src/main/target/FIREWORKSV2/target.c

   1 /*
   2  * This file is part of INAV.
   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 #include "drivers/pwm_output.h"
  35 #include "common/maths.h"
  36 #include "fc/config.h"
  37
  38 // Board hardware definitions - IMU1 slot
  39 BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6000,   DEVHW_MPU6000,  IMU_1_SPI_BUS,  IMU_1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_ALIGN);
  40 BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500,   DEVHW_MPU6500,  IMU_1_SPI_BUS,  IMU_1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_ALIGN);
  41
  42 // Board hardware definitions - IMU2 slot
  43 BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000,   DEVHW_MPU6000,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
  44 BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500,   DEVHW_MPU6500,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
  45
  46 timerHardware_t timerHardware[] = {
  47     // DEF_TIM(TIM10, CH1, PB8, TIM_USE_PPM, 0, 0), // PPM
  48
  49     // Motor output 1: use different set of timers for MC and FW
  50     //DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM _USE_SERVO, 1, 0), // S1_OUT    D(1,7)
  51     DEF_TIM(TIM8, CH2N, PB0, TIM_USE_OUTPUT_AUTO, 1, 1), // S1_OUT    D(2,2,0),D(2,3,7) // used to fw motor
  52
  53     // Motor output 2: use different set of timers for MC and FW
  54     //DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S2_OUT    D(1,2)
  55     DEF_TIM(TIM8, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 1, 1), // S2_OUT    D(2,2,0),D(2,4,7) // used to be fw motor
  56
  57     DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 1, 1), // S3_OUT    D(1,6)
  58     DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 1, 0), // S4_OUT    D(1,5)
  59     DEF_TIM(TIM3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT    D(1,7)
  60     DEF_TIM(TIM3, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT    D(1,8)
  61
  62     DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED,                            0, 0), // LED strip D(1,0)
  63
  64     DEF_TIM(TIM1, CH2, PA9, TIM_USE_ANY,                            0, 0), // SS1
  65 };
  66
  67 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
  68
  69 /* TODO: add DSHOT_DMAR?
  70 #ifdef USE_DSHOT
  71 void validateAndFixTargetConfig(void)
  72 {
  73     // On airplanes DSHOT is not supported on this target
  74     if (mixerConfig()->platformType != PLATFORM_MULTIROTOR && mixerConfig()->platformType != PLATFORM_TRICOPTER) {
  75         if (motorConfig()->motorPwmProtocol >= PWM_TYPE_DSHOT150) {
  76             motorConfigMutable()->motorPwmProtocol = PWM_TYPE_STANDARD;
  77         }
  78     }
  79 }
  80 #endif
  81 */