From e7dfc826119afbcc02c187851df33752e268487b Mon Sep 17 00:00:00 2001 From: aocodaRC Date: Tue, 29 Nov 2022 02:33:50 +0800 Subject: [PATCH 1/8] add target aocodarch7dual --- src/main/target/AOCODARCH7DUAL/CMakeLists.txt | 1 + src/main/target/AOCODARCH7DUAL/config.c | 32 +++ src/main/target/AOCODARCH7DUAL/target.c | 55 +++++ src/main/target/AOCODARCH7DUAL/target.h | 211 ++++++++++++++++++ 4 files changed, 299 insertions(+) create mode 100644 src/main/target/AOCODARCH7DUAL/CMakeLists.txt create mode 100644 src/main/target/AOCODARCH7DUAL/config.c create mode 100644 src/main/target/AOCODARCH7DUAL/target.c create mode 100644 src/main/target/AOCODARCH7DUAL/target.h diff --git a/src/main/target/AOCODARCH7DUAL/CMakeLists.txt b/src/main/target/AOCODARCH7DUAL/CMakeLists.txt new file mode 100644 index 00000000000..bc7c2e86fd6 --- /dev/null +++ b/src/main/target/AOCODARCH7DUAL/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32h743xi(AOCODARCH7DUAL) diff --git a/src/main/target/AOCODARCH7DUAL/config.c b/src/main/target/AOCODARCH7DUAL/config.c new file mode 100644 index 00000000000..1065971614a --- /dev/null +++ b/src/main/target/AOCODARCH7DUAL/config.c @@ -0,0 +1,32 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight 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. + * + * Cleanflight 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 Cleanflight. If not, see . + */ + +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" +#include "fc/config.h" + +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + beeperConfigMutable()->pwmMode = true; +} diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c new file mode 100644 index 00000000000..7c62c070aaf --- /dev/null +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -0,0 +1,55 @@ +/* + * 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/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, BMI270_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, BMI270_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2); + + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2 + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6 + + DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S7 + DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S8 + DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S9 + DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE + + DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S11 + DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S12 DMA_NONE + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812 + DEF_TIM(TIM2, CH1, PA15, TIM_USE_BEEPER, 0, 0), // BEEPER PWM +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/AOCODARCH7DUAL/target.h b/src/main/target/AOCODARCH7DUAL/target.h new file mode 100644 index 00000000000..05a62033f94 --- /dev/null +++ b/src/main/target/AOCODARCH7DUAL/target.h @@ -0,0 +1,211 @@ +/* + * 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 "AOH7" +#define USBD_PRODUCT_STRING "AocodaRCH7Dual" + +#define USE_TARGET_CONFIG + +#define LED0 PE3 +#define LED1 PE4 + +#define BEEPER PA15 +#define BEEPER_INVERTED +#define BEEPER_PWM_FREQUENCY 2500 + +// *************** IMU generic *********************** +#define USE_DUAL_GYRO +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS +// *************** SPI1 IMU0 MPU6000 && BMI270 **************** +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PD7 + +#define USE_IMU_MPU6000 + +#define IMU_MPU6000_ALIGN CW0_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PC15 +#define MPU6000_EXTI_PIN PB2 + +#define USE_IMU_BMI270 + +#define IMU_BMI270_ALIGN_1 CW90_DEG +#define BMI270_SPI_BUS_1 BUS_SPI1 +#define BMI270_CS_PIN_1 PC15 +#define BMI270_EXTI_PIN_1 PB2 + +// *************** SPI4 IMU1 BMI270 ************** +#define USE_SPI_DEVICE_4 +#define SPI4_SCK_PIN PE12 +#define SPI4_MISO_PIN PE13 +#define SPI4_MOSI_PIN PE14 + +#define USE_IMU_BMI270 + +#define IMU_BMI270_ALIGN_2 CW180_DEG +#define BMI270_SPI_BUS_2 BUS_SPI4 +#define BMI270_CS_PIN_2 PE11 +#define BMI270_EXTI_PIN_2 PE15 + +// *************** SPI2 OSD *********************** +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** SPI3 FLASH *********************** +#define USE_SPI_DEVICE_3 + +#define SPI3_NSS_PIN PD3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define SPI3_SCK_AF GPIO_AF6_SPI3 +#define SPI3_MISO_AF GPIO_AF6_SPI3 +#define SPI3_MOSI_AF GPIO_AF7_SPI3 + +#define W25N01G_SPI_BUS BUS_SPI3 +#define W25N01G_CS_PIN SPI3_NSS_PIN + +#define USE_BLACKBOX +#define USE_FLASHFS +#define USE_FLASH_W25N01G +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#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_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_DPS310 +#define USE_BARO_SPL06 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL +#define USE_MAG_VCM5883 + +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + + +// *************** UART ***************************** +#define USE_VCP +#define VBUS_SENSING_PIN PE2 +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +#define USE_UART3 +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +#define USE_UART4 +#define UART4_TX_PIN PB9 +#define UART4_RX_PIN PB8 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define USE_UART7 +#define UART7_TX_PIN PE8 +#define UART7_RX_PIN PE7 + +#define USE_UART8 +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +#define SERIAL_PORT_COUNT 8 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 + +#define ADC_CHANNEL_1_PIN PC0 //ADC123 VBAT1 +#define ADC_CHANNEL_2_PIN PC1 //ADC123 CURR1 +#define ADC_CHANNEL_3_PIN PC5 //ADC12 RSSI +#define ADC_CHANNEL_4_PIN PC4 //ADC12 AirS +#define ADC_CHANNEL_5_PIN PA4 //ADC12 VB2 +#define ADC_CHANNEL_6_PIN PA7 //ADC12 CU2 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_4 + +// *************** PINIO *************************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PD10 // VTX power switcher +#define PINIO2_PIN PD11 // 2xCamera switcher + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define CURRENT_METER_SCALE 250 + +#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 TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 15 +#define USE_DSHOT +#define USE_ESC_SENSOR From 4664f35a48c92a21b9e4ed767213314d714325e3 Mon Sep 17 00:00:00 2001 From: Ray Morris Date: Wed, 30 Nov 2022 21:09:46 -0600 Subject: [PATCH 2/8] AOCODARCH7DUAL: remove gyo interrupt definitions --- src/main/target/AOCODARCH7DUAL/target.c | 6 +++--- src/main/target/AOCODARCH7DUAL/target.h | 3 --- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index 7c62c070aaf..375a470d7f2 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -26,9 +26,9 @@ #include "drivers/pinio.h" #include "drivers/sensor.h" -BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN); -BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, BMI270_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1); -BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, BMI270_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2); +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, NONE, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, NONE, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2); timerHardware_t timerHardware[] = { diff --git a/src/main/target/AOCODARCH7DUAL/target.h b/src/main/target/AOCODARCH7DUAL/target.h index 05a62033f94..e629d92adf7 100644 --- a/src/main/target/AOCODARCH7DUAL/target.h +++ b/src/main/target/AOCODARCH7DUAL/target.h @@ -45,14 +45,12 @@ #define IMU_MPU6000_ALIGN CW0_DEG #define MPU6000_SPI_BUS BUS_SPI1 #define MPU6000_CS_PIN PC15 -#define MPU6000_EXTI_PIN PB2 #define USE_IMU_BMI270 #define IMU_BMI270_ALIGN_1 CW90_DEG #define BMI270_SPI_BUS_1 BUS_SPI1 #define BMI270_CS_PIN_1 PC15 -#define BMI270_EXTI_PIN_1 PB2 // *************** SPI4 IMU1 BMI270 ************** #define USE_SPI_DEVICE_4 @@ -65,7 +63,6 @@ #define IMU_BMI270_ALIGN_2 CW180_DEG #define BMI270_SPI_BUS_2 BUS_SPI4 #define BMI270_CS_PIN_2 PE11 -#define BMI270_EXTI_PIN_2 PE15 // *************** SPI2 OSD *********************** #define USE_SPI_DEVICE_2 From 7af093926e8437f90f06af9ec4658b3fa0c43628 Mon Sep 17 00:00:00 2001 From: Ray Morris Date: Wed, 7 Dec 2022 00:05:28 -0600 Subject: [PATCH 3/8] AOCODARCH7DUAL re-order S5-S6 --- src/main/target/AOCODARCH7DUAL/target.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index 375a470d7f2..c7cca05da7c 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -37,11 +37,12 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4 - DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5 - DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6 - DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S7 - DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S8 + DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S5 + DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S6 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S7 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S8 + DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S9 DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE From e61cc5feac939cc14c3fdac4f50b9704b9639753 Mon Sep 17 00:00:00 2001 From: MarkTan Date: Mon, 5 Jun 2023 14:50:38 +0800 Subject: [PATCH 4/8] Update target.c --- src/main/target/AOCODARCH7DUAL/target.c | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index c7cca05da7c..296f539030b 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -26,23 +26,22 @@ #include "drivers/pinio.h" #include "drivers/sensor.h" -BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN); -BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, NONE, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1); -BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, NONE, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2); +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, BMI270_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, BMI270_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2); timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1 DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2 - DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 + DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6 - DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S5 - DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S6 - DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S7 - DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S8 - + DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S7 + DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S8 DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S9 DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE From ff0bf3727db76fe53e7ae810e5620d5011e15229 Mon Sep 17 00:00:00 2001 From: MarkTan Date: Mon, 5 Jun 2023 14:52:25 +0800 Subject: [PATCH 5/8] Update target.h --- src/main/target/AOCODARCH7DUAL/target.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.h b/src/main/target/AOCODARCH7DUAL/target.h index e629d92adf7..58d9c4893e0 100644 --- a/src/main/target/AOCODARCH7DUAL/target.h +++ b/src/main/target/AOCODARCH7DUAL/target.h @@ -45,12 +45,14 @@ #define IMU_MPU6000_ALIGN CW0_DEG #define MPU6000_SPI_BUS BUS_SPI1 #define MPU6000_CS_PIN PC15 +#define MPU6000_EXTI_PIN PB2 #define USE_IMU_BMI270 #define IMU_BMI270_ALIGN_1 CW90_DEG #define BMI270_SPI_BUS_1 BUS_SPI1 #define BMI270_CS_PIN_1 PC15 +#define BMI270_EXTI_PIN_1 PB2 // *************** SPI4 IMU1 BMI270 ************** #define USE_SPI_DEVICE_4 @@ -63,6 +65,7 @@ #define IMU_BMI270_ALIGN_2 CW180_DEG #define BMI270_SPI_BUS_2 BUS_SPI4 #define BMI270_CS_PIN_2 PE11 +#define BMI270_EXTI_PIN_2 PE15 // *************** SPI2 OSD *********************** #define USE_SPI_DEVICE_2 @@ -81,7 +84,7 @@ #define SPI3_SCK_PIN PB3 #define SPI3_MISO_PIN PB4 #define SPI3_MOSI_PIN PB5 - + #define SPI3_SCK_AF GPIO_AF6_SPI3 #define SPI3_MISO_AF GPIO_AF6_SPI3 #define SPI3_MOSI_AF GPIO_AF7_SPI3 From a95b23f38fa969bc056a8d3fa0918d9f91deb3ca Mon Sep 17 00:00:00 2001 From: MarkTan Date: Mon, 5 Jun 2023 15:11:06 +0800 Subject: [PATCH 6/8] Update target.h --- src/main/target/AOCODARCH7DUAL/target.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.h b/src/main/target/AOCODARCH7DUAL/target.h index 58d9c4893e0..4024dd29963 100644 --- a/src/main/target/AOCODARCH7DUAL/target.h +++ b/src/main/target/AOCODARCH7DUAL/target.h @@ -28,7 +28,6 @@ #define BEEPER PA15 #define BEEPER_INVERTED -#define BEEPER_PWM_FREQUENCY 2500 // *************** IMU generic *********************** #define USE_DUAL_GYRO From b458d667afce467bcdbfebc8e30b774cf20942eb Mon Sep 17 00:00:00 2001 From: MarkTan Date: Mon, 5 Jun 2023 15:12:37 +0800 Subject: [PATCH 7/8] Update target.c --- src/main/target/AOCODARCH7DUAL/target.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index 296f539030b..b03df4fc14e 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -49,7 +49,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S12 DMA_NONE DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812 - DEF_TIM(TIM2, CH1, PA15, TIM_USE_BEEPER, 0, 0), // BEEPER PWM + }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); From 8b6ff0351cb3e43847f8bfb4679ed031bbd0b685 Mon Sep 17 00:00:00 2001 From: MarkTan Date: Mon, 5 Jun 2023 15:20:34 +0800 Subject: [PATCH 8/8] Update target.c --- src/main/target/AOCODARCH7DUAL/target.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index b03df4fc14e..eb574b39a8c 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -34,17 +34,16 @@ BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1 DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2 - DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5 DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6 - DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S7 DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S8 + DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S9 DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE - DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S11 DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S12 DMA_NONE