src/main/target/CRAZYFLIE2/target.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  * This target is for the Crazyflie 2.0 nanocopter board
  23  *
  24  * For details on using this target with the Crazyflie see:
  25  * https://wiki.bitcraze.io/misc:hacks:betaflight
  26  *
  27  * Target code written and maintained by Sean Kelly (theseankelly@outlook.com)
  28  */
  29
  30 #pragma once
  31
  32 #if defined(CRAZYFLIE2BQ)
  33 #define TARGET_BOARD_IDENTIFIER "CFBQ"
  34 #define USBD_PRODUCT_STRING     "Crazyflie 2.0 (BigQuad Deck)"
  35 #else
  36 #define TARGET_BOARD_IDENTIFIER "CF20"
  37 #define USBD_PRODUCT_STRING     "Crazyflie 2.0"
  38 #endif
  39
  40 #if defined(CRAZYFLIE2BQ)
  41 #define USABLE_TIMER_CHANNEL_COUNT 5
  42 #define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(14) )
  43 #else
  44 #define USABLE_TIMER_CHANNEL_COUNT 4
  45 #define USED_TIMERS             ( TIM_N(2) | TIM_N(4) )
  46 #endif
  47
  48 #define LED0_PIN                PD2
  49 #define LED1_PIN                PC0
  50 #define LED2_PIN                PC3
  51
  52 // Using STM32F405RG, 64 pin package (LQFP64)
  53 // 16 pins per port, ports A, B, C, and also PD2
  54 #define TARGET_IO_PORTA         0xFFFF
  55 #define TARGET_IO_PORTB         0xFFFF
  56 #define TARGET_IO_PORTC         0xFFFF
  57 #define TARGET_IO_PORTD         (BIT(2))
  58
  59 #define USE_VCP
  60
  61 #if defined(CRAZYFLIE2BQ)
  62 #define USE_UART1
  63 #define UART1_TX_PIN            PB6
  64 #define UART1_RX_PIN            PB7
  65
  66 #define USE_UART3
  67 #define UART3_TX_PIN            PC10
  68 #define UART3_RX_PIN            PC11
  69 #endif
  70
  71 #define USE_UART6
  72 #define UART6_TX_PIN            PC6
  73 #define UART6_RX_PIN            PC7
  74
  75 #if defined(CRAZYFLIE2BQ)
  76 #define SERIAL_PORT_COUNT       4
  77 #else
  78 #define SERIAL_PORT_COUNT       2
  79 #endif
  80
  81 #define USE_I2C
  82 #define USE_I2C_DEVICE_3
  83 #define I2C_DEVICE              (I2CDEV_3)
  84
  85 // This board only uses I2C acc/gyro
  86 #undef USE_MULTI_GYRO
  87
  88 // MPU9250 has the AD0 pin held high so the
  89 // address is 0x69 instead of the default 0x68
  90 #define MPU_ADDRESS             0x69
  91
  92 #define USE_GYRO
  93 #define USE_GYRO_MPU6500
  94 #define GYRO_1_ALIGN            CW270_DEG
  95
  96 #define USE_ACC
  97 #define USE_ACC_MPU6500
  98
  99 #define USE_MAG
 100 #define USE_MPU9250_MAG // Enables bypass configuration on the MPU9250 I2C bus
 101 #define USE_MAG_AK8963
 102 #define MAG_AK8963_ALIGN        CW270_DEG
 103
 104 #define USE_EXTI
 105 #define USE_GYRO_EXTI
 106 #define GYRO_1_EXTI_PIN         PC13
 107
 108 #define USE_SERIALRX_TARGET_CUSTOM
 109 #define SERIALRX_UART           SERIAL_PORT_USART6
 110 #define SERIALRX_PROVIDER       SERIALRX_TARGET_CUSTOM
 111 #define RX_CHANNELS_TAER
 112
 113 #if defined(CRAZYFLIE2BQ)
 114 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 115 #else
 116 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 117 #endif
 118
 119 #if defined(CRAZYFLIE2BQ)
 120
 121 #define USE_BEEPER
 122 #define BEEPER_PIN              PC12
 123
 124 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 125 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 126 #define USE_ADC
 127 #define ADC_INSTANCE            ADC1
 128 #define ADC1_DMA_OPT            1  // DMA 2 Stream 4 Channel 0 (compat default)
 129 #define CURRENT_METER_ADC_PIN   PA5
 130 #define VBAT_ADC_PIN            PA6
 131 #else
 132 #define BRUSHED_MOTORS
 133 #endif