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STM32F4: USARTS 4,5,6 added 

Flag initialisation for motor_pwm_protocol
Fixes for AlienFlightF4 and timers
This commit is contained in:
blckmn 2016-06-08 05:43:28 +10:00
parent 6bf35e09ce
commit 51a99e74c6
31 changed files with 5476 additions and 57 deletions
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50
src/main/config/config.c
View File

@ -37,6 +37,7 @@
#include "drivers/pwm_rx.h"
#include "drivers/serial.h"
#include "drivers/gyro_sync.h"
#include "drivers/pwm_output.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
@ -121,8 +122,14 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#endif
#if defined(FLASH_SIZE)
#if defined(STM32F40_41xxx)
#define FLASH_PAGE_COUNT 4 // just to make calculations work
#elif defined (STM32F411xE)
#define FLASH_PAGE_COUNT 4 // just to make calculations work
#else
#define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
#endif
#endif
#if !defined(FLASH_PAGE_SIZE)
#error "Flash page size not defined for target."
@ -148,6 +155,7 @@ size_t custom_flash_memory_address = 0;
#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
#endif
#endif
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile;
static uint32_t activeFeaturesLatch = 0;
@ -322,7 +330,8 @@ void resetSerialConfig(serialConfig_t *serialConfig)
serialConfig->reboot_character = 'R';
}
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
{
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcYawRate8 = 100;
controlRateConfig->rcExpo8 = 10;
@ -338,14 +347,16 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
}
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
{
rcControlsConfig->deadband = 0;
rcControlsConfig->yaw_deadband = 0;
rcControlsConfig->alt_hold_deadband = 40;
rcControlsConfig->alt_hold_fast_change = 1;
}
void resetMixerConfig(mixerConfig_t *mixerConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig)
{
mixerConfig->yaw_motor_direction = 1;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
@ -371,14 +382,15 @@ uint8_t getCurrentControlRateProfile(void)
return currentControlRateProfileIndex;
}
static void setControlRateProfile(uint8_t profileIndex) {
static void setControlRateProfile(uint8_t profileIndex)
{
currentControlRateProfileIndex = profileIndex;
masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
}
controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
{
return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
}
@ -399,7 +411,7 @@ static void resetConf(void)
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerMode = MIXER_QUADX;
featureClearAll();
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(DOGE) || defined(SINGULARITY)
#ifdef CONFIG_RX_PPM
featureSet(FEATURE_RX_PPM);
#endif
@ -474,7 +486,11 @@ static void resetConf(void)
masterConfig.rxConfig.rssi_ppm_invert = 0;
masterConfig.rxConfig.rcSmoothing = 0;
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
#ifdef STM32F4
masterConfig.rxConfig.max_aux_channel = 99;
#else
masterConfig.rxConfig.max_aux_channel = 6;
#endif
masterConfig.rxConfig.airModeActivateThreshold = 1350;
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
@ -496,12 +512,14 @@ static void resetConf(void)
#ifdef BRUSHED_MOTORS
masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
#else
masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
#endif
masterConfig.servo_pwm_rate = 50;
masterConfig.fast_pwm_protocol = 1;
masterConfig.use_unsyncedPwm = 0;
masterConfig.use_unsyncedPwm = false;
#ifdef CC3D
masterConfig.use_buzzer_p6 = 0;
#endif
@ -628,8 +646,11 @@ static void resetConf(void)
featureSet(FEATURE_TELEMETRY);
#endif
// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
#ifdef ALIENFLIGHT
#if defined(TARGET_CONFIG)
targetConfiguration(&masterConfig);
#endif
#if defined(ALIENFLIGHT)
featureSet(FEATURE_RX_SERIAL);
featureSet(FEATURE_MOTOR_STOP);
featureClear(FEATURE_ONESHOT125);
@ -1000,10 +1021,11 @@ void writeEEPROM(void)
// write it
FLASH_Unlock();
while (attemptsRemaining--) {
#ifdef STM32F303
#if defined(STM32F4)
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
#elif defined(STM32F303)
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
#endif
#ifdef STM32F10X
#elif defined(STM32F10X)
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
#endif
for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {

2
src/main/config/config_master.h
View File

@ -34,7 +34,7 @@ typedef struct master_t {
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t fast_pwm_protocol; // Pwm Protocol
uint8_t motor_pwm_protocol; // Pwm Protocol
uint8_t use_unsyncedPwm; // unsync fast pwm protocol from PID loop
#ifdef USE_SERVOS

2
src/main/drivers/accgyro_mpu.c
View File

@ -154,7 +154,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(void)
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiDetect()) {
mpuDetectionResult.sensor = MPU_9250_SPI;
mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;

10
src/main/drivers/pwm_mapping.c
View File

@ -31,7 +31,7 @@
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse);
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
/*
@ -967,7 +967,7 @@ if (init->useBuzzerP6) {
if (type == MAP_TO_PPM_INPUT) {
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)) {
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
@ -978,16 +978,16 @@ if (init->useBuzzerP6) {
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D
if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)){
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useFastPwm) {
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->pwmProtocolType, init->motorPwmRate, init->useUnsyncedPwm, init->idlePulse);
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->pwmProtocolType, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
} else if (isMotorBrushed(init->motorPwmRate)) {
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {

6
src/main/drivers/pwm_mapping.h
View File

@ -136,7 +136,11 @@ enum {
PWM13,
PWM14,
PWM15,
PWM16
PWM16,
PWM17,
PWM18,
PWM19,
PWM20
};
extern const uint16_t multiPPM[];

11
src/main/drivers/pwm_output.c
View File

@ -100,8 +100,8 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
configTimeBase(timerHardware->tim, period, mhz);
pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
if (timerHardware->outputEnable)
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
TIM_Cmd(timerHardware->tim, ENABLE);
@ -187,11 +187,6 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
}
}
bool isMotorBrushed(uint16_t motorPwmRate)
{
return (motorPwmRate > 500);
}
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
@ -206,7 +201,7 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse)
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t timerMhzCounter;
@ -222,7 +217,7 @@ void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
timerMhzCounter = MULTISHOT_TIMER_MHZ;
}
if (useUnsyncedPwm) {
if (motorPwmRate > 0) {
uint32_t hz = timerMhzCounter * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
} else {

12
src/main/drivers/pwm_output.h
View File

@ -18,11 +18,12 @@
#pragma once
typedef enum {
PWM_TYPE_CONVENTIONAL = 0,
PWM_TYPE_ONESHOT125,
PWM_TYPE_ONESHOT42,
PWM_TYPE_MULTISHOT
} FastPwmProtocolTypes_e;
PWM_TYPE_CONVENTIONAL = 0,
PWM_TYPE_ONESHOT125,
PWM_TYPE_ONESHOT42,
PWM_TYPE_MULTISHOT,
PWM_TYPE_BRUSHED
} motorPwmProtocolTypes_e;
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
@ -30,6 +31,5 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, uint16_t value);
bool isMotorBrushed(uint16_t motorPwmRate);
void pwmDisableMotors(void);
void pwmEnableMotors(void);

13
src/main/drivers/serial_uart.c
View File

@ -108,6 +108,19 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
} else if (USARTx == USART3) {
s = serialUSART3(baudRate, mode, options);
#endif
#ifdef USE_USART4
} else if (USARTx == UART4) {
s = serialUSART4(baudRate, mode, options);
#endif
#ifdef USE_USART5
} else if (USARTx == UART5) {
s = serialUSART5(baudRate, mode, options);
#endif
#ifdef USE_USART6
} else if (USARTx == USART6) {
s = serialUSART6(baudRate, mode, options);
#endif
} else {
return (serialPort_t *)s;
}

6
src/main/drivers/serial_uart.h
View File

@ -29,6 +29,12 @@
#define UART2_TX_BUFFER_SIZE 256
#define UART3_RX_BUFFER_SIZE 256
#define UART3_TX_BUFFER_SIZE 256
#define UART4_RX_BUFFER_SIZE 256
#define UART4_TX_BUFFER_SIZE 256
#define UART5_RX_BUFFER_SIZE 256
#define UART5_TX_BUFFER_SIZE 256
#define UART6_RX_BUFFER_SIZE 256
#define UART6_TX_BUFFER_SIZE 256
typedef struct {
serialPort_t port;

3
src/main/drivers/serial_uart_impl.h
View File

@ -26,4 +26,7 @@ void uartStartTxDMA(uartPort_t *s);
uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode, portOptions_t options);
uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode, portOptions_t options);
uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t options);
uartPort_t *serialUSART4(uint32_t baudRate, portMode_t mode, portOptions_t options);
uartPort_t *serialUSART5(uint32_t baudRate, portMode_t mode, portOptions_t options);
uartPort_t *serialUSART6(uint32_t baudRate, portMode_t mode, portOptions_t options);

65
src/main/drivers/timer.c
View File

@ -535,7 +535,23 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
// "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
// Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
#if defined (STM32F40_41xxx)
if (tim == TIM1 || tim == TIM8 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
}
#elif defined (STM32F411xE)
if (tim == TIM1 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
}
#else
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
#endif
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
@ -555,6 +571,19 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui
timerNVICConfigure(TIM1_UP_IRQn);
break;
#endif
#if defined (STM32F40_41xxx)
case TIM1_CC_IRQn:
timerNVICConfigure(TIM1_UP_TIM10_IRQn);
break;
case TIM8_CC_IRQn:
timerNVICConfigure(TIM8_UP_TIM13_IRQn);
break;
#endif
#if defined (STM32F411xE)
case TIM1_CC_IRQn:
timerNVICConfigure(TIM1_UP_TIM10_IRQn);
break;
#endif
#ifdef STM32F303xC
case TIM1_CC_IRQn:
timerNVICConfigure(TIM1_UP_TIM16_IRQn);
@ -823,8 +852,6 @@ void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHig
}
}
static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig)
{
uint16_t capture;
@ -917,6 +944,13 @@ _TIM_IRQ_HANDLER(TIM1_CC_IRQHandler, 1);
# if defined(STM32F10X)
_TIM_IRQ_HANDLER(TIM1_UP_IRQHandler, 1); // timer can't be shared
# endif
# if defined(STM32F40_41xxx) || defined (STM32F411xE)
# if USED_TIMERS & TIM_N(10)
_TIM_IRQ_HANDLER2(TIM1_UP_TIM10_IRQHandler, 1, 10); // both timers are in use
# else
_TIM_IRQ_HANDLER(TIM1_UP_TIM10_IRQHandler, 1); // timer10 is not used
# endif
# endif
# ifdef STM32F303xC
# if USED_TIMERS & TIM_N(16)
_TIM_IRQ_HANDLER2(TIM1_UP_TIM16_IRQHandler, 1, 16); // both timers are in use
@ -934,6 +968,9 @@ _TIM_IRQ_HANDLER(TIM3_IRQHandler, 3);
#if USED_TIMERS & TIM_N(4)
_TIM_IRQ_HANDLER(TIM4_IRQHandler, 4);
#endif
#if USED_TIMERS & TIM_N(5)
_TIM_IRQ_HANDLER(TIM5_IRQHandler, 5);
#endif
#if USED_TIMERS & TIM_N(8)
_TIM_IRQ_HANDLER(TIM8_CC_IRQHandler, 8);
# if defined(STM32F10X_XL)
@ -941,6 +978,24 @@ _TIM_IRQ_HANDLER(TIM8_UP_TIM13_IRQHandler, 8);
# else // f10x_hd, f30x
_TIM_IRQ_HANDLER(TIM8_UP_IRQHandler, 8);
# endif
# if defined(STM32F40_41xxx)
# if USED_TIMERS & TIM_N(13)
_TIM_IRQ_HANDLER2(TIM8_UP_TIM13_IRQHandler, 8, 13); // both timers are in use
# else
_TIM_IRQ_HANDLER(TIM8_UP_TIM13_IRQHandler, 8); // timer13 is not used
# endif
# endif
# if defined (STM32F411xE)
# endif
#endif
#if USED_TIMERS & TIM_N(9)
_TIM_IRQ_HANDLER(TIM1_BRK_TIM9_IRQHandler, 9);
#endif
# if USED_TIMERS & TIM_N(11)
_TIM_IRQ_HANDLER(TIM1_TRG_COM_TIM11_IRQHandler, 11);
# endif
#if USED_TIMERS & TIM_N(12)
_TIM_IRQ_HANDLER(TIM8_BRK_TIM12_IRQHandler, 12);
#endif
#if USED_TIMERS & TIM_N(15)
_TIM_IRQ_HANDLER(TIM1_BRK_TIM15_IRQHandler, 15);
@ -979,6 +1034,12 @@ void timerInit(void)
}
#endif
#if defined(STM32F40_41xxx) || defined (STM32F411xE)
for (uint8_t timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
GPIO_PinAFConfig(timerHardwarePtr->gpio, (uint16_t)timerHardwarePtr->gpioPinSource, timerHardwarePtr->alternateFunction);
}
#endif
// initialize timer channel structures
for(int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
timerChannelInfo[i].type = TYPE_FREE;

16
src/main/flight/mixer.c
View File

@ -633,15 +633,21 @@ void writeServos(void)
}
#endif
void writeMotors(uint8_t fastPwmProtocol, uint8_t unsyncedPwm)
static bool syncPwm = false;
void syncMotors(bool enabled)
{
syncPwm = enabled;
}
void writeMotors(void)
{
uint8_t i;
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
if (fastPwmProtocol && !unsyncedPwm) {
if (syncPwm) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
@ -653,7 +659,7 @@ void writeAllMotors(int16_t mc)
// Sends commands to all motors
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors(1,1);
writeMotors();
}
void stopMotors(void)
@ -750,7 +756,7 @@ STATIC_UNIT_TESTED void servoMixer(void)
void mixTable(void)
{
uint32_t i;
uint32_t i = 0;
fix12_t vbatCompensationFactor = 0;
static fix12_t mixReduction;
bool use_vbat_compensation = false;

3
src/main/flight/mixer.h
View File

@ -213,6 +213,7 @@ int servoDirection(int servoIndex, int fromChannel);
#endif
void mixerResetDisarmedMotors(void);
void mixTable(void);
void writeMotors(uint8_t fastPwmProtocol, uint8_t unsyncedPwm);
void syncMotors(bool enabled);
void writeMotors(void);
void stopMotors(void);
void StopPwmAllMotors(void);

26
src/main/io/serial.c
View File

@ -32,7 +32,7 @@
#include "drivers/serial_softserial.h"
#endif
#if defined(USE_USART1) || defined(USE_USART2) || defined(USE_USART3)
#if defined(USE_USART1) || defined(USE_USART2) || defined(USE_USART3) || defined(USE_USART4) || defined(USE_USART5) || defined(USE_USART6)
#include "drivers/serial_uart.h"
#endif
@ -69,6 +69,15 @@ const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
#ifdef USE_USART3
SERIAL_PORT_USART3,
#endif
#ifdef USE_USART4
SERIAL_PORT_USART4,
#endif
#ifdef USE_USART5
SERIAL_PORT_USART5,
#endif
#ifdef USE_USART6
SERIAL_PORT_USART6,
#endif
#ifdef USE_SOFTSERIAL1
SERIAL_PORT_SOFTSERIAL1,
#endif
@ -293,6 +302,21 @@ serialPort_t *openSerialPort(
serialPort = uartOpen(USART3, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_USART4
case SERIAL_PORT_USART4:
serialPort = uartOpen(UART4, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_USART5
case SERIAL_PORT_USART5:
serialPort = uartOpen(USART5, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_USART6
case SERIAL_PORT_USART6:
serialPort = uartOpen(USART6, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_SOFTSERIAL1
case SERIAL_PORT_SOFTSERIAL1:
serialPort = openSoftSerial(SOFTSERIAL1, callback, baudRate, options);

7
src/main/io/serial_cli.c
View File

@ -452,7 +452,7 @@ static const char * const lookupTableSuperExpoYaw[] = {
};
static const char * const lookupTableFastPwm[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT"
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
};
typedef struct lookupTableEntry_s {
@ -481,7 +481,7 @@ typedef enum {
TABLE_MAG_HARDWARE,
TABLE_DEBUG,
TABLE_SUPEREXPO_YAW,
TABLE_FAST_PWM,
TABLE_MOTOR_PWM_PROTOCOL,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -583,7 +583,8 @@ const clivalue_t valueTable[] = {
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "unsynced_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "fast_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.fast_pwm_protocol, .config.lookup = { TABLE_FAST_PWM } },
{ "fast_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
#ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif

2
src/main/io/serial_msp.c
View File

@ -399,7 +399,7 @@ static void serializeSDCardSummaryReply(void)
#ifdef USE_SDCARD
uint8_t flags = 1 /* SD card supported */ ;
uint8_t state;
uint8_t state = 0;
serialize8(flags);

9
src/main/main.c
View File

@ -329,20 +329,20 @@ void init(void)
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
if (masterConfig.fast_pwm_protocol == PWM_TYPE_ONESHOT125) {
if (masterConfig.motor_pwm_protocol == PWM_TYPE_ONESHOT125) {
featureSet(FEATURE_ONESHOT125);
} else {
featureClear(FEATURE_ONESHOT125);
}
pwm_params.useFastPwm = (masterConfig.fast_pwm_protocol != PWM_TYPE_CONVENTIONAL) ? true : false; // Configurator feature abused for enabling Fast PWM
pwm_params.pwmProtocolType = masterConfig.fast_pwm_protocol;
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED); // Configurator feature abused for enabling Fast PWM
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@ -351,6 +351,7 @@ void init(void)
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
syncMotors(pwm_params.useUnsyncedPwm && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
if (!feature(FEATURE_ONESHOT125))

2
src/main/mw.c
View File

@ -742,7 +742,7 @@ void subTaskMotorUpdate(void)
#endif
if (motorControlEnable) {
writeMotors(masterConfig.fast_pwm_protocol, masterConfig.use_unsyncedPwm);
writeMotors();
}
if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
}

7
src/main/scheduler.c
View File

@ -31,6 +31,11 @@
#include "drivers/system.h"
#if defined (STM32F4)
#define DELAY_LIMIT 10
#else #define DELAY_LIMIT 100
#endif
static cfTask_t *currentTask = NULL;
static uint32_t totalWaitingTasks;
@ -137,7 +142,7 @@ 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(100, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging
task->desiredPeriod = MAX(DELAY_LIMIT, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging
}
}

4
src/main/scheduler_tasks.c
View File

@ -57,7 +57,11 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
#if defined(STM32F4)
.desiredPeriod = 125,
#else
.desiredPeriod = 1000,
#endif
.staticPriority = TASK_PRIORITY_REALTIME,
},

2
src/main/target/ALIENFLIGHTF3/target.h
View File

@ -18,6 +18,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
#define ALIENFLIGHT
#define USE_HARDWARE_REVISION_DETECTION
#define HW_PIN PB2

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105
src/main/target/ALIENFLIGHTF4/system_stm32f4xx.h Normal file
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@ -0,0 +1,105 @@
/**
******************************************************************************
* @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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F4XX_H
#define __SYSTEM_STM32F4XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F4xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_types
* @{
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F4XX_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

3
src/main/target/ALIENFLIGHTF4/target.h
View File

@ -17,6 +17,7 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "AFF4"
#define ALIENFLIGHT
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
#define CONFIG_SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
@ -50,7 +51,7 @@
#define ACC
#define USE_ACC_SPI_MPU6500
//#define USE_ACC_SPI_MPU9250
#define USE_ACC_SPI_MPU9250
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_MPU9250_ALIGN CW270_DEG

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45
src/main/target/BLUEJAYF4/system_stm32f4xx.h Normal file
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@ -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****/

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105
src/main/target/KKNGF4/system_stm32f4xx.h Normal file
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@ -0,0 +1,105 @@
/**
******************************************************************************
* @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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F4XX_H
#define __SYSTEM_STM32F4XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F4xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_types
* @{
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F4XX_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

2
src/main/target/NAZE/target.h
View File

@ -181,6 +181,8 @@
#undef TARGET_BOARD_IDENTIFIER
#define TARGET_BOARD_IDENTIFIER "AWF1" // AlienFlight F1.
#undef BOARD_HAS_VOLTAGE_DIVIDER
#define ALIENFLIGHT
#define HARDWARE_BIND_PLUG
// Hardware bind plug at PB5 (Pin 41)

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105
src/main/target/REVO/system_stm32f4xx.h Normal file
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@ -0,0 +1,105 @@
/**
******************************************************************************
* @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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F4XX_H
#define __SYSTEM_STM32F4XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F4xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_types
* @{
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F4XX_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/