src/main/target/AIRBOTF7/target.c

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #include <stdint.h>
  26
  27 #include <platform.h>
  28 #include "drivers/io.h"
  29 #include "drivers/pwm_mapping.h"
  30 #include "drivers/timer.h"
  31 #include "drivers/bus.h"
  32 #include "drivers/sensor.h"
  33
  34 // Board hardware definitions
  35 BUSDEV_REGISTER_SPI_TAG(busdev_imu0_mpu6000,    DEVHW_MPU6000,  GYRO_0_SPI_BUS,  GYRO_0_CS_PIN,   NONE,     0,  DEVFLAGS_NONE,   GYRO_0_ALIGN);
  36 BUSDEV_REGISTER_SPI_TAG(busdev_imu0_mpu6500,    DEVHW_MPU6500,  GYRO_0_SPI_BUS,  GYRO_0_CS_PIN,   NONE,     0,  DEVFLAGS_NONE,   GYRO_0_ALIGN);
  37
  38 // OMNIBUSF7NANOV7 doesn't have a second gyro
  39 #ifndef OMNIBUSF7NANOV7
  40 BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6000,    DEVHW_MPU6000,  GYRO_1_SPI_BUS,  GYRO_1_CS_PIN,   NONE,     1,  DEVFLAGS_NONE,   GYRO_1_ALIGN);
  41 BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6500,    DEVHW_MPU6500,  GYRO_1_SPI_BUS,  GYRO_1_CS_PIN,   NONE,     1,  DEVFLAGS_NONE,   GYRO_1_ALIGN);
  42 #endif
  43
  44 timerHardware_t timerHardware[] = {
  45     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), //S1
  46     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0), //S2
  47     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), //S3
  48     DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0), //S4
  49                                                           //
  50     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,                   0, 0), // LED
  51     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                   0, 0), // Cam control, SS, UNUSED
  52 };
  53
  54 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);