src/main/target/CC3D/target.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19
  20 #include <platform.h>
  21 #include "drivers/io.h"
  22 #include "drivers/pwm_mapping.h"
  23
  24 const uint16_t multiPPM[] = {
  25     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
  26     PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
  27     PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
  28     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3
  29     PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4
  30     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
  31     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
  32     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
  33     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  34     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  35     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  36     0xFFFF
  37 };
  38
  39 const uint16_t multiPWM[] = {
  40     PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
  41     PWM2  | (MAP_TO_PWM_INPUT << 8),
  42     PWM3  | (MAP_TO_PWM_INPUT << 8),
  43     PWM4  | (MAP_TO_PWM_INPUT << 8),
  44     PWM5  | (MAP_TO_PWM_INPUT << 8),
  45     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
  46     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
  47     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
  48     PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
  49     PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
  50     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
  51     PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
  52     0xFFFF
  53 };
  54
  55 const uint16_t airPPM[] = {
  56     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
  57     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
  58     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
  59     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
  60     PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
  61     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
  62     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
  63     PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
  64     PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
  65     PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
  66     PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
  67     0xFFFF
  68 };
  69
  70 const uint16_t airPWM[] = {
  71     PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
  72     PWM2  | (MAP_TO_PWM_INPUT << 8),
  73     PWM3  | (MAP_TO_PWM_INPUT << 8),
  74     PWM4  | (MAP_TO_PWM_INPUT << 8),
  75     PWM5  | (MAP_TO_PWM_INPUT << 8),
  76     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
  77     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
  78     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
  79     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
  80     PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
  81     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
  82     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
  83     0xFFFF
  84 };
  85
  86 const uint16_t multiPPM_BP6[] = {
  87     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
  88     PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #1
  89     PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #2
  90     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #3
  91     PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // motor #4
  92     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
  93     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  94     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  95     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  96     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
  97     0xFFFF
  98 };
  99
 100 const uint16_t multiPWM_BP6[] = {
 101     PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
 102     PWM2  | (MAP_TO_PWM_INPUT << 8),
 103     PWM3  | (MAP_TO_PWM_INPUT << 8),
 104     PWM4  | (MAP_TO_PWM_INPUT << 8),
 105     PWM5  | (MAP_TO_PWM_INPUT << 8),
 106     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
 107     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
 108     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
 109     PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
 110     PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
 111     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
 112     0xFFFF
 113 };
 114
 115 const uint16_t airPPM_BP6[] = {
 116     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
 117     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
 118     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
 119     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
 120     PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
 121     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
 122     PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
 123     PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
 124     PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
 125     PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
 126     0xFFFF
 127 };
 128
 129 const uint16_t airPWM_BP6[] = {
 130     PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
 131     PWM2  | (MAP_TO_PWM_INPUT << 8),
 132     PWM3  | (MAP_TO_PWM_INPUT << 8),
 133     PWM4  | (MAP_TO_PWM_INPUT << 8),
 134     PWM5  | (MAP_TO_PWM_INPUT << 8),
 135     PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
 136     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
 137     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
 138     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
 139     PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
 140     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
 141     0xFFFF
 142 };
 143
 144
 145 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 146     { TIM4, IO_TAG(PB6), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD },   // S1_IN
 147     { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD },   // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger
 148     { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD },   // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC
 149     { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD },   // S4_IN - Current
 150     { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD },   // S5_IN - Vbattery
 151     { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD },   // S6_IN - PPM IN
 152     { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP }, // S1_OUT
 153     { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP }, // S2_OUT
 154     { TIM4, IO_TAG(PB7), TIM_Channel_2, TIM4_IRQn,    1, IOCFG_AF_PP }, // S3_OUT
 155     { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP }, // S4_OUT
 156     { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn,    1, IOCFG_AF_PP }, // S5_OUT - GPIO_PartialRemap_TIM3 - LED Strip
 157     { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,    1, IOCFG_AF_PP }  // S6_OUT
 158 };
 159