STM32F4: Platform defines and common system file placement

Makefile

@@ -246,7 +246,8 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
 			    $(USBFS_DIR)/inc \
 			    $(CMSIS_DIR)/CM4/CoreSupport \
 			    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
-			    $(ROOT)/src/main/vcpf4
+			    $(ROOT)/src/main/vcpf4 \
+			    $(ROOT)/src/main/platform
 
 ifeq ($(TARGET),$(filter $(TARGET),$(SDCARD_TARGETS)))
 INCLUDE_DIRS := $(INCLUDE_DIRS) \
@@ -512,7 +513,7 @@ STM32F30x_COMMON_SRC = \
 		   drivers/adc_stm32f30x.c \
 		   drivers/bus_i2c_stm32f30x.c \
 		   drivers/bus_spi.c \
-		   drivers/display_ug2864hsweg01.h \
+		   drivers/display_ug2864hsweg01.c \
 		   drivers/gpio_stm32f30x.c \
 		   drivers/light_led.c \
 		   drivers/pwm_mapping.c \
@@ -527,6 +528,7 @@ STM32F30x_COMMON_SRC = \
 
 STM32F4xx_COMMON_SRC = \
 		   startup_stm32f40xx.s \
+		   platform/system_stm32f4xx.c \
 		   drivers/accgyro_mpu.c \
 		   drivers/adc.c \
 		   drivers/adc_stm32f4xx.c \
@@ -567,7 +569,7 @@ NAZE_SRC = \
 		   drivers/barometer_ms5611.c \
 		   drivers/barometer_bmp280.c \
 		   drivers/compass_hmc5883l.c \
-		   drivers/display_ug2864hsweg01.h \
+		   drivers/display_ug2864hsweg01.c \
 		   drivers/flash_m25p16.c \
 		   drivers/light_ws2811strip.c \
 		   drivers/light_ws2811strip_stm32f10x.c \

src/main/drivers/system_stm32f4xx.c

@@ -164,3 +164,5 @@ bool isMPUSoftReset(void)
     else
         return false;
 }
+
+

src/main/platform.h

@@ -22,6 +22,7 @@
 #include "stm32f4xx_rcc.h"
 #include "stm32f4xx_gpio.h"
 #include "core_cm4.h"
+#include "common_stm32f4xx.h"
 
 // Chip Unique ID on F405
 #define U_ID_0 (*(uint32_t*)0x1fff7a10)

src/main/platform/common_stm32f4xx.h

@@ -0,0 +1,5 @@
+/*
+	Common defines applicable to STM32F4
+*/
+
+#define TASK_GYROPID_DESIRED_PERIOD 125

src/main/platform/system_stm32f4xx.h

@@ -0,0 +1,45 @@
+/**
+  ******************************************************************************
+  * @file    system_stm32f4xx.h
+  * @author  MCD Application Team
+  * @version V1.6.1
+  * @date    21-October-2015
+  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.       
+  ******************************************************************************  
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2015 STMicroelectronics</center></h2>
+  *
+  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+  * You may not use this file except in compliance with the License.
+  * You may obtain a copy of the License at:
+  *
+  *        http://www.st.com/software_license_agreement_liberty_v2
+  *
+  * Unless required by applicable law or agreed to in writing, software 
+  * distributed under the License is distributed on an "AS IS" BASIS, 
+  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  * See the License for the specific language governing permissions and
+  * limitations under the License.
+  *
+  ******************************************************************************  
+  */ 
+
+#ifndef __SYSTEM_STM32F4XX_H
+#define __SYSTEM_STM32F4XX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
+extern void SystemInit(void);
+extern void SystemCoreClockUpdate(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__SYSTEM_STM32F4XX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

src/main/scheduler.c

@@ -31,9 +31,8 @@
 
 #include "drivers/system.h"
 
-#if defined (STM32F4)
-#define DELAY_LIMIT 10
-#else
#define DELAY_LIMIT 100
+#ifndef SCHEDULER_DELAY_LIMIT
+#define SCHEDULER_DELAY_LIMIT 100
 #endif
 
 static cfTask_t *currentTask = NULL;
@@ -142,7 +141,7 @@ void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
 {
     if (taskId == TASK_SELF || taskId < TASK_COUNT) {
         cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
-        task->desiredPeriod = MAX(DELAY_LIMIT, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
+	    task->desiredPeriod = MAX(SCHEDULER_DELAY_LIMIT, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
     }
 }
 

src/main/scheduler_tasks.c

@@ -45,6 +45,10 @@ void taskBstReadWrite(void);
 void taskBstMasterProcess(void);
 #endif
 
+#ifndef TASK_GYROPID_DESIRED_PERIOD
+#define TASK_GYROPID_DESIRED_PERIOD 1000
+#endif
+
 cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_SYSTEM] = {
         .taskName = "SYSTEM",
@@ -57,11 +61,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .taskName = "PID",
         .subTaskName = "GYRO",
         .taskFunc = taskMainPidLoopCheck,
-#if defined(STM32F4)
-        .desiredPeriod = 125,
-#else
-        .desiredPeriod = 1000,
-#endif
+        .desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
         .staticPriority = TASK_PRIORITY_REALTIME,
     },