Commit 4ed6fdfe authored by Dominic Clifton's avatar Dominic Clifton
Browse files

CC3D - Add sonar.

This also ensures that the PWM mapping does not use the sonar pins when
sonar is enabled in a board agnostic way.
Conflicts:
	src/main/config/config.c
	src/main/drivers/pwm_mapping.h
	src/main/main.c
	src/main/target/CC3D/target.h
parent a370d605
......@@ -444,6 +444,7 @@ CC3D_SRC = \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
......
......@@ -23,8 +23,8 @@ The 8 pin RC_Input connector has the following pinouts when used in RX_PPM/RX_SE
| 1 | Ground | |
| 2 | +5V | |
| 3 | PPM Input | Enable `feature RX_PPM` |
| 4 | SoftSerial1 TX | Enable `feature SOFTSERIAL` |
| 5 | SoftSerial1 RX | Enable `feature SOFTSERIAL` |
| 4 | SoftSerial1 TX / Sonar trigger | |
| 5 | SoftSerial1 RX / Sonar Echo | |
| 6 | Current | Enable `feature CURRENT_METER`. Connect to the output of a current sensor, 0v-3.3v input |
| 7 | Battery Voltage sensor | Enable `feature VBAT`. Connect to main battery using a voltage divider, 0v-3.3v input |
| 8 | RSSI | Enable `feature RSSI_ADC`. Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input |
......
......@@ -19,6 +19,8 @@ Currently the only supported sensor is the HCSR04 sensor.
| Parallel PWM/ADC current sensor | PB8 / Motor 5 | PB9 / Motor 6 | NO (5v tolerant) |
| PPM/Serial RX | PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
#### Constraints
Current meter cannot be used in conjunction with Parallel PWM and Sonar.
### Olimexino
......@@ -27,4 +29,16 @@ Current meter cannot be used in conjunction with Parallel PWM and Sonar.
| ------------- | ------------- | ------------------- |
| PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
Current meter cannot be used in conjunction with sonar.
#### Constraints
Current meter cannot be used in conjunction with Sonar.
### CC3D
| Trigger | Echo | Inline 1k resistors |
| ------------- | ------------- | ------------------- |
| PB5 | PB0 | YES (3.3v input) |
#### Constraints
Sonar cannot be used in conjuction with SoftSerial or Parallel PWM.
......@@ -804,6 +804,12 @@ void validateAndFixConfig(void)
masterConfig.mixerConfig.pid_at_min_throttle = 0;
}
#if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
featureClear(FEATURE_SONAR);
}
#endif
useRxConfig(&masterConfig.rxConfig);
serialConfig_t *serialConfig = &masterConfig.serialConfig;
......
......@@ -408,29 +408,6 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
#endif
#ifdef SONAR
// skip Sonar pins
// FIXME - Hack - See sonar.c sonarInit() and sonarHardware_t
if (init->useSonar && timerHardwarePtr->gpio == GPIOB) {
#if defined(SPRACINGF3) || defined(OLIMEXINO)
if (timerHardwarePtr->pin == GPIO_Pin_0 || timerHardwarePtr->pin == GPIO_Pin_1) {
continue;
}
#endif
#if defined(NAZE)
if (init->useParallelPWM) {
if (timerHardwarePtr->pin == GPIO_Pin_8 || timerHardwarePtr->pin == GPIO_Pin_9) {
continue;
}
} else {
if (timerHardwarePtr->pin == GPIO_Pin_0 || timerHardwarePtr->pin == GPIO_Pin_1) {
continue;
}
}
#endif
}
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
......@@ -471,6 +448,17 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
}
#endif
#ifdef SONAR
if (init->sonarGPIOConfig && timerHardwarePtr->gpio == init->sonarGPIOConfig->gpio &&
(
timerHardwarePtr->pin == init->sonarGPIOConfig->triggerPin ||
timerHardwarePtr->pin == init->sonarGPIOConfig->echoPin
)
) {
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
......
......@@ -36,6 +36,12 @@
#define PWM_TIMER_MHZ 1
#define ONESHOT125_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
uint16_t triggerPin;
uint16_t echoPin;
} sonarGPIOConfig_t;
typedef struct drv_pwm_config_t {
bool useParallelPWM;
bool usePPM;
......@@ -65,6 +71,7 @@ typedef struct drv_pwm_config_t {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarGPIOConfig_t *sonarGPIOConfig;
} drv_pwm_config_t;
......
......@@ -58,6 +58,11 @@ static void ECHO_EXTI_IRQHandler(void)
EXTI_ClearITPendingBit(sonarHardware->exti_line);
}
void EXTI0_IRQHandler(void)
{
ECHO_EXTI_IRQHandler();
}
void EXTI1_IRQHandler(void)
{
ECHO_EXTI_IRQHandler();
......
......@@ -25,6 +25,8 @@ typedef struct sonarHardware_s {
IRQn_Type exti_irqn;
} sonarHardware_t;
#define SONAR_GPIO GPIOB
void hcsr04_init(const sonarHardware_t *sonarHardware);
void hcsr04_start_reading(void);
......
......@@ -60,7 +60,7 @@ typedef struct timerOvrHandlerRec_s {
typedef struct {
TIM_TypeDef *tim;
GPIO_TypeDef *gpio;
uint32_t pin;
uint16_t pin;
uint8_t channel;
uint8_t irq;
uint8_t outputEnable;
......
......@@ -47,6 +47,7 @@
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "rx/rx.h"
......@@ -114,6 +115,8 @@ void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void loop(void);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
#ifdef STM32F303xC
// from system_stm32f30x.c
......@@ -193,6 +196,21 @@ void init(void)
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.echoPin = sonarHardware->trigger_pin,
.triggerPin = sonarHardware->echo_pin,
.gpio = SONAR_GPIO
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
pwm_params.airplane = true;
......@@ -383,7 +401,7 @@ void init(void)
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(&masterConfig.batteryConfig);
sonarInit(sonarHardware);
}
#endif
......
......@@ -38,7 +38,7 @@
static int32_t calculatedAltitude;
void sonarInit(batteryConfig_t *batteryConfig)
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
static const sonarHardware_t const sonarPWM56 = {
......@@ -57,9 +57,9 @@ void sonarInit(batteryConfig_t *batteryConfig)
};
// If we are using parallel PWM for our receiver or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_RX_PARALLEL_PWM ) || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC) ) {
hcsr04_init(&sonarPWM56);
return &sonarPWM56;
} else {
hcsr04_init(&sonarRC78);
return &sonarRC78;
}
#elif defined(OLIMEXINO)
UNUSED(batteryConfig);
......@@ -70,7 +70,17 @@ void sonarInit(batteryConfig_t *batteryConfig)
.exti_pin_source = GPIO_PinSource1,
.exti_irqn = EXTI1_IRQn
};
hcsr04_init(&sonarHardware);
return &sonarHardware;
#elif defined(CC3D)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_5, // (PB5)
.echo_pin = Pin_0, // (PB0) - only 3.3v ( add a 1K Ohms resistor )
.exti_line = EXTI_Line0,
.exti_pin_source = GPIO_PinSource0,
.exti_irqn = EXTI0_IRQn
};
return &sonarHardware;
#elif defined(SPRACINGF3)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
......@@ -80,11 +90,15 @@ void sonarInit(batteryConfig_t *batteryConfig)
.exti_pin_source = EXTI_PinSource1,
.exti_irqn = EXTI1_IRQn
};
hcsr04_init(&sonarHardware);
return &sonarHardware;
#else
#error Sonar not defined for target
#endif
}
void sonarInit(const sonarHardware_t *sonarHardware)
{
hcsr04_init(sonarHardware);
sensorsSet(SENSOR_SONAR);
calculatedAltitude = -1;
}
......
......@@ -18,9 +18,9 @@
#pragma once
#include "sensors/battery.h"
void sonarInit(batteryConfig_t *batteryConfig);
void sonarUpdate(void);
int32_t sonarRead(void);
int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle);
int32_t sonarGetLatestAltitude(void);
......@@ -111,6 +111,7 @@
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define SONAR
#define AUTOTUNE
#define USE_SERVOS
#define USE_CLI
......@@ -119,6 +120,7 @@
#undef AUTOTUNE // disabled for OPBL build due to code size.
#endif
#define SPEKTRUM_BIND
// USART3, PB11 (Flexport)
#define BIND_PORT GPIOB
......
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