diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h index 88bbbf286d..ff68798400 100644 --- a/src/main/drivers/bus_spi.h +++ b/src/main/drivers/bus_spi.h @@ -67,6 +67,10 @@ typedef enum SPIDevice { #define SPIDEV_COUNT 4 #endif +#if defined(AT32F43x) +typedef spi_type SPI_TypeDef; +#endif + typedef struct SPIDevice_s { #if defined(AT32F43x) spi_type *dev; diff --git a/src/main/target/ORBITF435/CMakeLists.txt b/src/main/target/ORBITF435/CMakeLists.txt new file mode 100644 index 0000000000..6ffb8ec5a3 --- /dev/null +++ b/src/main/target/ORBITF435/CMakeLists.txt @@ -0,0 +1,2 @@ +target_at32f43x_xGT7(ORBITF435) +target_at32f43x_xGT7(ORBITF435_SD) \ No newline at end of file diff --git a/src/main/target/ORBITF435/config.c b/src/main/target/ORBITF435/config.c new file mode 100644 index 0000000000..e2ccf38659 --- /dev/null +++ b/src/main/target/ORBITF435/config.c @@ -0,0 +1,67 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute 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 file 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 http://www.gnu.org/licenses/. + */ + +#include +#include +#include + +#include "fc/fc_msp_box.h" +#include "io/piniobox.h" +#include "io/serial.h" + +#include "common/axis.h" + +#include "config/config_master.h" +#include "config/feature.h" + +#include "drivers/sensor.h" +#include "drivers/pwm_esc_detect.h" +#include "drivers/pwm_output.h" +#include "drivers/pwm_mapping.h" +#include "drivers/serial.h" + +#include "fc/rc_controls.h" + +#include "flight/failsafe.h" +#include "flight/mixer.h" +#include "flight/pid.h" + +#include "rx/rx.h" + +#include "io/serial.h" + +#include "sensors/battery.h" +#include "sensors/sensors.h" + +#include "telemetry/telemetry.h" + +void targetConfiguration(void) +{ + + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_GPS; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL; + + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; //VTX power switch +} diff --git a/src/main/target/ORBITF435/target.c b/src/main/target/ORBITF435/target.c new file mode 100644 index 0000000000..25b5aae207 --- /dev/null +++ b/src/main/target/ORBITF435/target.c @@ -0,0 +1,52 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute 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 file 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 http://www.gnu.org/licenses/. + */ +#include + +#include "platform.h" + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS, ICM42688_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42688_ALIGN); + +timerHardware_t timerHardware[] = { + DEF_TIM(TMR3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4), // M1 + DEF_TIM(TMR3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5), // M2 + DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 2), // M3 + DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 3), // M4 + DEF_TIM(TMR2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // M5 + DEF_TIM(TMR4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 6), // M6 + DEF_TIM(TMR4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 7), // M7 + DEF_TIM(TMR2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1), // M8 + + //DEF_TIM(TMR9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM + //DEF_TIM(TMR12, CH1, PB14, TIM_USE_CAMERA_CONTROL, 0, -1), // Camera Control + DEF_TIM(TMR5, CH1, PA0, TIM_USE_LED , 0, 8) //2812LED +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/ORBITF435/target.h b/src/main/target/ORBITF435/target.h new file mode 100644 index 0000000000..99c54fecbb --- /dev/null +++ b/src/main/target/ORBITF435/target.h @@ -0,0 +1,193 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute 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 file 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 http://www.gnu.org/licenses/. + */ + +#pragma once + +#ifdef ORBITF435 +#define TARGET_BOARD_IDENTIFIER "ORB4" +#define USBD_PRODUCT_STRING "ORBITF435" +#else +#define TARGET_BOARD_IDENTIFIER "ORB4SD" +#define USBD_PRODUCT_STRING "ORBITF435_SD" +#endif + +/*** Indicators ***/ +#define LED0 PC13 //Blue + +#define BEEPER PC15 +#define BEEPER_INVERTED + +/*** PINIO ***/ +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC8 +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED + +// *************** UART ***************************** +#define USE_VCP +#define USB_DETECT_PIN PC9 +#define USE_UART_INVERTER + +#define USE_UART1 +#define USE_UART2 +#define USE_UART3 +#define USE_UART4 +#define USE_UART5 +#define USE_UART6 + +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 +#define INVERTER_PIN_UART2_RX PB2 + +#define UART3_TX_PIN PC10 // No connection +#define UART3_RX_PIN PC11 // ESC TLM + +#define UART4_TX_PIN PH3 +#define UART4_RX_PIN PH2 + +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define SERIAL_PORT_COUNT 7 //VCP, UART1, UART2, UART3, UART4, UART5, UART6 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART2 + +// *************** Gyro & ACC ********************** +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS + +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_IMU_ICM42605 //Using ICM42688 +#define IMU_ICM42688_ALIGN CW270_DEG +#define ICM42688_CS_PIN PA4 +#define ICM42688_SPI_BUS BUS_SPI1 + +// *************** I2C(Baro & I2C) ************************** +#define USE_I2C +#define USE_BARO +#define USE_MAG +#define USE_RANGEFINDER + +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_BMP085 +#define USE_BARO_DPS310 +#define USE_BARO_SPL06 + +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** Internal SD card && FLASH ************************** +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#if defined(ORBITF435_SD) +//SDCARD Definations +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI3 +#define SDCARD_CS_PIN PC14 +#define SDCARD_DETECT_INVERTED +#define SDCARD_DETECT_PIN PA8 +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +#else +//FLASHFS Definations +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_SPI_BUS BUS_SPI3 +#define M25P16_CS_PIN PB15 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#endif + +// *************** OSD ***************************** +#define USE_SPI_DEVICE_2 +#define USE_OSD + +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PC2 +#define SPI2_MOSI_PIN PC3 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** ADC ***************************** + +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC5 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 + +#define VBAT_SCALE_DEFAULT 1010 +#define CURRENT_METER_SCALE 125 + +// *************** LED ***************************** +#define USE_LED_STRIP +#define WS2811_PIN PA0 + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP) + + +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESCSERIAL +#define USE_ESC_SENSOR +#define USE_RPM_FILTER +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define MAX_PWM_OUTPUT_PORTS 11 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff +#define TARGET_IO_PORTE BIT(2) +#define TARGET_IO_PORTH (BIT(1)|BIT(2)|BIT(3)) \ No newline at end of file