2_RX_PIN PA3 - used for PPM
|
||||
|
||||
#define BOARD_USART3_TX_PIN PC11
|
||||
#define BOARD_USART3_RX_PIN PC10
|
||||
|
||||
#define BOARD_USART4_TX_PIN PA0
|
||||
#define BOARD_USART4_RX_PIN PA1
|
||||
|
||||
#define BOARD_USART5_RX_PIN PD2
|
||||
#define BOARD_USART5_TX_PIN PC12
|
||||
|
||||
//#define BOARD_USART6_TX_PIN 255
|
||||
//#define BOARD_USART6_RX_PIN 255
|
||||
|
||||
#define BOARD_HAS_UART3
|
||||
#define BOARD_DSM_USART _UART5
|
||||
|
||||
// no inverter
|
||||
//#define BOARD_SBUS_INVERTER
|
||||
//#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
|
||||
|
||||
|
||||
#define BOARD_NR_SPI 3
|
||||
#define BOARD_SPI1_SCK_PIN PA5
|
||||
#define BOARD_SPI1_MISO_PIN PA6
|
||||
#define BOARD_SPI1_MOSI_PIN PA7
|
||||
#define BOARD_SPI2_SCK_PIN PB13
|
||||
#define BOARD_SPI2_MISO_PIN PB14
|
||||
#define BOARD_SPI2_MOSI_PIN PB15
|
||||
#define BOARD_SPI3_SCK_PIN PB3
|
||||
#define BOARD_SPI3_MISO_PIN PB4
|
||||
#define BOARD_SPI3_MOSI_PIN PB5
|
||||
|
||||
|
||||
#define BOARD_MPU6000_CS_PIN PC2
|
||||
#define BOARD_MPU6000_DRDY_PIN PC3
|
||||
|
||||
#define BOARD_USB_SENSE PB12
|
||||
|
||||
#define I2C1_SDA PB7
|
||||
#define I2C1_SCL PB6
|
||||
|
||||
// bus 2 (soft) pins
|
||||
//#define BOARD_SOFT_SCL 14
|
||||
//#define BOARD_SOFT_SDA 15
|
||||
|
||||
// SoftSerial pins
|
||||
//#define BOARD_SOFTSERIAL_TX 14
|
||||
//#define BOARD_SOFTSERIAL_RX 15
|
||||
|
||||
|
||||
#define BOARD_BLUE_LED_PIN PB9
|
||||
#define BOARD_GREEN_LED_PIN PA14
|
||||
|
||||
#define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
|
||||
#define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
|
||||
|
||||
# define BOARD_LED_ON LOW
|
||||
# define BOARD_LED_OFF HIGH
|
||||
# define HAL_GPIO_LED_ON LOW
|
||||
# define HAL_GPIO_LED_OFF HIGH
|
||||
|
||||
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
|
||||
#define BOARD_I2C_BUS_EXT 0 // external I2C
|
||||
#define BOARD_I2C_BUS_SLOW 0 // slow down bus with this number
|
||||
|
||||
#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_I2C
|
||||
#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT
|
||||
#define HAL_BARO_BMP280_I2C_ADDR (0x76)
|
||||
|
||||
#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
|
||||
#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE
|
||||
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR
|
||||
#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION
|
||||
|
||||
#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||||
#define BOARD_INS_ROTATION ROTATION_YAW_180
|
||||
#define BOARD_INS_MPU60x0_NAME "mpu6000"
|
||||
|
||||
#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
|
||||
|
||||
#define BOARD_SDCARD_NAME "sdcard"
|
||||
#define BOARD_SDCARD_CS_PIN PC1
|
||||
//#define BOARD_SDCARD_DET_PIN 38 // PB7
|
||||
|
||||
#define BOARD_HAS_SDIO
|
||||
#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN"
|
||||
//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
|
||||
#define USB_MASSSTORAGE
|
||||
|
||||
#define BOARD_OSD_NAME "osd"
|
||||
#define BOARD_OSD_CS_PIN PB10
|
||||
//#define BOARD_OSD_VSYNC_PIN 9
|
||||
//#define BOARD_OSD_RESET_PIN 6
|
||||
|
||||
|
||||
/*
|
||||
#define DATAFLASH_CS_PIN PC0
|
||||
#define BOARD_DATAFLASH_NAME "dataflash"
|
||||
#define BOARD_DATAFLASH_PAGES 0x10000
|
||||
#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
|
||||
*/
|
||||
|
||||
#define BOARD_OWN_NAME "MatekF4_CTR"
|
||||
|
||||
# define BOARD_PUSHBUTTON_PIN 254 // no button
|
||||
# define BOARD_USB_MUX_PIN -1 // no mux
|
||||
# define BOARD_BATTERY_VOLT_PIN PC5 // Battery voltage
|
||||
# define BOARD_BATTERY_CURR_PIN PC4 // Battery current
|
||||
# define BOARD_SONAR_SOURCE_ANALOG_PIN PB1 // rssi PB1
|
||||
|
||||
#define BOARD_USB_DMINUS 108
|
||||
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define BOARD_UARTS_LAYOUT 6
|
||||
|
||||
#define SERVO_PIN_1 12 // PC6 S1
|
||||
#define SERVO_PIN_2 13 // PC7 S2
|
||||
#define SERVO_PIN_3 14 // PC8 S3
|
||||
#define SERVO_PIN_4 15 // PC9 S4
|
||||
#define SERVO_PIN_5 103 // PA15 S5
|
||||
#define SERVO_PIN_6 22 // PA8 S6
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 3 // Cleanflight
|
||||
|
||||
#define HAL_CONSOLE USB_Driver // console on USB
|
||||
#define HAL_CONSOLE_PORT 0
|
||||
|
||||
/*
|
||||
|
||||
// @Param: USB_STORAGE
|
||||
// @DisplayName: allows access to SD card at next reboot
|
||||
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
|
||||
// @Values: 0:normal, 1:work as USB flash drive
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
|
||||
|
||||
// @Param: SD_REFORMAT
|
||||
// @DisplayName: Allows to re-format SD card in case of errors in FS
|
||||
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
|
||||
// @Values: 0: not allow, 1:allow
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
|
||||
*/
|
||||
|
||||
#define BOARD_HAL_VARINFO \
|
||||
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
|
||||
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
|
||||
|
||||
// parameters
|
||||
#define BOARD_HAL_PARAMS \
|
||||
AP_Int8 _usb_storage; \
|
||||
AP_Int8 _sd_format;
|
||||
#endif
|
||||
|
||||
|
||||
@ -4,6 +4,6 @@
|
||||
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||
|
||||
#bare metal binary
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
|
||||
/usr/local/stlink/st-flash --reset read readout.bin 0x08000000 0x100000
|
||||
|
||||
|
||||
@ -8,14 +8,13 @@ export PATH=/usr/local/bin:$PATH
|
||||
echo $ROOT
|
||||
|
||||
|
||||
( # AirBotF4 board
|
||||
( # MatekF405_CTR board
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_AirbotV2
|
||||
make f4light VERBOSE=1 BOARD=f4light_MatekF405_CTR
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_AirbotV2
|
||||
make f4light VERBOSE=1 BOARD=f4light_MatekF405_CTR
|
||||
)
|
||||
|
||||
# at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc
|
||||
@ -0,0 +1,7 @@
|
||||
#!/bin/sh
|
||||
|
||||
#production binary for bootloader
|
||||
dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_MatekF405_CTR.bin -R
|
||||
|
||||
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
#!/bin/sh
|
||||
|
||||
# production binary with bootloader
|
||||
# production binary without bootloader
|
||||
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||
|
||||
#bare metal binary
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
|
||||
#bare metal binary or binary with bootloader
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_MatekF405_CTR.bin 0x08010000 && \
|
||||
/usr/local/stlink/st-util -m
|
||||
|
||||
|
||||
@ -0,0 +1,7 @@
|
||||
#!/bin/sh
|
||||
|
||||
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_MatekF405_CTR.bin 0x08010000 && \
|
||||
/usr/local/stlink/st-util -m
|
||||
|
||||
|
||||
@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
|
||||
# production binary without bootloader
|
||||
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||
|
||||
#bare metal binary or binary with bootloader
|
||||
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_MatekF405_CTR_bl.bin 0x08000000 && \
|
||||
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \
|
||||
/usr/local/stlink/st-util -m
|
||||
|
||||
|
||||
@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
|
||||
# production binary with bootloader
|
||||
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||
|
||||
#bare metal binary
|
||||
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
|
||||
/usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_MatekF405_CTR_bl.bin 0x08000000
|
||||
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
|
||||
/usr/local/stlink/st-util -m
|
||||
|
||||
|
||||
@ -333,7 +333,7 @@ void SystemCoreClockUpdate(void)
|
||||
SystemCoreClock >>= tmp;
|
||||
}
|
||||
|
||||
extern void __error(uint32_t num, uint32_t pc, uint32_t lr);
|
||||
extern void __error(uint32_t num, uint32_t pc, uint32_t lr, uint32_t flag);
|
||||
|
||||
/**
|
||||
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
|
||||
@ -444,7 +444,7 @@ void SetSysClock(uint8_t oc)
|
||||
RCC->CR |= RCC_CR_PLLON | cr_flags;
|
||||
|
||||
|
||||
// Wait till the main PLL is ready. Yes this is endless loop but this is a very early stage
|
||||
/* Wait till the main PLL is ready */
|
||||
while((RCC->CR & RCC_CR_PLLRDY) == 0) { }
|
||||
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
SRAM_SIZE := 131072
|
||||
|
||||
BOARD_TYPE := 70
|
||||
BOARD_REV := 2
|
||||
BOARD_REV := 8
|
||||
BOOTLOADER := revo405_bl
|
||||
|
||||
# Memory target-specific configuration values
|
||||
@ -1,2 +0,0 @@
|
||||
|
||||
port is not completed
|
||||
@ -1,204 +0,0 @@
|
||||
#ifndef _BOARD_STM32V1F4_H_
|
||||
#define _BOARD_STM32V1F4_H_
|
||||
|
||||
|
||||
/**
|
||||
* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
|
||||
*/
|
||||
#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
|
||||
#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
|
||||
#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
|
||||
#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
|
||||
#define __FPU_PRESENT 1 /*!< FPU present */
|
||||
|
||||
#define HSE_VALUE (8000000)
|
||||
|
||||
#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
|
||||
#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
|
||||
|
||||
#undef STM32_PCLK1
|
||||
#undef STM32_PCLK2
|
||||
#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
|
||||
#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
|
||||
|
||||
#define BOARD_BUTTON_PIN 254
|
||||
|
||||
#ifndef LOW
|
||||
# define LOW 0
|
||||
#endif
|
||||
#ifndef HIGH
|
||||
# define HIGH 1
|
||||
#endif
|
||||
|
||||
#define BOARD_BUZZER_PIN 19
|
||||
|
||||
#define BOARD_NR_USARTS 5
|
||||
#define BOARD_USART1_TX_PIN 23
|
||||
#define BOARD_USART1_RX_PIN 24
|
||||
#define BOARD_USART3_TX_PIN 16
|
||||
#define BOARD_USART3_RX_PIN 17
|
||||
|
||||
#define BOARD_USART2_RX_PIN 50
|
||||
#define BOARD_USART2_TX_PIN 49
|
||||
|
||||
#define BOARD_USART4_RX_PIN 48
|
||||
#define BOARD_USART4_TX_PIN 47
|
||||
|
||||
#define BOARD_USART5_RX_PIN 26
|
||||
#define BOARD_USART5_TX_PIN 18
|
||||
#define BOARD_USART6_TX_PIN 255
|
||||
#define BOARD_USART6_RX_PIN 255
|
||||
|
||||
|
||||
#define BOARD_DSM_USART (_USART2)
|
||||
|
||||
#define BOARD_NR_SPI 3
|
||||
#define BOARD_SPI1_SCK_PIN 52 // PA5
|
||||
#define BOARD_SPI1_MISO_PIN 53 // PA6
|
||||
#define BOARD_SPI1_MOSI_PIN 54 // PA7
|
||||
#define BOARD_SPI2_SCK_PIN 3 // PB13
|
||||
#define BOARD_SPI2_MISO_PIN 4 // PB14
|
||||
#define BOARD_SPI2_MOSI_PIN 5 // PB15
|
||||
#define BOARD_SPI3_SCK_PIN 104 // PB3
|
||||
#define BOARD_SPI3_MISO_PIN 105 // PB4
|
||||
#define BOARD_SPI3_MOSI_PIN 36 // PB5
|
||||
|
||||
|
||||
#define BOARD_MPU6000_CS_PIN 8 // PC2
|
||||
#define BOARD_MPU6000_DRDY_PIN 9 // PC3
|
||||
|
||||
|
||||
#define BOARD_SBUS_INVERTER
|
||||
|
||||
#define BOARD_USB_SENSE 2 //
|
||||
|
||||
|
||||
// bus 2 (soft) pins
|
||||
#define BOARD_SOFT_SCL 14
|
||||
#define BOARD_SOFT_SDA 15
|
||||
|
||||
// SoftSerial pins
|
||||
//#define BOARD_SOFTSERIAL_TX 14
|
||||
//#define BOARD_SOFTSERIAL_RX 15
|
||||
|
||||
|
||||
# define BOARD_BLUE_LED_PIN 25 // PB9
|
||||
# define BOARD_GREEN_LED_PIN 107 // PA14
|
||||
|
||||
# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
|
||||
# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
|
||||
|
||||
# define BOARD_LED_ON LOW
|
||||
# define BOARD_LED_OFF HIGH
|
||||
# define HAL_LED_ON LOW
|
||||
# define HAL_LED_OFF HIGH
|
||||
|
||||
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
|
||||
//#define BOARD_I2C_BUS_EXT 1 // external I2C
|
||||
#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
|
||||
|
||||
#define BOARD_I2C1_DISABLE // lots of drivers tries to scan all buses, spoiling device setup
|
||||
|
||||
#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_SPI
|
||||
#define HAL_BARO_BMP280_NAME "bmp280"
|
||||
#define BOARD_BMP280_CS_PIN 104
|
||||
|
||||
#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
|
||||
#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE
|
||||
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_INT
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR
|
||||
#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION
|
||||
|
||||
|
||||
#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||||
#define BOARD_INS_ROTATION ROTATION_YAW_270
|
||||
#define BOARD_INS_MPU60x0_NAME "mpu6000"
|
||||
|
||||
#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
|
||||
|
||||
|
||||
#define BOARD_SDCARD_NAME "sdcard"
|
||||
#define BOARD_SDCARD_CS_PIN 7
|
||||
//#define BOARD_SDCARD_DET_PIN 38 // PB7
|
||||
|
||||
#define BOARD_HAS_SDIO
|
||||
#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN"
|
||||
//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
|
||||
#define USB_MASSSTORAGE
|
||||
|
||||
#define BOARD_OSD_NAME "osd"
|
||||
#define BOARD_OSD_CS_PIN 0
|
||||
//#define BOARD_OSD_VSYNC_PIN 9
|
||||
//#define BOARD_OSD_RESET_PIN 6
|
||||
|
||||
|
||||
#define BOARD_OWN_NAME "MatekF4_OSD"
|
||||
|
||||
# define BOARD_PUSHBUTTON_PIN 254
|
||||
# define BOARD_USB_MUX_PIN -1
|
||||
# define BOARD_BATTERY_VOLT_PIN 11 // Battery voltage on C5
|
||||
# define BOARD_BATTERY_CURR_PIN 10 // Battery current on C4
|
||||
# define BOARD_SONAR_SOURCE_ANALOG_PIN 45 // rssi
|
||||
|
||||
#define BOARD_USB_DMINUS 108
|
||||
|
||||
#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define BOARD_UARTS_LAYOUT 6
|
||||
|
||||
// use soft I2C driver instead hardware
|
||||
//#define BOARD_SOFT_I2C
|
||||
|
||||
#define SERVO_PIN_1 12 // PC6
|
||||
#define SERVO_PIN_2 13 // PC7
|
||||
#define SERVO_PIN_3 14 // PC8
|
||||
#define SERVO_PIN_4 15 // PC9
|
||||
#define SERVO_PIN_5 103 // PA15
|
||||
#define SERVO_PIN_6 22 // PA8
|
||||
|
||||
#if 1
|
||||
#define HAL_CONSOLE USB_Driver // console on USB
|
||||
#define HAL_CONSOLE_PORT 0
|
||||
#else
|
||||
#define HAL_CONSOLE uart1Driver // console on radio
|
||||
#define HAL_CONSOLE_PORT 1
|
||||
#endif
|
||||
|
||||
/*
|
||||
|
||||
|
||||
// @Param: USB_STORAGE
|
||||
// @DisplayName: allows access to SD card at next reboot
|
||||
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
|
||||
// @Values: 0:normal, 1:work as USB flash drive
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
|
||||
|
||||
// @Param: SD_REFORMAT
|
||||
// @DisplayName: Allows to re-format SD card in case of errors in FS
|
||||
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
|
||||
// @Values: 0: not allow, 1:allow
|
||||
// @User: Advanced
|
||||
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
|
||||
|
||||
*/
|
||||
#define BOARD_HAL_VARINFO \
|
||||
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
|
||||
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
|
||||
|
||||
|
||||
// parameters
|
||||
#define BOARD_HAL_PARAMS \
|
||||
AP_Int8 _usb_storage; \
|
||||
AP_Int8 _sd_format;
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
|
||||
#production binary for bootloader
|
||||
#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
|
||||
|
||||
# bare metal binary
|
||||
|
||||
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
|
||||
#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
|
||||
|
||||
dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_AirbotV2.bin -R
|
||||
|
||||
@ -76,6 +76,11 @@
|
||||
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
#define I2C1_SDA PB9
|
||||
#define I2C1_SCL PB8
|
||||
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
|
||||
#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
|
||||
|
||||
@ -148,6 +153,7 @@
|
||||
#define SERVO_PIN_5 48 // PA1
|
||||
#define SERVO_PIN_6 22 // PA8
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 0
|
||||
|
||||
//#define HAL_CONSOLE uart1Driver // console on radio
|
||||
#define HAL_CONSOLE USB_Driver // console on USB
|
||||
|
||||
@ -108,6 +108,12 @@
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
|
||||
#define I2C1_SDA PB9
|
||||
#define I2C1_SCL PB8
|
||||
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
|
||||
#define BOARD_I2C_BUS_INT 0 // hardware I2C
|
||||
|
||||
#define BOARD_I2C_BUS_EXT 2 // external soft I2C or flexiPort (by parameter)
|
||||
@ -172,6 +178,7 @@
|
||||
#define SERVO_PIN_5 48 // PA1
|
||||
#define SERVO_PIN_6 47 // PA0
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 0
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
|
||||
@ -108,6 +108,12 @@
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
|
||||
#define I2C1_SDA PB9
|
||||
#define I2C1_SCL PB8
|
||||
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
|
||||
#define BOARD_I2C_BUS_INT 0 // hardware I2C
|
||||
|
||||
#define BOARD_I2C_BUS_EXT 2 // external soft I2C or flexiPort (by parameter)
|
||||
@ -178,6 +184,7 @@
|
||||
#define SERVO_PIN_5 48 // PA1
|
||||
#define SERVO_PIN_6 47 // PA0
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 0
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
|
||||
@ -158,7 +158,7 @@ extern const SPIDesc spi_device_table[] = { // different SPI tables per board
|
||||
// name device bus mode cs_pin speed_low speed_high dma priority assert_dly release_dly
|
||||
{ BOARD_INS_MPU60x0_NAME, _SPI1, 1, SPI_MODE_0, BOARD_MPU6000_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_VeryHigh, 1, 5 },
|
||||
// { BOARD_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 255 /* caller controls CS */, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 1 }, // we can use dataflash as EEPROM
|
||||
{ BOARD_SDCARD_NAME, _SPI3, 2, SPI_MODE_3, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 1 },
|
||||
{ BOARD_SDCARD_NAME, _SPI3, 3, SPI_MODE_3, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 1 },
|
||||
};
|
||||
|
||||
extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);
|
||||
|
||||
@ -100,6 +100,11 @@
|
||||
|
||||
#define BOARD_NR_GPIO_PINS 109
|
||||
|
||||
#define I2C1_SDA PB9
|
||||
#define I2C1_SCL PB8
|
||||
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
|
||||
#define BOARD_I2C_BUS_INT 0 // hardware I2C
|
||||
|
||||
@ -174,6 +179,7 @@
|
||||
#define SERVO_PIN_5 48 // PA1
|
||||
#define SERVO_PIN_6 47 // PA0
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 0
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
SRAM_SIZE := 131072
|
||||
|
||||
BOARD_TYPE := 70
|
||||
BOARD_REV := 4
|
||||
BOARD_REV := 7
|
||||
BOOTLOADER := revo405_bl
|
||||
|
||||
# Memory target-specific configuration values
|
||||
|
||||
@ -86,6 +86,13 @@
|
||||
|
||||
//TODO add #define BOARD_HAS_UART3 ?
|
||||
|
||||
#define I2C1_SDA PB9
|
||||
#define I2C1_SCL PB8
|
||||
|
||||
#define I2C2_SDA PB11
|
||||
#define I2C2_SCL PB10
|
||||
|
||||
|
||||
//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
|
||||
#define BOARD_I2C_BUS_EXT 2 // external I2C
|
||||
#define BOARD_I2C_BUS_SLOW 2 // slow down bus with this number
|
||||
@ -165,6 +172,8 @@
|
||||
#define SERVO_PIN_5 105 // PB4 - buzzer
|
||||
//#define SERVO_PIN_6 22 // PA8
|
||||
|
||||
#define MOTOR_LAYOUT_DEFAULT 3 // Cleanflight
|
||||
|
||||
#define HAL_CONSOLE USB_Driver // console on USB
|
||||
#define HAL_CONSOLE_PORT 0
|
||||
|
||||
|
||||
@ -12,17 +12,16 @@ based on: datasheet
|
||||
#include "systick.h"
|
||||
#include "stm32f4xx_i2c.h"
|
||||
#include "stm32f4xx_dma.h"
|
||||
#include <boards.h>
|
||||
|
||||
|
||||
|
||||
#if defined(I2C1_SDA) && defined(I2C1_SCL)
|
||||
static i2c_state i2c1_state IN_CCM;
|
||||
static i2c_state i2c2_state IN_CCM;
|
||||
|
||||
static const i2c_dev i2c_dev1 = {
|
||||
.I2Cx = I2C1,
|
||||
.gpio_port = &gpiob,
|
||||
.sda_pin = 9,
|
||||
.scl_pin = 8,
|
||||
.sda_pin = I2C1_SDA,
|
||||
.scl_pin = I2C1_SCL, // 101 PB8
|
||||
.clk = RCC_APB1Periph_I2C1,
|
||||
.gpio_af = GPIO_AF_I2C1,
|
||||
.ev_nvic_line = I2C1_EV_IRQn,
|
||||
@ -32,13 +31,15 @@ static const i2c_dev i2c_dev1 = {
|
||||
};
|
||||
/** I2C1 device */
|
||||
const i2c_dev* const _I2C1 = &i2c_dev1;
|
||||
#endif
|
||||
|
||||
#if defined(I2C2_SDA) && defined(I2C2_SCL)
|
||||
static i2c_state i2c2_state IN_CCM;
|
||||
|
||||
static const i2c_dev i2c_dev2 = {
|
||||
.I2Cx = I2C2,
|
||||
.gpio_port = &gpiob,
|
||||
.sda_pin = 11,
|
||||
.scl_pin = 10,
|
||||
.sda_pin = I2C2_SDA,
|
||||
.scl_pin = I2C2_SCL,
|
||||
.clk = RCC_APB1Periph_I2C2,
|
||||
.gpio_af = GPIO_AF_I2C2,
|
||||
.ev_nvic_line = I2C2_EV_IRQn,
|
||||
@ -49,6 +50,25 @@ static const i2c_dev i2c_dev2 = {
|
||||
|
||||
/** I2C2 device */
|
||||
const i2c_dev* const _I2C2 = &i2c_dev2;
|
||||
#endif
|
||||
|
||||
#if defined(I2C3_SDA) && defined(I2C3_SCL)
|
||||
static i2c_state i2c3_state IN_CCM;
|
||||
|
||||
static const i2c_dev i2c_dev3 = {
|
||||
.I2Cx = I2C3,
|
||||
.sda_pin = I2C3_SDA,
|
||||
.scl_pin = I2C3_SCL,
|
||||
.clk = RCC_APB1Periph_I2C3,
|
||||
.gpio_af = GPIO_AF_I2C3,
|
||||
.ev_nvic_line = I2C3_EV_IRQn,
|
||||
.er_nvic_line = I2C3_ER_IRQn,
|
||||
.state = &i2c3_state,
|
||||
};
|
||||
|
||||
/** I2C3 device */
|
||||
const i2c_dev* const _I2C3 = &i2c_dev3;
|
||||
#endif
|
||||
|
||||
|
||||
typedef enum {TX = 0, RX = 1, TXREG = 2} I2C_Dir;
|
||||
@ -78,13 +98,21 @@ void i2c_lowLevel_deinit(const i2c_dev *dev){
|
||||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
|
||||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; // low speed to prevent glitches
|
||||
|
||||
{
|
||||
const stm32_pin_info *p = &PIN_MAP[dev->scl_pin];
|
||||
|
||||
/*!< Configure I2C pins: SCL */
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(dev->scl_pin);
|
||||
GPIO_Init(dev->gpio_port->GPIOx, &GPIO_InitStructure);
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(p->gpio_bit);
|
||||
GPIO_Init(p->gpio_device->GPIOx, &GPIO_InitStructure);
|
||||
}
|
||||
|
||||
{
|
||||
const stm32_pin_info *p = &PIN_MAP[dev->sda_pin];
|
||||
|
||||
/*!< Configure I2C pins: SDA */
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(dev->sda_pin);
|
||||
GPIO_Init(dev->gpio_port->GPIOx, &GPIO_InitStructure);
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(p->gpio_bit);
|
||||
GPIO_Init(p->gpio_device->GPIOx, &GPIO_InitStructure);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -102,9 +130,6 @@ static inline void i2c_lowLevel_init(const i2c_dev *dev) {
|
||||
RCC_APB1PeriphResetCmd(dev->clk, ENABLE);
|
||||
RCC_APB1PeriphResetCmd(dev->clk, DISABLE);
|
||||
|
||||
/* Enable the GPIOs for the SCL/SDA Pins */
|
||||
RCC_AHB1PeriphClockCmd(dev->gpio_port->clk, ENABLE);
|
||||
|
||||
memset(dev->state,0,sizeof(i2c_state));
|
||||
|
||||
// common configuration
|
||||
@ -114,17 +139,28 @@ static inline void i2c_lowLevel_init(const i2c_dev *dev) {
|
||||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||||
|
||||
/* Configure SCL */
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(dev->scl_pin);
|
||||
GPIO_Init(dev->gpio_port->GPIOx, &GPIO_InitStructure);
|
||||
{ /* Configure SCL */
|
||||
const stm32_pin_info *p = &PIN_MAP[dev->scl_pin];
|
||||
|
||||
/* Configure SDA */
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(dev->sda_pin);
|
||||
GPIO_Init(dev->gpio_port->GPIOx, &GPIO_InitStructure);
|
||||
/* Enable the GPIOs for the SCL/SDA Pins */
|
||||
RCC_AHB1PeriphClockCmd(p->gpio_device->clk, ENABLE);
|
||||
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(p->gpio_bit);
|
||||
GPIO_Init(p->gpio_device->GPIOx, &GPIO_InitStructure);
|
||||
/* Connect GPIO pins to peripheral, SCL must be first! */
|
||||
gpio_set_af_mode(dev->gpio_port, dev->scl_pin, dev->gpio_af);
|
||||
gpio_set_af_mode(dev->gpio_port, dev->sda_pin, dev->gpio_af);
|
||||
gpio_set_af_mode(p->gpio_device, p->gpio_bit, dev->gpio_af);
|
||||
}
|
||||
|
||||
{ /* Configure SDA */
|
||||
const stm32_pin_info *p = &PIN_MAP[dev->sda_pin];
|
||||
|
||||
/* Enable the GPIOs for the SCL/SDA Pins */
|
||||
RCC_AHB1PeriphClockCmd(p->gpio_device->clk, ENABLE);
|
||||
|
||||
GPIO_InitStructure.GPIO_Pin = BIT(p->gpio_bit);
|
||||
GPIO_Init(p->gpio_device->GPIOx, &GPIO_InitStructure);
|
||||
gpio_set_af_mode(p->gpio_device, p->gpio_bit, dev->gpio_af);
|
||||
}
|
||||
}
|
||||
|
||||
void i2c_init(const i2c_dev *dev, uint16_t address, uint32_t speed)
|
||||
@ -176,7 +212,10 @@ void I2C1_EV_IRQHandler(); // to avoid warnings
|
||||
void I2C1_ER_IRQHandler();
|
||||
void I2C2_EV_IRQHandler();
|
||||
void I2C2_ER_IRQHandler();
|
||||
void I2C3_EV_IRQHandler();
|
||||
void I2C3_ER_IRQHandler();
|
||||
|
||||
#if defined(I2C1_SDA) && defined(I2C1_SCL)
|
||||
void I2C1_EV_IRQHandler(){ // I2C1 Event
|
||||
ev_handler(_I2C1, false);
|
||||
}
|
||||
@ -184,7 +223,9 @@ void I2C1_EV_IRQHandler(){ // I2C1 Event
|
||||
void I2C1_ER_IRQHandler(){ // I2C1 Error
|
||||
ev_handler(_I2C1, true);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(I2C2_SDA) && defined(I2C2_SCL)
|
||||
void I2C2_EV_IRQHandler(){ // I2C2 Event
|
||||
ev_handler(_I2C2, false);
|
||||
}
|
||||
@ -192,14 +233,26 @@ void I2C2_EV_IRQHandler(){ // I2C2 Event
|
||||
void I2C2_ER_IRQHandler(){ // I2C2 Error
|
||||
ev_handler(_I2C2, true);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(I2C3_SDA) && defined(I2C3_SCL)
|
||||
void I2C3_EV_IRQHandler(){ // I2C2 Event
|
||||
ev_handler(_I2C3, false);
|
||||
}
|
||||
|
||||
void I2C3_ER_IRQHandler(){ // I2C2 Error
|
||||
ev_handler(_I2C3, true);
|
||||
}
|
||||
#endif
|
||||
|
||||
void i2c_master_release_bus(const i2c_dev *dev) {
|
||||
gpio_write_bit(dev->gpio_port, dev->scl_pin, 1);
|
||||
gpio_write_bit(dev->gpio_port, dev->sda_pin, 1);
|
||||
gpio_set_mode(dev->gpio_port, dev->scl_pin, GPIO_OUTPUT_OD_PU);
|
||||
gpio_set_mode(dev->gpio_port, dev->sda_pin, GPIO_OUTPUT_OD_PU);
|
||||
const stm32_pin_info *p_sda = &PIN_MAP[dev->sda_pin];
|
||||
const stm32_pin_info *p_scl = &PIN_MAP[dev->scl_pin];
|
||||
|
||||
gpio_write_bit(p_scl->gpio_device, p_scl->gpio_bit, 1);
|
||||
gpio_write_bit(p_sda->gpio_device, p_sda->gpio_bit, 1);
|
||||
gpio_set_mode(p_scl->gpio_device, p_scl->gpio_bit, GPIO_OUTPUT_OD_PU);
|
||||
gpio_set_mode(p_sda->gpio_device, p_sda->gpio_bit, GPIO_OUTPUT_OD_PU);
|
||||
}
|
||||
|
||||
|
||||
@ -222,6 +275,9 @@ bool i2c_bus_reset(const i2c_dev *dev) {
|
||||
|
||||
uint32_t t=systick_uptime();
|
||||
|
||||
const stm32_pin_info *p_sda = &PIN_MAP[dev->sda_pin];
|
||||
const stm32_pin_info *p_scl = &PIN_MAP[dev->scl_pin];
|
||||
|
||||
/*
|
||||
* Make sure the bus is free by clocking it until any slaves release the
|
||||
* bus.
|
||||
@ -229,43 +285,43 @@ bool i2c_bus_reset(const i2c_dev *dev) {
|
||||
|
||||
again:
|
||||
/* Wait for any clock stretching to finish */
|
||||
while (!gpio_read_bit(dev->gpio_port, dev->scl_pin)) {// device can output 1 so check clock first
|
||||
while (!gpio_read_bit(p_scl->gpio_device, p_scl->gpio_bit)) {// device can output 1 so check clock first
|
||||
if(systick_uptime()-t > MAX_I2C_TIME) return false;
|
||||
hal_yield(10);
|
||||
}
|
||||
delay_10us(); // 50kHz
|
||||
|
||||
while (!gpio_read_bit(dev->gpio_port, dev->sda_pin)) {
|
||||
while (!gpio_read_bit(p_sda->gpio_device, p_sda->gpio_bit)) {
|
||||
/* Wait for any clock stretching to finish */
|
||||
while (!gpio_read_bit(dev->gpio_port, dev->scl_pin)){
|
||||
while (!gpio_read_bit(p_scl->gpio_device, p_scl->gpio_bit)){
|
||||
if(systick_uptime()-t > MAX_I2C_TIME) return false;
|
||||
hal_yield(10);
|
||||
}
|
||||
delay_10us(); // 50kHz
|
||||
|
||||
/* Pull low */
|
||||
gpio_write_bit(dev->gpio_port, dev->scl_pin, 0);
|
||||
gpio_write_bit(p_scl->gpio_device, p_scl->gpio_bit, 0);
|
||||
delay_10us();
|
||||
|
||||
/* Release high again */
|
||||
gpio_write_bit(dev->gpio_port, dev->scl_pin, 1);
|
||||
gpio_write_bit(p_scl->gpio_device, p_scl->gpio_bit, 1);
|
||||
delay_10us();
|
||||
}
|
||||
|
||||
/* Generate start then stop condition */
|
||||
gpio_write_bit(dev->gpio_port, dev->sda_pin, 0);
|
||||
gpio_write_bit(p_sda->gpio_device, p_sda->gpio_bit, 0);
|
||||
delay_10us();
|
||||
gpio_write_bit(dev->gpio_port, dev->scl_pin, 0);
|
||||
gpio_write_bit(p_scl->gpio_device, p_scl->gpio_bit, 0);
|
||||
delay_10us();
|
||||
gpio_write_bit(dev->gpio_port, dev->scl_pin, 1);
|
||||
gpio_write_bit(p_scl->gpio_device, p_scl->gpio_bit, 1);
|
||||
delay_10us();
|
||||
gpio_write_bit(dev->gpio_port, dev->sda_pin, 1);
|
||||
gpio_write_bit(p_sda->gpio_device, p_sda->gpio_bit, 1);
|
||||
|
||||
uint32_t rtime = stopwatch_getticks();
|
||||
uint32_t dt = us_ticks * 50; // 50uS
|
||||
|
||||
while ((stopwatch_getticks() - rtime) < dt) {
|
||||
if (!gpio_read_bit(dev->gpio_port, dev->scl_pin)) goto again; // any SCL activity after STOP
|
||||
if (!gpio_read_bit(p_scl->gpio_device, p_scl->gpio_bit)) goto again; // any SCL activity after STOP
|
||||
}
|
||||
|
||||
// we was generating signals on I2C bus, but BUSY flag senses it even when hardware is off
|
||||
|
||||
@ -98,7 +98,6 @@ extern uint32_t i2c_bit_time;
|
||||
*/
|
||||
typedef struct i2c_dev {
|
||||
I2C_TypeDef* I2Cx;
|
||||
const gpio_dev *gpio_port;
|
||||
uint8_t sda_pin;
|
||||
uint8_t scl_pin;
|
||||
uint32_t clk;
|
||||
@ -158,6 +157,7 @@ uint32_t i2c_get_operation_time(uint8_t *psr1);
|
||||
|
||||
extern const i2c_dev* const _I2C1;
|
||||
extern const i2c_dev* const _I2C2;
|
||||
extern const i2c_dev* const _I2C3;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@ -444,7 +444,7 @@ void timer_set_mode(const timer_dev *dev, timer_Channel channel, timer_mode mode
|
||||
|
||||
/* TODO decide about the basic timers */
|
||||
assert_param(dev->type != TIMER_BASIC);
|
||||
if (dev->type == TIMER_BASIC)
|
||||
if (!dev || dev->type == TIMER_BASIC)
|
||||
return;
|
||||
|
||||
switch (mode) {
|
||||
|
||||
@ -34,7 +34,6 @@ static const usart_dev usart1 = {
|
||||
const usart_dev * const _USART1 = &usart1;
|
||||
|
||||
#if defined(BOARD_USART2_RX_PIN) && defined(BOARD_USART2_RX_PIN)
|
||||
|
||||
static ring_buffer usart2_txrb IN_CCM;
|
||||
static ring_buffer usart2_rxrb IN_CCM;
|
||||
static usart_state u2state IN_CCM;
|
||||
@ -95,14 +94,14 @@ const usart_dev * const _UART4 = &uart4;
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_USART5_RX_PIN) && defined(BOARD_USART5_TX_PIN)
|
||||
//static ring_buffer uart5_txrb IN_CCM; - RX-only UART
|
||||
static ring_buffer uart5_txrb IN_CCM;
|
||||
static ring_buffer uart5_rxrb IN_CCM;
|
||||
static usart_state u5state IN_CCM;
|
||||
|
||||
static const usart_dev uart5 = {
|
||||
.USARTx = UART5,
|
||||
.clk = RCC_APB1Periph_UART5,
|
||||
.txrb = NULL, // RX-only
|
||||
.txrb = &uart5_txrb,
|
||||
.rxrb = &uart5_rxrb,
|
||||
.state = &u5state,
|
||||
.irq = UART5_IRQn,
|
||||
@ -114,6 +113,7 @@ static const usart_dev uart5 = {
|
||||
const usart_dev * const _UART5 = &uart5;
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_USART6_RX_PIN) && defined(BOARD_USART6_TX_PIN)
|
||||
static ring_buffer usart6_txrb IN_CCM;
|
||||
static ring_buffer usart6_rxrb IN_CCM;
|
||||
static usart_state u6state IN_CCM;
|
||||
@ -131,11 +131,12 @@ static const usart_dev usart6 = {
|
||||
};
|
||||
/** UART6 device */
|
||||
const usart_dev * const _USART6 = &usart6;
|
||||
#endif
|
||||
|
||||
const usart_dev * const UARTS[] = {
|
||||
NULL,
|
||||
&usart1,
|
||||
#if defined(USART2_USED)
|
||||
#if defined(BOARD_USART2_RX_PIN) && defined(BOARD_USART2_RX_PIN)
|
||||
&usart2,
|
||||
#else
|
||||
NULL,
|
||||
@ -146,28 +147,35 @@ const usart_dev * const UARTS[] = {
|
||||
#else
|
||||
NULL,
|
||||
#endif
|
||||
#if defined(BOARD_USART5_RX_PIN)
|
||||
#if defined(BOARD_USART5_RX_PIN) && defined(BOARD_USART5_TX_PIN)
|
||||
&uart5,
|
||||
#else
|
||||
NULL,
|
||||
#endif
|
||||
#if defined(BOARD_USART6_RX_PIN) && defined(BOARD_USART6_TX_PIN)
|
||||
&usart6,
|
||||
#else
|
||||
NULL,
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
void usart_foreach(void (*fn)(const usart_dev*))
|
||||
{
|
||||
fn(_USART1);
|
||||
#if defined(USART2_USED)
|
||||
#if defined(BOARD_USART2_RX_PIN) && defined(BOARD_USART2_RX_PIN)
|
||||
fn(_USART2);
|
||||
#endif
|
||||
fn(_USART3);
|
||||
#if defined(BOARD_USART4_RX_PIN) && defined(BOARD_USART4_TX_PIN)
|
||||
fn(_UART4);
|
||||
#endif
|
||||
#if defined( BOARD_USART5_RX_PIN)
|
||||
#if defined(BOARD_USART5_RX_PIN) && defined(BOARD_USART5_TX_PIN)
|
||||
fn(_UART5);
|
||||
#endif
|
||||
#if defined(BOARD_USART6_RX_PIN) && defined(BOARD_USART6_TX_PIN)
|
||||
fn(_USART6);
|
||||
#endif
|
||||
}
|
||||
|
||||
extern uint32_t us_ticks;
|
||||
@ -357,7 +365,7 @@ void USART1_IRQHandler(void)
|
||||
usart_tx_irq(_USART1);
|
||||
}
|
||||
|
||||
#if defined(USART2_USED)
|
||||
#if defined(BOARD_USART2_RX_PIN) && defined(BOARD_USART2_RX_PIN)
|
||||
void USART2_IRQHandler(void)
|
||||
{
|
||||
usart_rx_irq(_USART2);
|
||||
@ -379,7 +387,7 @@ void UART4_IRQHandler(void)
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined( BOARD_USART5_RX_PIN)
|
||||
#if defined( BOARD_USART5_RX_PIN) && defined( BOARD_USART5_TX_PIN)
|
||||
void UART5_IRQHandler(void)
|
||||
{
|
||||
usart_rx_irq(_UART5);
|
||||
@ -387,9 +395,10 @@ void UART5_IRQHandler(void)
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined( BOARD_USART6_RX_PIN) && defined( BOARD_USART6_TX_PIN)
|
||||
void USART6_IRQHandler(void)
|
||||
{
|
||||
usart_rx_irq(_USART6);
|
||||
usart_tx_irq(_USART6);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@ -57,11 +57,6 @@ extern const usart_dev * const _UART4;
|
||||
extern const usart_dev * const _UART5;
|
||||
extern const usart_dev * const _USART6;
|
||||
|
||||
//#define USART2_USED
|
||||
|
||||
|
||||
|
||||
|
||||
#define USART_F_RXNE 0x20
|
||||
#define USART_F_TXE 0x80
|
||||
#define USART_F_ORE 0x8
|
||||
|
||||
@ -75,7 +75,7 @@
|
||||
|
||||
// common parameters for all boards
|
||||
#define F4LIGHT_HAL_VARINFO \
|
||||
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
|
||||
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, MOTOR_LAYOUT_DEFAULT), \
|
||||
AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \
|
||||
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
|
||||
AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \
|
||||
|
||||
@ -11,129 +11,55 @@ mkdir -p $ROOT/Release/Copter
|
||||
mkdir -p $ROOT/Release/Plane
|
||||
|
||||
|
||||
make_copter(){
|
||||
local BOARD=$1
|
||||
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light BOARD=$BOARD && (
|
||||
|
||||
cp $ROOT/ArduCopter/$BOARD.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/$BOARD.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/$BOARD.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/${BOARD}_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/${BOARD}_bl.dfu $ROOT/Release/Copter
|
||||
)
|
||||
}
|
||||
|
||||
make_plane(){
|
||||
local BOARD=$1
|
||||
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=$BOARD && (
|
||||
|
||||
cp $ROOT/ArduPlane/$BOARD.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/$BOARD.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/$BOARD.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/${BOARD}_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/${BOARD}_bl.dfu $ROOT/Release/Plane
|
||||
)
|
||||
|
||||
}
|
||||
|
||||
( # RevoMini board
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Revolution && (
|
||||
|
||||
cp $ROOT/ArduCopter/f4light_Revolution.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_bl.dfu $ROOT/Release/Copter
|
||||
)
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Revolution && (
|
||||
|
||||
cp $ROOT/ArduPlane/f4light_Revolution.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_bl.dfu $ROOT/Release/Plane
|
||||
)
|
||||
make_copter "f4light_Revolution" && \
|
||||
make_plane "f4light_Revolution"
|
||||
) && ( # AirBotF4 board
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Airbot && (
|
||||
|
||||
cp $ROOT/ArduCopter/f4light_Airbot.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Airbot.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Airbot.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Airbot_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Airbot_bl.dfu $ROOT/Release/Copter
|
||||
|
||||
make f4light-clean
|
||||
|
||||
)
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Airbot && (
|
||||
|
||||
cp $ROOT/ArduPlane/f4light_Airbot.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Airbot.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Airbot.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Airbot_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Airbot_bl.dfu $ROOT/Release/Plane
|
||||
|
||||
make f4light-clean
|
||||
|
||||
)
|
||||
make_copter "f4light_Airbot" && \
|
||||
make_plane "f4light_Airbot"
|
||||
) && ( # Cl_Racing F4 board
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_cl_racing && (
|
||||
|
||||
cp $ROOT/ArduCopter/f4light_cl_racing.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_cl_racing.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_cl_racing.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_cl_racing_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_cl_racing_bl.dfu $ROOT/Release/Copter
|
||||
|
||||
make f4light-clean
|
||||
|
||||
)
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Airbot && (
|
||||
|
||||
cp $ROOT/ArduPlane/f4light_cl_racing.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_cl_racing.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_cl_racing.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_cl_racing_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_cl_racing_bl.dfu $ROOT/Release/Plane
|
||||
|
||||
)
|
||||
) && ( # AirBotF4 board
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_AirbotV2 && (
|
||||
|
||||
cp $ROOT/ArduCopter/f4light_AirbotV2.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_AirbotV2.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_AirbotV2.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_AirbotV2_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_AirbotV2_bl.dfu $ROOT/Release/Copter
|
||||
|
||||
|
||||
)
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_AirbotV2 && (
|
||||
|
||||
cp $ROOT/ArduPlane/f4light_AirbotV2.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_AirbotV2.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_AirbotV2.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_AirbotV2_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_AirbotV2_bl.dfu $ROOT/Release/Plane
|
||||
)
|
||||
|
||||
make_copter "f4light_cl_racing" && \
|
||||
make_plane "f4light_cl_racing"
|
||||
) && ( # AirBotV2 board
|
||||
make_copter "f4light_AirbotV2" && \
|
||||
make_plane "f4light_AirbotV2"
|
||||
) && ( # RevoMini board with SD card
|
||||
cd $ROOT/ArduCopter
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Revolution_SD && (
|
||||
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_SD.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_SD.hex $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_SD.dfu $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_SD_bl.bin $ROOT/Release/Copter
|
||||
cp $ROOT/ArduCopter/f4light_Revolution_SD_bl.dfu $ROOT/Release/Copter
|
||||
)
|
||||
) && (
|
||||
cd $ROOT/ArduPlane
|
||||
make f4light-clean
|
||||
make f4light VERBOSE=1 BOARD=f4light_Revolution_SD && (
|
||||
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_SD.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_SD.hex $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_SD.dfu $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_SD_bl.bin $ROOT/Release/Plane
|
||||
cp $ROOT/ArduPlane/f4light_Revolution_SD_bl.dfu $ROOT/Release/Plane
|
||||
)
|
||||
make_copter "f4light_Revolution_SD" && \
|
||||
make_plane "f4light_Revolution_SD"
|
||||
) && ( # MatekF405_CTR board
|
||||
make_copter "f4light_MatekF405_CTR" && \
|
||||
make_plane "f4light_MatekF405_CTR"
|
||||
) && (
|
||||
cd $ROOT
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user