From a47655de55a30c47f938f153cbe29191525c5921 Mon Sep 17 00:00:00 2001 From: David O'Connor Date: Wed, 17 Jan 2024 16:51:30 -0500 Subject: [PATCH 1/3] Added AnyLeaf H7 --- configs/MERCURYH7/config.h | 149 +++++++++++++++++++++++++++++++++++++ 1 file changed, 149 insertions(+) create mode 100644 configs/MERCURYH7/config.h diff --git a/configs/MERCURYH7/config.h b/configs/MERCURYH7/config.h new file mode 100644 index 00000000..8e3364f2 --- /dev/null +++ b/configs/MERCURYH7/config.h @@ -0,0 +1,149 @@ +/* + * This file is part of Betaflight. + * + * Betaflight is free software. You can redistribute this software + * and/or modify this software 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. + * + * Betaflight 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 software. + * + * If not, see . + */ + +#pragma once + +#define FC_TARGET_MCU STM32H743 + +#define BOARD_NAME MERCURYH7 +#define MANUFACTURER_ID ANYL + +#define USE_ACC +#define USE_ACC_SPI_ICM42688P +#define USE_GYRO +#define USE_GYRO_SPI_ICM42688P +#define USE_BARO +#define USE_BARO_DPS310 +#define USE_FLASH +#define USE_FLASH_M25P16 + +#define BEEPER_PIN PE9 +#define MOTOR1_PIN PC6 +#define MOTOR2_PIN PC7 +#define MOTOR3_PIN PC8 +#define MOTOR4_PIN PC9 +#define MOTOR5_PIN PE5 +#define MOTOR6_PIN PE6 +#define MOTOR7_PIN PE13 +#define MOTOR8_PIN PE14 +#define UART1_TX_PIN PB6 +#define UART2_TX_PIN PA2 +#define UART3_TX_PIN PD8 +#define UART4_TX_PIN PC10 +#define UART7_TX_PIN PB4 +#define UART8_TX_PIN PE1 +#define UART1_RX_PIN PB7 +#define UART2_RX_PIN PA3 +#define UART3_RX_PIN PD9 +#define UART4_RX_PIN PC11 +#define UART7_RX_PIN PB3 +#define UART8_RX_PIN PE0 +#define I2C1_SCL_PIN PB8 +#define I2C1_SDA_PIN PB9 +#define I2C2_SCL_PIN PB10 +#define I2C2_SDA_PIN PB11 +#define SPI1_SCK_PIN PA5 +#define SPI2_SCK_PIN PA9 +#define SPI1_SDI_PIN PA6 +#define SPI2_SDI_PIN PB14 +#define SPI1_SDO_PIN PA7 +#define SPI2_SDO_PIN PB15 +#define ADC_VBAT_PIN PA4 +#define ADC_CURR_PIN PA0 +#define FLASH_CS_PIN PE11 +#define GYRO_1_EXTI_PIN PB12 +#define GYRO_1_CS_PIN PC4 +#define LED0_PIN PC13 + +#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 1, MOTOR1_PIN , 1, -1) \ + TIMER_PIN_MAP( 2, MOTOR2_PIN , 1, -1) \ + TIMER_PIN_MAP( 3, MOTOR3_PIN , 1, -1) \ + TIMER_PIN_MAP( 4, MOTOR4_PIN , 1, -1) \ + TIMER_PIN_MAP( 5, MOTOR5_PIN , 1, -1) \ + TIMER_PIN_MAP( 6, MOTOR6_PIN , 1, -1) \ + TIMER_PIN_MAP( 7, MOTOR7_PIN , 1, -1) \ + TIMER_PIN_MAP( 8, MOTOR8_PIN , 1, -1) \ + TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1) + +#define ADC_INSTANCE ADC1 + +#define ADC1_DMA_OPT 6 + +// QSPI removed due to lack of compatibility with BF + +// #define USE_QUADSPI +// #define USE_QUADSPI_DEVICE_1 +// #define QUADSPI1_SCK_PIN PG5 +// #define QUADSPI1_BK1_IO0_PIN PD11 +// #define QUADSPI1_BK1_IO1_PIN PD12 +// #define QUADSPI1_BK1_IO2_PIN PE2 + +// #define QUADSPI1_BK1_IO3_PIN PD13 +// #define QUADSPI1_BK1_CS_PIN PE11 + +// TS +// #define QUADSPI1_BK2_IO0_PIN PE7 +// #define QUADSPI1_BK2_IO1_PIN PE8 +// #define QUADSPI1_BK2_IO2_PIN PE9 +// #define QUADSPI1_BK2_IO3_PIN PE10 +// #define QUADSPI1_BK2_CS_PIN NONE + +// #define QUADSPI1_MODE QUADSPI_MODE_BK1_ONLY +// #define QUADSPI1_CS_FLAGS (QUADSPI_BK1_CS_HARDWARE | QUADSPI_BK2_CS_NONE | QUADSPI_CS_MODE_LINKED) + + +// #define FLASH_QUADSPI_INSTANCE QUADSPI + +#define SPI1_TX_DMA_OPT 8 +#define SPI1_RX_DMA_OPT 9 +#define SPI2_TX_DMA_OPT 10 +#define SPI2_RX_DMA_OPT 11 + +#define BARO_I2C_INSTANCE (I2CDEV_2) +#define FLASH_SPI_INSTANCE SPI2 +#define GYRO_1_SPI_INSTANCE SPI1 + +#define BEEPER_INVERTED + +#define SYSTEM_HSE_MHZ 16 +#define DEFAULT_PID_PROCESS_DENOM 1 + +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART7 + +#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH + +#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC +#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC +#define DEFAULT_VOLTAGE_METER_SCALE_DEFAULT 118 +#define DEFAULT_CURRENT_METER_SCALE 400 + +#define DEFAULT_BARO_I2C_ADDRESS 119 +#define USE_I2C_PULLUP + +#define GYRO_1_ALIGN CW90_DEG +#define GYRO_1_ALIGN_YAW 1800 + +//TODO set rssi_channel = 15 +//TODO set dshot_bitbang = ON +//TODO set vbat_divider = 5 +//TODO set vbat_multiplier = 2 From a221976bd5ca5bfe65667dd99ac5a17b79ba313d Mon Sep 17 00:00:00 2001 From: David O'Connor Date: Wed, 17 Jan 2024 16:56:37 -0500 Subject: [PATCH 2/3] Removed dead code --- configs/MERCURYH7/config.h | 33 +-------------------------------- 1 file changed, 1 insertion(+), 32 deletions(-) diff --git a/configs/MERCURYH7/config.h b/configs/MERCURYH7/config.h index 8e3364f2..e44cd399 100644 --- a/configs/MERCURYH7/config.h +++ b/configs/MERCURYH7/config.h @@ -84,34 +84,8 @@ TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1) #define ADC_INSTANCE ADC1 - #define ADC1_DMA_OPT 6 -// QSPI removed due to lack of compatibility with BF - -// #define USE_QUADSPI -// #define USE_QUADSPI_DEVICE_1 -// #define QUADSPI1_SCK_PIN PG5 -// #define QUADSPI1_BK1_IO0_PIN PD11 -// #define QUADSPI1_BK1_IO1_PIN PD12 -// #define QUADSPI1_BK1_IO2_PIN PE2 - -// #define QUADSPI1_BK1_IO3_PIN PD13 -// #define QUADSPI1_BK1_CS_PIN PE11 - -// TS -// #define QUADSPI1_BK2_IO0_PIN PE7 -// #define QUADSPI1_BK2_IO1_PIN PE8 -// #define QUADSPI1_BK2_IO2_PIN PE9 -// #define QUADSPI1_BK2_IO3_PIN PE10 -// #define QUADSPI1_BK2_CS_PIN NONE - -// #define QUADSPI1_MODE QUADSPI_MODE_BK1_ONLY -// #define QUADSPI1_CS_FLAGS (QUADSPI_BK1_CS_HARDWARE | QUADSPI_BK2_CS_NONE | QUADSPI_CS_MODE_LINKED) - - -// #define FLASH_QUADSPI_INSTANCE QUADSPI - #define SPI1_TX_DMA_OPT 8 #define SPI1_RX_DMA_OPT 9 #define SPI2_TX_DMA_OPT 10 @@ -141,9 +115,4 @@ #define USE_I2C_PULLUP #define GYRO_1_ALIGN CW90_DEG -#define GYRO_1_ALIGN_YAW 1800 - -//TODO set rssi_channel = 15 -//TODO set dshot_bitbang = ON -//TODO set vbat_divider = 5 -//TODO set vbat_multiplier = 2 +#define GYRO_1_ALIGN_YAW 1800 \ No newline at end of file From 71dcfd6907c2a93c51902cedd8b4711f9779e088 Mon Sep 17 00:00:00 2001 From: David O'Connor Date: Sun, 21 Jan 2024 17:16:03 -0500 Subject: [PATCH 3/3] Fixed ADC by enabling ADC3 DMA --- configs/MERCURYH7/config.h | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/configs/MERCURYH7/config.h b/configs/MERCURYH7/config.h index e44cd399..2bbf7c73 100644 --- a/configs/MERCURYH7/config.h +++ b/configs/MERCURYH7/config.h @@ -30,6 +30,7 @@ #define USE_ACC_SPI_ICM42688P #define USE_GYRO #define USE_GYRO_SPI_ICM42688P +#define USE_IMU_XTAL #define USE_BARO #define USE_BARO_DPS310 #define USE_FLASH @@ -83,8 +84,14 @@ TIMER_PIN_MAP( 8, MOTOR8_PIN , 1, -1) \ TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1) -#define ADC_INSTANCE ADC1 -#define ADC1_DMA_OPT 6 + +#define TIMUP3_DMA_OPT 0 // Motors 1-4 +#define TIMUP15_DMA_OPT 1 // Motors 5-6 +#define TIMUP1_DMA_OPT 2 // Motors 7-8 + +#define ADC1_DMA_OPT 5 +// ADC3 is not used directly, but required for the battery and current ADC channels to work. +#define ADC3_DMA_OPT 6 #define SPI1_TX_DMA_OPT 8 #define SPI1_RX_DMA_OPT 9 @@ -108,8 +115,9 @@ #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC -#define DEFAULT_VOLTAGE_METER_SCALE_DEFAULT 118 -#define DEFAULT_CURRENT_METER_SCALE 400 +// Nominally an 11:1 divider, but this appears slightly more accurate. +#define DEFAULT_VOLTAGE_METER_SCALE 111 +#define DEFAULT_CURRENT_METER_SCALE 400 #define DEFAULT_BARO_I2C_ADDRESS 119 #define USE_I2C_PULLUP