X_RACERSPI support for betaflight V3

fake_travis_build.sh

@@ -20,7 +20,8 @@ targets=("PUBLISHMETA=True" \
  "TARGET=ALIENFLIGHTF3" \
  "TARGET=DOGE" \
  "TARGET=SINGULARITY" \
- "TARGET=SIRINFPV")
+ "TARGET=SIRINFPV" \
+ "TARGET=X_RACERSPI")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)

src/main/target/X_RACERSPI/target.c

@@ -0,0 +1,106 @@
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ 0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8),
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8),
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM16 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
+ 0xFFFF
+};
+
+const uint16_t airPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6
+ 0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH1 - PA0 - *TIM2_CH1
+ { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
+ // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
+ { TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+ { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+ { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2, 0}, // RC_CH5 - PB4 - *TIM3_CH1
+ { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2, 0}, // RC_CH6 - PB5 - *TIM3_CH2
+ { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2, 0}, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+ { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2, 0}, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+
+ { TIM16, IO_TAG(PA6), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+ { TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, 0}, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+ { TIM4, IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
+ { TIM4, IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
+ { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM5 - PB8
+ { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM6 - PB9
+ { TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9, 0}, // PWM7 - PA2
+ { TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9, 0}, // PWM8 - PA3
+
+ { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6, 0}, // GPIO_TIMER / LED_STRIP
+};
+

src/main/target/X_RACERSPI/target.h

@@ -0,0 +1,161 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "X_RACERSPI"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+
+#define LED0 PC14
+#define BEEPER PC15
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+
+
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define MPU6000_CS_PIN PA15
+#define MPU6000_SPI_INSTANCE SPI1
+
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI PC13
+#define USE_EXTI
+
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_USART1
+#define USE_USART2
+#define USE_USART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT 5
+
+#ifndef UART1_GPIO
+#define UART1_TX_PIN GPIO_Pin_9 // PA9
+#define UART1_RX_PIN GPIO_Pin_10 // PA10
+#define UART1_GPIO GPIOA
+#define UART1_GPIO_AF GPIO_AF_7
+#define UART1_TX_PINSOURCE GPIO_PinSource9
+#define UART1_RX_PINSOURCE GPIO_PinSource10
+#endif
+
+#define UART2_TX_PIN GPIO_Pin_2 // PA14 / SWCLK
+#define UART2_RX_PIN GPIO_Pin_3 // PA15
+#define UART2_GPIO GPIOA
+#define UART2_GPIO_AF GPIO_AF_7
+#define UART2_TX_PINSOURCE GPIO_PinSource2
+#define UART2_RX_PINSOURCE GPIO_PinSource3
+
+#ifndef UART3_GPIO
+#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
+#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
+#define UART3_GPIO_AF GPIO_AF_7
+#define UART3_GPIO GPIOB
+#define UART3_TX_PINSOURCE GPIO_PinSource10
+#define UART3_RX_PINSOURCE GPIO_PinSource11
+#endif
+
+#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+//GPIO_AF_1
+
+#define SPI1_NSS_PIN PA15
+#define SPI1_SCK_PIN PB3
+#define SPI1_MISO_PIN PB4
+#define SPI1_MOSI_PIN PB5
+
+#define SPI2_NSS_PIN PB12
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define M25P16_CS_PIN PB12
+#define M25P16_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define ADC_INSTANCE ADC2
+#define VBAT_ADC_PIN PA4
+#define CURRENT_METER_ADC_PIN PA5
+#define RSSI_ADC_PIN PB2
+
+#define LED_STRIP
+#define LED_STRIP_TIMER TIM1
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_GPIO GPIOA
+#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
+#define WS2811_GPIO_AF GPIO_AF_6
+#define WS2811_PIN GPIO_Pin_8
+#define WS2811_PIN_SOURCE GPIO_PinSource8
+#define WS2811_TIMER TIM1
+#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
+#define WS2811_DMA_CHANNEL DMA1_Channel2
+#define WS2811_IRQ DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+
+

src/main/target/X_RACERSPI/target.mk

@@ -0,0 +1,15 @@
+F3_TARGETS += $(TARGET)
+FEATURES = ONBOARDFLASH
+
+TARGET_SRC = \
+ drivers/accgyro_mpu.c \
+ drivers/accgyro_spi_mpu6000.c \
+ drivers/compass_ak8975.c \
+ drivers/compass_hmc5883l.c \
+ drivers/display_ug2864hsweg01.h \
+ drivers/flash_m25p16.c \
+ drivers/light_ws2811strip.c \
+ drivers/light_ws2811strip_stm32f30x.c \
+ drivers/serial_softserial.c \
+ drivers/sonar_hcsr04.c 
+