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RCE target
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RCExplorer F3 board support for Cleanflight
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@lkaino
lkaino committed May 17, 2016
1 parent 961cbfd commit bdaeec1
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Showing 9 changed files with 753 additions and 5 deletions.
25 changes: 22 additions & 3 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -35,15 +35,15 @@ FLASH_SIZE ?=

FORKNAME = triflight

VALID_TARGETS = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE LUX_RACE EUSTM32F103RC MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RMDO SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY
VALID_TARGETS = ALIENWIIF1 ALIENWIIF3 CC3D CHEBUZZF3 CJMCU COLIBRI_RACE LUX_RACE EUSTM32F103RC MOTOLAB NAZE NAZE32PRO OLIMEXINO PORT103R RCE RMDO SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY

# Configure default flash sizes for the targets
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),CJMCU))
FLASH_SIZE = 64
else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF1 CC3D NAZE OLIMEXINO RMDO))
FLASH_SIZE = 128
else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE EUSTM32F103RC MOTOLAB NAZE32PRO PORT103R SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY))
else ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE EUSTM32F103RC MOTOLAB NAZE32PRO PORT103R RCE SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY))
FLASH_SIZE = 256
else
$(error FLASH_SIZE not configured for target)
Expand All @@ -70,7 +70,7 @@ FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))

CSOURCES := $(shell find $(SRC_DIR) -name '*.c')

ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY))
ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RCE RMDO SPARKY SPRACINGF3 SPRACINGF3MINI STM32F3DISCOVERY))

STDPERIPH_DIR = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver

Expand Down Expand Up @@ -590,6 +590,25 @@ ALIENWIIF3_SRC = \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)

RCE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \
drivers/display_ug2864hsweg01.c \
drivers/serial_usb_vcp.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)

RMDO_SRC = \
$(STM32F30x_COMMON_SRC) \
Expand Down
17 changes: 16 additions & 1 deletion src/main/config/config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,11 @@ static void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->vbatmaxcellvoltage = 43;
batteryConfig->vbatmincellvoltage = 33;
batteryConfig->vbatwarningcellvoltage = 35;
#if defined(RCE)
batteryConfig->currentMeterScale = 360; // for the built-in current sensor on RCExplorer board
#else
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
#endif
batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
}

Expand Down Expand Up @@ -280,6 +284,13 @@ void resetSerialConfig(serialConfig_t *serialConfig)
// This allows MSP connection via USART & VCP so the board can be reconfigured.
serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
#endif
#if defined(RCE)
// On RCExplorer board, UART1 is serial RX by default
serialConfig->portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
// UART2 and UART3 as MSP for safety
serialConfig->portConfigs[2].functionMask = FUNCTION_MSP;
serialConfig->portConfigs[3].functionMask = FUNCTION_MSP;
#endif

serialConfig->reboot_character = 'R';
}
Expand Down Expand Up @@ -320,8 +331,12 @@ static void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->tri_servo_min_adc = 0;
mixerConfig->tri_servo_mid_adc = 0;
mixerConfig->tri_servo_max_adc = 0;
#if defined(RCE)
mixerConfig->tri_servo_feedback = TRI_SERVO_FB_RSSI;
#else
mixerConfig->tri_servo_feedback = TRI_SERVO_FB_VIRTUAL;
#endif
#endif
}

uint8_t getCurrentProfile(void)
Expand Down Expand Up @@ -367,7 +382,7 @@ STATIC_UNIT_TESTED void resetConf(void)
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerMode = MIXER_TRI;
featureClearAll();
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(RCE)
featureSet(FEATURE_RX_PPM);
#endif

Expand Down
47 changes: 47 additions & 0 deletions src/main/drivers/pwm_mapping.c
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Original file line number Diff line number Diff line change
Expand Up @@ -559,6 +559,46 @@ static const uint16_t airPWM[] = {
};
#endif

#ifdef RCE
static const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
0xFFFF
};

static const uint16_t multiPWM[] = {
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
0xFFFF
};

static const uint16_t airPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
0xFFFF
};

static const uint16_t airPWM[] = {
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
0xFFFF
};
#endif

static const uint16_t * const hardwareMaps[] = {
multiPWM,
multiPPM,
Expand Down Expand Up @@ -710,6 +750,13 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
type = MAP_TO_SERVO_OUTPUT;
#endif

#if defined(RCE)
if (timerIndex == PWM2)
{
type = MAP_TO_SERVO_OUTPUT;
}
#endif

#if defined(NAZE32PRO) || (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
if (init->useSoftSerial) {
Expand Down
16 changes: 16 additions & 0 deletions src/main/drivers/timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -334,6 +334,22 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17)
#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
#endif
#if defined(RCE)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - PA4
{ TIM17, GPIOA, Pin_7, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_1}, // PWM2 - PA7
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // PWM3 - PA8
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM4 - PB0
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM5 - PB1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM6 - PPM
};

#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(17))

#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3)
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM17)
#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)

#endif

Expand Down
2 changes: 1 addition & 1 deletion src/main/sensors/initialisation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
return &cc3dMPUIntExtiConfig;
#endif

#ifdef MOTOLAB
#if defined(MOTOLAB) || defined(RCE)
static const extiConfig_t MotolabF3MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,
.gpioPort = GPIOA,
Expand Down
12 changes: 12 additions & 0 deletions src/main/sensors/sonar.c
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,18 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon
.exti_irqn = EXTI1_IRQn
};
return &sonarHardware;
#elif defined(RCE)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_6, // PWM5 (PA5) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOA,
.echo_pin = Pin_1, // PWM6 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.exti_line = EXTI_Line1,
.exti_pin_source = EXTI_PinSource1,
.exti_irqn = EXTI1_IRQn
};
return &sonarHardware;
#elif defined(UNIT_TEST)
UNUSED(batteryConfig);
return 0;
Expand Down
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2 comments on commit bdaeec1

@pqueiros
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Would it make sense to do the integration of the RCE target directly in cleanflight?. I think we should not limit the usage of the target to triflight only. Are you planning to do a pull request as soon as the target integration is available (possibly earlier than merging the complete fork upstream)?

@lkaino
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@lkaino lkaino commented on bdaeec1 May 18, 2016

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Yes plan is to pull to CF and BF. The .md page for the new target needs to be written.

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