diff --git a/src/main/target/FLYDRAGONPRO/CMakeLists.txt b/src/main/target/FLYDRAGONPRO/CMakeLists.txt new file mode 100644 index 00000000000..33dbab6238c --- /dev/null +++ b/src/main/target/FLYDRAGONPRO/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f722xe(FLYDRAGONPRO) diff --git a/src/main/target/FLYDRAGONPRO/README.md b/src/main/target/FLYDRAGONPRO/README.md new file mode 100644 index 00000000000..3fa344b7ff4 --- /dev/null +++ b/src/main/target/FLYDRAGONPRO/README.md @@ -0,0 +1,82 @@ +FlydragonRC Flydragon Pro +========================= + +Flight controllers originally designed for helicopters using Rotorflight. +Two variants exist, one with ICM42688P IMU and one with MPU6000. Both share the same target in INAV. + +Built-in periperals +------------------- + +Both models contain +- STM32F722RET6 MCU +- SPL06-001 barometer +- W25N01GVZEIG 1GBit Blackbox +- ExpressLRS receiver using ESP8285 and SX1280 connected to UART1. ELRS target is "FD R24D 2.4GHz RX" +- large button connected to BOOT0 +- large button is backlit by WS2812B RGB LED +- "GPS" expansion port with 5V, UART5, I2C and GND +- "DSM" expansion port with 3.3V, GND and UART3 RX +- "EXT" expansion port with BAT+, GND, BZZP and 5V. + +Buzzer should be connected between 5V and BZZP. +The BAT+ pin measures voltage up to 62V. When measuring the flight battery it is recommended to connect BAT+ but not GND to prevent unintended current paths. + +None of the external connections route to the receiver, they are all connected to the STM32F7 Flight Controller. +The receiver can be disabled using USER1, which controls a pinio on pin PA15. + +Pin configuration +----------------- + +The ESC, RPM, RX2 and TX2 pins are Servo/Motor outputs by default. However, when UART4 or UART2 are assigned a function in the ports tab, the pins will become a UART instead. See the table below. + +**The RPM pin features a filtering circuit that limits UART4 RX to 115200 baud. This means CRSF won't work on UART4, while slower protocols like SBUS will.** + +| Marking on the case | Both UART2 and UART4 unused | UART2 in use | UART4 in use | Both UART2 and UART4 in use | +|---------------------|-----------------------------|-------------------------|-------------------------|-----------------------------| +| TAIL | Output S1 | Output S1 | Output S1 | Output S1 | +| CH3 | Output S2 | Output S2 | Output S2 | Output S2 | +| CH2 | Output S3 | Output S3 | Output S3 | Output S3 | +| CH1 | Output S4 | Output S4 | Output S4 | Output S4 | +| ESC | Output S5 | Output S5 | UART4 TX | UART4 TX | +| RPM | Output S6 | Output S6 | UART4 RX | UART4 RX | +| RX2 | Output S7 | UART2 RX | Output S5 | UART2 RX | +| TX2 | Output S8 | UART2 TX | Output S6 | UART2 TX | +| AUX | Output S9 | Output S7 | Output S7 | Output S5 | +| GPS RX5 | UART5 RX | UART5 RX | UART5 RX | UART5 RX | +| GPS TX5 | UART5 TX | UART5 TX | UART5 TX | UART5 TX | +| GPS SCL | I2C SCL | I2C SCL | I2C SCL | I2C SCL | +| GPS SDA | I2C SDA | I2C SDA | I2C SDA | I2C SDA | +| DSM RX3 | UART3 RX | UART3 RX | UART3 RX | UART3 RX | +| EXT BAT+ | battery voltage max 62V | battery voltage max 62V | battery voltage max 62V | battery voltage max 62V | +| EXT BZZP | Buzzer positive pin | Buzzer positive pin | Buzzer positive pin | Buzzer positive pin | +| built-in ELRS | UART1 | UART1 | UART1 | UART1 | + + +Hardware layout +--------------- + + +| Marking on the case | STM32 pin | Servo | UART | I2C | +|---------------------|-----------|------------------------------------------:|---------------------:|-------------------------------------------:| +| TAIL | PC9 | TIM3CH4
TIM8CH4 | n/a | I2C3 SDA | +| CH3 | PC8 | TIM3CH3
TIM8CH3 | n/a | n/a | +| CH2 | PC7 | TIM3CH2
TIM8CH2 | n/a | n/a | +| CH1 | PC6 | TIM3CH1
TIM8CH1 | n/a | n/a | +| ESC | PA0 | TIM2CH1
TIM5CH1 | UART4 TX | n/a | +| RPM | PA1 | TIM2CH2
TIM5CH2 | UART4 RX | n/a | +| RX2 | PA3 | TIM2CH4
TIM5CH4
TIM9CH2 | UART2 RX | n/a | +| TX2 | PA2 | TIM2CH3
TIM5CH3
TIM9CH1 | UART2 TX | n/a | +| AUX | PB9 | TIM4CH4
TIM11CH1 | n/a | I2C1 SDA | +| GPS RX5 | PD2 | n/a | UART5 RX | n/a | +| GPS TX5 | PC12 | n/a | UART5 TX | n/a | +| GPS SCL | PB6 | TIM4CH1 | UART1 TX | I2C1 SCL | +| GPS SDA | PB7 | TIM4CH2 | UART1 RX | I2C1 SDA | +| DSM RX3 | PC11 | n/a | UART3 RX
UART4 RX | n/a | +| EXT BAT+ | PC0 | n/a | n/a | n/a | +| EXT BZZP | PA8 | TIM1CH1
pin is behind a FET for buzzer | n/a | I2C3 SCL
pin is behind a FET for buzzer | +| RGB LED | PB8 | TIM4CH1 | UART1 TX | I2C1 SCL | +| BUTTON | BOOT0 | n/a | n/a | n/a | +| built-in ELRS | PA9/PA10 | n/a | UART1 | n/a | + +PC1 is ADC for servo plug bank. +PC2 is ADC for the built-in BEC. \ No newline at end of file diff --git a/src/main/target/FLYDRAGONPRO/config.c b/src/main/target/FLYDRAGONPRO/config.c new file mode 100644 index 00000000000..b245dfea524 --- /dev/null +++ b/src/main/target/FLYDRAGONPRO/config.c @@ -0,0 +1,46 @@ +/* + * 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/pwm_mapping.h" + +#include "fc/fc_msp_box.h" + +#include "io/piniobox.h" +#include "io/serial.h" + +#include "io/ledstrip.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + + // configure the built-in WS2812B led as makeshift indicator led + ledStripConfig_t *config = ledStripConfigMutable(); + ledConfig_t *lc = config->ledConfigs; + DEFINE_LED(lc, 0, 0, COLOR_BLUE, 0, LED_FUNCTION_COLOR, LED_FLAG_OVERLAY(LED_OVERLAY_WARNING), 0); +} diff --git a/src/main/target/FLYDRAGONPRO/target.c b/src/main/target/FLYDRAGONPRO/target.c new file mode 100644 index 00000000000..39c405ebd20 --- /dev/null +++ b/src/main/target/FLYDRAGONPRO/target.c @@ -0,0 +1,45 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + +#include + +#include "platform.h" + +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "target.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "TAIL" + + DEF_TIM(TIM3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "CH3" + DEF_TIM(TIM3, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "CH2" + DEF_TIM(TIM3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "CH1" + + DEF_TIM(TIM2, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "ESC", clashes with UART4 TX + DEF_TIM(TIM2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "RPM", clashes with UART4 RX + + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "RX2", clashes with UART2 RX + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "TX2", clashes with UART2 TX + + DEF_TIM(TIM11, CH1, PB9, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "AUX" + + DEF_TIM(TIM4, CH3, PB8, TIM_USE_LED, 0, 0), // WS2812B +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/FLYDRAGONPRO/target.h b/src/main/target/FLYDRAGONPRO/target.h new file mode 100644 index 00000000000..383446eaa10 --- /dev/null +++ b/src/main/target/FLYDRAGONPRO/target.h @@ -0,0 +1,164 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "RTFL" + +#define USBD_PRODUCT_STRING "FLYDRAGONPRO" + +// indicator led on this board is a single WS2812B LED +// no traditional indicator leds +#define LED0 NONE +#define LED1 NONE +#define USE_LED_STRIP +#define WS2811_PIN PB8 + +#define BEEPER PA8 +#define BEEPER_INVERTED + +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +// ICM42605 variant +#define USE_IMU_ICM42605 // is actually ICM42688P +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_CS_PIN PB0 +#define ICM42605_EXTI_PIN PB3 +#define ICM42605_SPI_BUS BUS_SPI1 + +// MPU6000 variant +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW90_DEG +#define MPU6000_CS_PIN PB0 +#define MPU6000_SPI_BUS BUS_SPI1 + + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 +#define DEFAULT_I2C BUS_I2C1 + +#define USE_I2C_DEVICE_2 +#define I2C2_SCL PB10 +#define I2C2_SDA PB11 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C2 +#define USE_BARO_SPL06 +#define SPL06_I2C_ADDR 118 + +#define USE_MAG +#define MAG_I2C_BUS DEFAULT_I2C +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS DEFAULT_I2C + +#define PITOT_I2C_BUS DEFAULT_I2C + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS DEFAULT_I2C + +// *************** SPI2 Blackbox ******************* +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_FLASHFS +#define USE_FLASH_W25N01G +#define W25N01G_SPI_BUS BUS_SPI2 +#define W25N01G_CS_PIN PB12 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 // internal ELRS receiver +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 // pin labelled as "TX2" +#define UART2_RX_PIN PA3 // pin labelled as "RX2" + +#define USE_UART3 +#define UART3_TX_PIN NONE +#define UART3_RX_PIN PC11 // pin labelled "RX3" on the "DSM" port + +#define USE_UART4 +#define UART4_TX_PIN PA0 // pin labelled "ESC" +#define UART4_RX_PIN PA1 // pin labelled "RPM" + +#define USE_UART5 +#define UART5_TX_PIN PC12 // pin labelled "TX5" on the "GPS" port +#define UART5_RX_PIN PD2 // pin labelled "RX5" on the "GPS" port + +#define SERIAL_PORT_COUNT 6 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART1 +#define GPS_UART SERIAL_PORT_USART5 + +#define SENSORS_SET (SENSOR_ACC|SENSOR_BARO) + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 + +#define ADC_CHANNEL_1_PIN PC2 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC0 + +#define VBAT_ADC_CHANNEL ADC_CHN_3 // pin labelled "BAT+" on the "EXT" port +//BEC ADC is ADC_CHN_2 +//BUS ADC is ADC_CHN_1 + +#define VBAT_SCALE_DEFAULT 1898 + +// *************** PINIO *************************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PA15 // enable pin for internal ELRS receiver +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED // turn on by default + +#define DEFAULT_FEATURES (FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_LED_STRIP ) + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define MAX_PWM_OUTPUT_PORTS 9 + +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESC_SENSOR +#define USE_SMARTPORT_MASTER // no internal current sensor, enable SMARTPORT_MASTER so external ones can be used + +#define USE_DSHOT_DMAR +#define TARGET_MOTOR_COUNT 8 // more than 8 DSHOT motors crashes the FC