[boards] preliminary support for CJMCU micro board

zhuliang1989 · Dec 3, 2015 · efc05d5 · efc05d5
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diff --git a/conf/airframes/untested/quad_cjmcu.xml b/conf/airframes/untested/quad_cjmcu.xml
@@ -0,0 +1,233 @@
+<!-- this is a CJMCU quadrotor, it comes with four brushed motors in an X configuration. -->
+
+<!--
+     The motor and rotor configuration is the following:
+
+	   Front
+             ^
+             |
+
+    Motor0(NW)  Motor1(NE)
+        CW      CCW
+          \     /
+           ,___,
+           |   |
+           |   |
+           |___|
+          /     \
+        CCW      CW
+     Motor3(SW)  Motor2(SE)
+
+-->
+
+<!--
+     Applicable configuration:
+     airframe="airframes/examples/cjmcu.xml"
+     radio="radios/mc24q.xml"
+     telemetry="telemetry/default_rotorcraft.xml"
+     flight_plan="flight_plans/rotorcraft_basic.xml"
+     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
+-->
+
+<airframe name="cjmcu">
+
+  <firmware name="rotorcraft">
+    <define name="PPRZ_TRIG_INT_COMPR_FLASH"/>
+    <define name="PPRZ_TRIG_INT_COMPR_HIGHEST"/>
+    <target name="ap" board="cjmcu">
+      <subsystem name="radio_control" type="ppm"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="pwm">
+      <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
+           With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
+           If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
+      -->
+      <!-- Setting the PWM timer base frequency to 36MHz -->
+      <define name="PWM_BASE_FREQ" value="36000000"/>
+      <!-- Setting the PWM interval to 36KHz -->
+      <define name="SERVO_HZ" value="36000"/>
+      <!--define name="USE_SERVOS_1AND2"/-->
+    </subsystem>
+
+    <subsystem name="telemetry" type="transparent"/>
+    <subsystem name="imu"           type="mpu60x0_i2c">
+      <configure name="IMU_MPU60X0_I2C_DEV" value="i2c1"/>
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+    </subsystem>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="send_imu_mag_current.xml"/>
+  </modules>
+
+  <servos driver="Pwm">
+    <servo name="NW" no="0" min="0" neutral="50" max="1000"/>
+    <servo name="NE" no="1" min="0" neutral="50" max="1000"/>
+    <servo name="SE" no="2" min="0" neutral="50" max="1000"/>
+    <servo name="SW" no="3" min="0" neutral="50" max="1000"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="NW" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="NE" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="SE" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="SW" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
+  </command_laws>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
+    <define name="TYPE" value="QUAD_X"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="180." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+
+    <!-- MAGNETO CALIBRATION DELFT -->
+    <define name="MAG_X_NEUTRAL" value="286"/>
+    <define name="MAG_Y_NEUTRAL" value="-72"/>
+    <define name="MAG_Z_NEUTRAL" value="97"/>
+    <define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
+
+    <!-- MAGNETO CURRENT CALIBRATION -->
+    <define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
+    <define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <define name="SP_MAX_P" value="15000"/>
+    <define name="SP_MAX_Q" value="15000"/>
+    <define name="SP_MAX_R" value="15000"/>
+
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="418"/>
+
+    <define name="IGAIN_P" value="301"/>
+    <define name="IGAIN_Q" value="302"/>
+    <define name="IGAIN_R" value="303"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="45." unit="deg"/>
+    <define name="SP_MAX_THETA" value="45." unit="deg"/>
+    <define name="SP_MAX_PSI" value="45." unit="deg"/>
+    <define name="SP_MAX_R" value="90." unit="deg/s"/>
+    <define name="SP_MAX_P" value="90." unit="deg/s"/>
+    <define name="DEADBAND_R" value="250"/>
+    <define name="DEADBAND_A" value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.85"/>
+    <define name="REF_MAX_P" value="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.85"/>
+    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.85"/>
+    <define name="REF_MAX_R" value="90." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="400"/>
+    <define name="PHI_DGAIN" value="200"/>
+    <define name="PHI_IGAIN" value="100"/>
+
+    <define name="THETA_PGAIN" value="400"/>
+    <define name="THETA_DGAIN" value="200"/>
+    <define name="THETA_IGAIN" value="100"/>
+
+    <define name="PSI_PGAIN" value="500"/>
+    <define name="PSI_DGAIN" value="300"/>
+    <define name="PSI_IGAIN" value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value="0"/>
+    <define name="THETA_DDGAIN" value="0"/>
+    <define name="PSI_DDGAIN" value=" 300"/>
+
+    <define name="PHI_AGAIN" value="0"/>
+    <define name="THETA_AGAIN" value="0"/>
+    <define name="PSI_AGAIN" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="276"/>
+    <define name="HOVER_KD" value="455"/>
+    <define name="HOVER_KI" value="100"/>
+    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="PGAIN" value="39"/>
+    <define name="DGAIN" value="50"/>
+    <define name="IGAIN" value="19"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+  </section>
+
+</airframe>
diff --git a/conf/boards/cjmcu.makefile b/conf/boards/cjmcu.makefile
@@ -0,0 +1,69 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# cjmcu.makefile
+#
+# https://github.com/cleanflight/cleanflight/issues/22
+# http://blog.oscarliang.net/build-fpv-micro-quadcopter-smallest-quad
+# hw rev2 ?
+#
+
+BOARD=cjmcu
+BOARD_CFG=\"boards/$(BOARD).h\"
+
+ARCH=stm32
+$(TARGET).ARCHDIR = $(ARCH)
+# not needed?
+$(TARGET).OOCD_INTERFACE=flossjtag
+$(TARGET).LDSCRIPT=$(SRC_ARCH)/cjmcu.ld
+
+# -----------------------------------------------------------------------
+
+# default flash mode is via SWD
+# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL
+FLASH_MODE ?= SWD
+
+HAS_LUFTBOOT ?= 0
+ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
+$(TARGET).CFLAGS+=-DLUFTBOOT
+$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000
+endif
+
+#
+#
+# some default values shared between different firmwares
+#
+#
+
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= none
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 1
+GPS_LED            ?= 2
+SYS_TIME_LED       ?= 3
+
+
+#
+# default uart configuration
+#
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART3
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART1
+
+MODEM_PORT ?= UART1
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART3
+GPS_BAUD ?= B38400
+
+
+#
+# default actuator configuration
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm
diff --git a/conf/flash_modes.xml b/conf/flash_modes.xml
@@ -82,6 +82,7 @@
       <board name="cc3d"/>
       <board name="elle*"/>
       <board name="naze32*"/>
+      <board name="cjmcu*"/>
     </boards>
   </mode>
   <mode name="BlackMagic Probe (JTAG)">

diff --git a/sw/airborne/arch/stm32/cjmcu.ld b/sw/airborne/arch/stm32/cjmcu.ld
@@ -0,0 +1,35 @@
+/*
+ * Hey Emacs, this is a -*- makefile -*-
+ *
+ * Copyright (C) 2015 Martin Mueller <[email protected]>
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/* Linker script for CJMCU Quad (STM32F103CBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+	/* Use entire memory, no flash for stored settings */
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld