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atbetaflight
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i2c no-ack fix (never actually worked properly, fixed now) 

bumped config version, or else r198 crashed on update from recent version
airplane mode config passed to drv_pwm


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@199 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-21 05:41:58 +00:00
parent e6cb4a0b1c
commit 10570a6579
5 changed files with 2495 additions and 2490 deletions
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4936
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

2
src/config.c
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@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 25;
uint8_t checkNewConf = 26;
void parseRcChannels(const char *input)
{

17
src/drv_i2c.c
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@ -52,6 +52,7 @@ static void i2c_er_handler(void)
/* Read the I2C1 status register */
SR1Register = I2Cx->SR1;
if (SR1Register & 0x0F00) { //an error
error = true;
// I2C1error.error = ((SR1Register & 0x0F00) >> 8); //save error
// I2C1error.job = job; //the task
}
@ -89,7 +90,8 @@ bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
read_p = my_data;
bytes = len_;
busy = 1;
error = false;
// too long
if (len_ > 16)
return false;
@ -113,7 +115,7 @@ bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
return false;
}
return true;
return !error;
}
bool i2cWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
@ -133,7 +135,8 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
write_p = buf;
bytes = len;
busy = 1;
error = false;
if (!(I2Cx->CR2 & I2C_IT_EVT)) { //if we are restarting the driver
if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start
while (I2Cx->CR1 & 0x0200) { ; } //wait for any stop to finish sending
@ -150,7 +153,7 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
return false;
}
return true;
return !error;
}
void i2c_ev_handler(void)
@ -158,7 +161,7 @@ void i2c_ev_handler(void)
static uint8_t subaddress_sent, final_stop; //flag to indicate if subaddess sent, flag to indicate final bus condition
static int8_t index; //index is signed -1==send the subaddress
uint8_t SReg_1 = I2Cx->SR1; //read the status register here
if (SReg_1 & 0x0001) { //we just sent a start - EV5 in ref manual
I2Cx->CR1 &= ~0x0800; //reset the POS bit so ACK/NACK applied to the current byte
I2C_AcknowledgeConfig(I2Cx, ENABLE); //make sure ACK is on
@ -263,7 +266,7 @@ void i2cInit(I2C_TypeDef *I2C)
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
// Init pins
// Init pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
@ -343,7 +346,7 @@ static void i2cUnstick(void)
delayMicroseconds(10);
GPIO_SetBits(GPIOB, GPIO_Pin_11); // Set bus sda high
// Init pins
// Init pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;

8
src/main.c
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@ -23,7 +23,6 @@ int main(void)
GPIOA->BRR = 0x8000; // set low 15
GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
GPIOC->BRR = 0x1000; // set low 12
#endif
#if 0
@ -52,7 +51,9 @@ int main(void)
#endif
mixerInit(); // this will set useServo var depending on mixer type
// pwmInit returns true if throttle calibration is requested. if so, do it here. throttleCalibration() does NOT return - for safety.
// when using airplane/wing mixer, servo/motor outputs are remapped
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = useServo;
@ -92,8 +93,7 @@ int main(void)
} else {
// spektrum and GPS are mutually exclusive
// Optional GPS - available only when using PPM, otherwise required pins won't be usable
if (feature(FEATURE_PPM))
{
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_GPS))
gpsInit(cfg.gps_baudrate);
#ifdef SONAR

22
src/mw.c
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@ -532,11 +532,11 @@ void loop(void)
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
#ifdef MPU6050_DMP
#ifdef MPU6050_DMP
mpu6050DmpLoop();
#endif
#endif
#ifdef MAG
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
int16_t dif = heading - magHold;
@ -549,9 +549,9 @@ void loop(void)
} else
magHold = heading;
}
#endif
#ifdef BARO
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (f.BARO_MODE) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) {
@ -560,8 +560,8 @@ void loop(void)
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
}
#endif
#endif
if (sensors(SENSOR_GPS)) {
// Check that we really need to navigate ?
if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || (!f.GPS_FIX_HOME)) {
@ -586,11 +586,11 @@ void loop(void)
if (f.ACC_MODE && axis < 2) { // LEVEL MODE
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
#ifdef LEVEL_PDF
#ifdef LEVEL_PDF
PTerm = -(int32_t) angle[axis] * cfg.P8[PIDLEVEL] / 100;
#else
#else
PTerm = (int32_t) errorAngle *cfg.P8[PIDLEVEL] / 100; //32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
#endif
#endif
PTerm = constrain(PTerm, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp // 16 bits is ok here