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A ChibiOS/RT multi-rotor flight controller software
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javierfileiv/trunetcopter
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A ChibiOS multicopter code. Using on FEZ Cerb40 STM32F4 board with FreeIMU v0.4r3, S.BUS RX and 24LC256 EEPROM and up to 8 PWM motors. Some code and ideas from: - MultiWii - Autoquad - Diydrones Arducopter - Madgwick - Baseflight/Baseflightplus from afrodevices T.C. - CH Robotics - i2cdev libraries files - barthess u: https://github.com/barthess/u Pins used(WARNING: * PINS IS NOT 5V TOLERANT): PA0 - TIM2 CH1 PA1 - TIM2 CH2 PA2 - USART2 TX PA3 - USART2 RX *PA4 - SPI1 NSS *PA5 - SPI1 SCK PA6 - SPI1 MISO PA7 - SPI1 MOSI PA8 - PA13 - SWDIO Debug PA14 - SWCLK Debug PB3 - LED BLUE PB4 - LED GREEN PB5 - LED RED PB6 - USART1 TX PB7 - USART1 RX PB8 - I2C1 SCL PB9 - I2C1 SDA PB10 - TIM2 CH3 PB11 - TIM2 CH4 PB14 - PB15 - PC0 - MPU6050 IRQ PC1 - HMC5883L IRQ PC2 - PC3 - PC6 - TIM3 CH1 PC7 - TIM3 CH2 PC8 - TIM3 CH3 PC9 - TIM3 CH4 PC10 - USART3 TX PC11 - USART3 RX PC12 - PD2 - USART1 - S.BUS Radio USART2 - Mavlink output 115200bps USART3 - GPS I2C1 - FreeIMU + EEPROM TIM2 - Motors/ESC PWM Connections TIM3 - Motors/ESC PWM Connections Copyright (C) 2012-2013 Wagner Sartori Junior <wsartori@gmail.com> http://www.wsartori.com This program 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. This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
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