From 9b4d863c6be1aad5d3b305289b62dcf4ae4bee89 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 30 Oct 2024 16:26:06 +0100 Subject: [PATCH 1/2] Update DPS310 driver to support SPL07-003 --- src/main/drivers/barometer/barometer_dps310.c | 42 +++++++++++++++---- 1 file changed, 35 insertions(+), 7 deletions(-) diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c index 51e18eb12b0..663dcb27117 100644 --- a/src/main/drivers/barometer/barometer_dps310.c +++ b/src/main/drivers/barometer/barometer_dps310.c @@ -61,6 +61,7 @@ #define DPS310_ID_REV_AND_PROD_ID (0x10) +#define SPL07_003_CHIP_ID (0x11) #define DPS310_RESET_BIT_SOFT_RST (0x09) // 0b1001 @@ -96,6 +97,8 @@ typedef struct { int16_t c20; // 16bit int16_t c21; // 16bit int16_t c30; // 16bit + int16_t c31; // 12bit + int16_t c40; // 12bit } calibrationCoefficients_t; typedef struct { @@ -105,6 +108,7 @@ typedef struct { } baroState_t; static baroState_t baroState; +static uint8_t chipId[1]; // Helper functions @@ -167,7 +171,10 @@ static bool deviceConfigure(busDevice_t * busDev) // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register. // Note: The coefficients read from the coefficient register are 2's complement numbers. - uint8_t coef[18]; + + unsigned coefficientLength = chipId[0] == SPL07_003_CHIP_ID ? 21 : 18; + uint8_t coef[coefficientLength]; + if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) { return false; } @@ -199,6 +206,17 @@ static bool deviceConfigure(busDevice_t * busDev) // 0x20 c30 [15:8] + 0x21 c30 [7:0] baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16); + if (chipId[0] == SPL07_003_CHIP_ID) { + // 0x23 c31 [3:0] + 0x22 c31 [11:4] + baroState.calib.c31 = getTwosComplement(((uint32_t)coef[18] << 4) | (((uint32_t)coef[19] >> 4) & 0x0F), 12); + + // 0x23 c40 [11:8] + 0x24 c40 [7:0] + baroState.calib.c40 = getTwosComplement((((uint32_t)coef[19] & 0x0F) << 8) | (uint32_t)coef[20], 12); + } else { + baroState.calib.c31 = 0; + baroState.calib.c40 = 0; + } + // MEAS_CFG: Make sure the device is in IDLE mode registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_IDLE); @@ -218,8 +236,12 @@ static bool deviceConfigure(busDevice_t * busDev) registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16); // TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times) - const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE; - registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE); + if (chipId[0] == SPL07_003_CHIP_ID) { + registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16); + } else { + const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE; + registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE); + } // CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times) registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT); @@ -265,9 +287,17 @@ static bool deviceReadMeasurement(baroDev_t *baro) const float c20 = baroState.calib.c20; const float c21 = baroState.calib.c21; const float c30 = baroState.calib.c30; + const float c31 = baroState.calib.c31; + const float c40 = baroState.calib.c40; // See section 4.9.1, How to Calculate Compensated Pressure Values, of datasheet - baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21); + // baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21); + if (chipId[0] == SPL07_003_CHIP_ID) { + baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * (c30 + Praw_sc * c40))) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * (c21 + Praw_sc * c31)); + } else { + baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21); + } + const float c0 = baroState.calib.c0; const float c1 = baroState.calib.c1; @@ -299,13 +329,11 @@ static bool deviceCalculate(baroDev_t *baro, int32_t *pressure, int32_t *tempera static bool deviceDetect(busDevice_t * busDev) { for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) { - uint8_t chipId[1]; - delay(100); bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1); - if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) { + if (ack && (chipId[0] == DPS310_ID_REV_AND_PROD_ID || chipId[0] == SPL07_003_CHIP_ID)) { return true; } }; From ced14fe93a1a413af383c45295e132dfbc87e4c1 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 1 Nov 2024 12:25:53 +0100 Subject: [PATCH 2/2] Add SpeedyBee F405 AIO target --- .vscode/c_cpp_properties.json | 3 +- .../target/SPEEDYBEEF405AIO/CMakeLists.txt | 1 + src/main/target/SPEEDYBEEF405AIO/config.c | 33 ++++ src/main/target/SPEEDYBEEF405AIO/target.c | 39 +++++ src/main/target/SPEEDYBEEF405AIO/target.h | 162 ++++++++++++++++++ src/main/target/SPEEDYBEEF405MINI/target.h | 2 - 6 files changed, 237 insertions(+), 3 deletions(-) create mode 100644 src/main/target/SPEEDYBEEF405AIO/CMakeLists.txt create mode 100644 src/main/target/SPEEDYBEEF405AIO/config.c create mode 100644 src/main/target/SPEEDYBEEF405AIO/target.c create mode 100644 src/main/target/SPEEDYBEEF405AIO/target.h diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 6e7d914b25a..760ac8127b0 100755 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -57,7 +57,8 @@ "USE_SDCARD_SDIO", "USE_SDCARD", "USE_Q_TUNE", - "USE_GYRO_FFT_FILTER" + "USE_GYRO_FFT_FILTER", + "USE_BARO_DPS310" ], "configurationProvider": "ms-vscode.cmake-tools" } diff --git a/src/main/target/SPEEDYBEEF405AIO/CMakeLists.txt b/src/main/target/SPEEDYBEEF405AIO/CMakeLists.txt new file mode 100644 index 00000000000..5feb5864896 --- /dev/null +++ b/src/main/target/SPEEDYBEEF405AIO/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f405xg(SPEEDYBEEF405AIO HSE_MHZ 8) diff --git a/src/main/target/SPEEDYBEEF405AIO/config.c b/src/main/target/SPEEDYBEEF405AIO/config.c new file mode 100644 index 00000000000..e73067ef729 --- /dev/null +++ b/src/main/target/SPEEDYBEEF405AIO/config.c @@ -0,0 +1,33 @@ +/* + * 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 "io/piniobox.h" +#include "io/serial.h" + +void targetConfiguration(void) +{ + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_RX_SERIAL; + + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200; +} diff --git a/src/main/target/SPEEDYBEEF405AIO/target.c b/src/main/target/SPEEDYBEEF405AIO/target.c new file mode 100644 index 00000000000..9d1ae18ca7c --- /dev/null +++ b/src/main/target/SPEEDYBEEF405AIO/target.c @@ -0,0 +1,39 @@ +/* + * 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" + +timerHardware_t timerHardware[] = { + + DEF_TIM(TIM2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S1 + DEF_TIM(TIM2, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S2 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S3 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S4 + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/SPEEDYBEEF405AIO/target.h b/src/main/target/SPEEDYBEEF405AIO/target.h new file mode 100644 index 00000000000..a6abdfcc37f --- /dev/null +++ b/src/main/target/SPEEDYBEEF405AIO/target.h @@ -0,0 +1,162 @@ +/* + * 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 "SF4A" +#define USBD_PRODUCT_STRING "SPEEDYBEEF405AIO" + +#define LED0 PD7 + +#define BEEPER PD11 +#define BEEPER_INVERTED + +/* + * SPI Buses + */ +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +/* + * I2C + */ +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 +#define DEFAULT_I2C_BUS BUS_I2C1 +#define USE_I2C_PULLUP + +/* + * Serial + */ +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN NONE +#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 PC10 +#define UART4_RX_PIN PC11 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define SERIAL_PORT_COUNT 7 + +/* + * Gyro + */ +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW180_DEG +#define ICM42605_CS_PIN PA4 +#define ICM42605_SPI_BUS BUS_SPI1 + +/* + * Other + */ +#define USE_BARO +#define BARO_I2C_BUS DEFAULT_I2C_BUS +#define USE_BARO_ALL + +#define USE_MAG +#define MAG_I2C_BUS DEFAULT_I2C_BUS +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS +#define PITOT_I2C_BUS DEFAULT_I2C_BUS +#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS + +/* + * OSD + */ +#define USE_MAX7456 +#define MAX7456_CS_PIN PD5 +#define MAX7456_SPI_BUS BUS_SPI3 + +/* + * Blackbox + */ +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_SPI_BUS BUS_SPI2 +#define M25P16_CS_PIN PB12 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART6 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 + +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC2 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define CURRENT_METER_SCALE 254 +#define CURRENT_METER_OFFSET 0 + +#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 4 + +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESC_SENSOR diff --git a/src/main/target/SPEEDYBEEF405MINI/target.h b/src/main/target/SPEEDYBEEF405MINI/target.h index 1f25899ed92..c20ee9aa0ff 100644 --- a/src/main/target/SPEEDYBEEF405MINI/target.h +++ b/src/main/target/SPEEDYBEEF405MINI/target.h @@ -101,8 +101,6 @@ */ #define USE_BARO #define BARO_I2C_BUS BUS_I2C1 -#define USE_BARO_BMP280 -#define USE_BARO_MS5611 #define USE_BARO_DPS310 #define USE_MAG