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CF/BF - Further isolate BST to the Colibri_Race target. Remove even 

more unused code.

It was partly isolated before, but now it's even clearer that only this
target uses it.
This commit is contained in:
Hydra 2017-03-20 21:12:27 +00:00 committed by Dominic Clifton
parent a60a79eb82
commit 5ab2117a69
6 changed files with 73 additions and 194 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/main/fc/fc_init.c
View File

@ -65,10 +65,6 @@
#include "drivers/exti.h" #include "drivers/exti.h"
#include "drivers/vtx_soft_spi_rtc6705.h" #include "drivers/vtx_soft_spi_rtc6705.h"
#ifdef USE_BST
#include "bus_bst.h"
#endif
#include "fc/config.h" #include "fc/config.h"
#include "fc/fc_init.h" #include "fc/fc_init.h"
#include "fc/fc_msp.h" #include "fc/fc_msp.h"
@ -316,10 +312,6 @@ void init(void)
initInverters(); initInverters();
#endif #endif
#ifdef USE_BST
bstInit(BST_DEVICE);
#endif
#ifdef TARGET_BUS_INIT #ifdef TARGET_BUS_INIT
targetBusInit(); targetBusInit();
#else #else

23
src/main/target/COLIBRI_RACE/bus_bst.h
View File

@ -17,22 +17,15 @@
#pragma once #pragma once
#define TBS_CORE_PNP_PRO 0x80 #define BST_BUFFER_SIZE 128
#define RESERVED 0x8A
#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
#define PNP_PRO_GPS 0xC2
#define TSB_BLACKBOX 0xC4
#define CLEANFLIGHT_FC 0xC8
#define CROSSFIRE_UHF_RECEIVER 0xEC
#define GPS_POSITION_FRAME_ID 0x02 #define I2C_ADDR_TBS_CORE_PNP_PRO 0x80
#define GPS_TIME_FRAME_ID 0x03 #define I2C_ADDR_RESERVED 0x8A
#define FC_ATTITUDE_FRAME_ID 0x1E #define I2C_ADDR_PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
#define RC_CHANNEL_FRAME_ID 0x15 #define I2C_ADDR_PNP_PRO_GPS 0xC2
#define CROSSFIRE_RSSI_FRAME_ID 0x14 #define I2C_ADDR_TSB_BLACKBOX 0xC4
#define CLEANFLIGHT_MODE_FRAME_ID 0x20 #define I2C_ADDR_CROSSFIRE_UHF_RECEIVER 0xEC
#define I2C_ADDR_CLEANFLIGHT_FC 0xC8
#define DATA_BUFFER_SIZE 128
typedef enum BSTDevice { typedef enum BSTDevice {
BSTDEV_1, BSTDEV_1,

10
src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
View File

@ -60,17 +60,17 @@ volatile bool coreProReady = false;
// BST TimeoutUserCallback // BST TimeoutUserCallback
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
uint8_t dataBuffer[DATA_BUFFER_SIZE] = {0}; uint8_t dataBuffer[BST_BUFFER_SIZE] = {0};
uint8_t dataBufferPointer = 0; uint8_t dataBufferPointer = 0;
uint8_t bstWriteDataLen = 0; uint8_t bstWriteDataLen = 0;
uint32_t micros(void); uint32_t micros(void);
uint8_t writeData[DATA_BUFFER_SIZE] = {0}; uint8_t writeData[BST_BUFFER_SIZE] = {0};
uint8_t currentWriteBufferPointer = 0; uint8_t currentWriteBufferPointer = 0;
bool receiverAddress = false; bool receiverAddress = false;
uint8_t readData[DATA_BUFFER_SIZE] = {0}; uint8_t readData[BST_BUFFER_SIZE] = {0};
uint8_t bufferPointer = 0; uint8_t bufferPointer = 0;
bool cleanflight_data_ready = false; bool cleanflight_data_ready = false;
@ -221,7 +221,7 @@ void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/)
BST_InitStructure.I2C_Mode = I2C_Mode_I2C; BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable; BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00; BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC; BST_InitStructure.I2C_OwnAddress1 = I2C_ADDR_CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable; BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10. BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
@ -269,7 +269,7 @@ void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/)
BST_InitStructure.I2C_Mode = I2C_Mode_I2C; BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable; BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00; BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC; BST_InitStructure.I2C_OwnAddress1 = I2C_ADDR_CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable; BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10. BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.

211
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -75,99 +75,48 @@
#include "bus_bst.h" #include "bus_bst.h"
#include "i2c_bst.h" #include "i2c_bst.h"
#define BST_PROTOCOL_VERSION 0 #define GPS_POSITION_FRAME_ID 0x02
#define GPS_TIME_FRAME_ID 0x03
#define API_VERSION_MAJOR 1 // increment when major changes are made #define FC_ATTITUDE_FRAME_ID 0x1E
#define API_VERSION_MINOR 13 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR #define RC_CHANNEL_FRAME_ID 0x15
#define CROSSFIRE_RSSI_FRAME_ID 0x14
#define API_VERSION_LENGTH 2 #define CLEANFLIGHT_MODE_FRAME_ID 0x20
#define MULTIWII_IDENTIFIER "MWII";
#define CLEANFLIGHT_IDENTIFIER "CLFL"
#define BASEFLIGHT_IDENTIFIER "BAFL";
#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
static const char * const flightControllerIdentifier = CLEANFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
#define FLIGHT_CONTROLLER_VERSION_LENGTH 3
#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
#define BOARD_HARDWARE_REVISION_LENGTH 2
// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31)
#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30)
#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29)
#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#define CAP_FLAPS ((uint32_t)1 << 3)
#define CAP_NAVCAP ((uint32_t)1 << 4)
#define CAP_EXTAUX ((uint32_t)1 << 5)
#define BST_API_VERSION 1 //out message
#define BST_FC_VARIANT 2 //out message
#define BST_FC_VERSION 3 //out message
#define BST_BOARD_INFO 4 //out message
#define BST_BUILD_INFO 5 //out message
// //
// MSP commands for Cleanflight original features // MSP commands for Cleanflight original features
// //
#define BST_MODE_RANGES 34 //out message Returns all mode ranges #define BST_MODE_RANGES 34 //out message Returns all mode ranges
#define BST_SET_MODE_RANGE 35 //in message Sets a single mode range #define BST_SET_MODE_RANGE 35 //in message Sets a single mode range
#define BST_FEATURE 36 #define BST_FEATURE 36
#define BST_SET_FEATURE 37 #define BST_SET_FEATURE 37
#define BST_RX_CONFIG 44 #define BST_RX_CONFIG 44
#define BST_SET_RX_CONFIG 45 #define BST_SET_RX_CONFIG 45
#define BST_LED_COLORS 46 #define BST_LED_COLORS 46
#define BST_SET_LED_COLORS 47 #define BST_SET_LED_COLORS 47
#define BST_LED_STRIP_CONFIG 48 #define BST_LED_STRIP_CONFIG 48
#define BST_SET_LED_STRIP_CONFIG 49 #define BST_SET_LED_STRIP_CONFIG 49
#define BST_LOOP_TIME 83 //out message Returns FC cycle time i.e looptime parameter
#define BST_LOOP_TIME 83 //out message Returns FC cycle time i.e looptime parameter #define BST_SET_LOOP_TIME 84 //in message Sets FC cycle time i.e looptime parameter
#define BST_SET_LOOP_TIME 84 //in message Sets FC cycle time i.e looptime parameter #define BST_RX_MAP 64 //out message Get channel map (also returns number of channels total)
#define BST_SET_RX_MAP 65 //in message Set rx map, numchannels to set comes from BST_RX_MAP
// #define BST_REBOOT 68 //in message Reboot
// Baseflight MSP commands (if enabled they exist in Cleanflight) #define BST_DISARM 70 //in message Disarm
// #define BST_ENABLE_ARM 71 //in message Enable arm
#define BST_RX_MAP 64 //out message get channel map (also returns number of channels total) #define BST_DEADBAND 72 //out message
#define BST_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from BST_RX_MAP #define BST_SET_DEADBAND 73 //in message
#define BST_FC_FILTERS 74 //out message
#define BST_REBOOT 68 //in message reboot settings #define BST_SET_FC_FILTERS 75 //in message
#define BST_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define BST_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define BST_DISARM 70 //in message to disarm #define BST_PID 112 //out message P I D coeff (9 are used currently)
#define BST_ENABLE_ARM 71 //in message to enable arm #define BST_MISC 114 //out message powermeter trig
#define BST_SET_PID 202 //in message P I D coeff (9 are used currently)
#define BST_DEADBAND 72 //out message #define BST_ACC_CALIBRATION 205 //in message no param
#define BST_SET_DEADBAND 73 //in message #define BST_MAG_CALIBRATION 206 //in message no param
#define BST_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define BST_FC_FILTERS 74 //out message #define BST_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define BST_SET_FC_FILTERS 75 //in message #define BST_EEPROM_WRITE 250 //in message no param
#define BST_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define BST_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define BST_PID 112 //out message P I D coeff (9 are used currently)
#define BST_MISC 114 //out message powermeter trig
#define BST_SET_PID 202 //in message P I D coeff (9 are used currently)
#define BST_ACC_CALIBRATION 205 //in message no param
#define BST_MAG_CALIBRATION 206 //in message no param
#define BST_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define BST_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define BST_EEPROM_WRITE 250 //in message no param
extern volatile uint8_t CRC8; extern volatile uint8_t CRC8;
extern volatile bool coreProReady; extern volatile bool coreProReady;
@ -182,8 +131,6 @@ extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
// cause reboot after BST processing complete // cause reboot after BST processing complete
static bool isRebootScheduled = false; static bool isRebootScheduled = false;
#define BOARD_IDENTIFIER_LENGTH 4
typedef struct box_e { typedef struct box_e {
const uint8_t boxId; // see boxId_e const uint8_t boxId; // see boxId_e
const char *boxName; // GUI-readable box name const char *boxName; // GUI-readable box name
@ -223,8 +170,8 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF } { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
}; };
extern uint8_t readData[DATA_BUFFER_SIZE]; extern uint8_t readData[BST_BUFFER_SIZE];
extern uint8_t writeData[DATA_BUFFER_SIZE]; extern uint8_t writeData[BST_BUFFER_SIZE];
/*************************************************************************************************/ /*************************************************************************************************/
uint8_t writeBufferPointer = 1; uint8_t writeBufferPointer = 1;
@ -310,39 +257,6 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
uint32_t i, tmp, junk; uint32_t i, tmp, junk;
switch(bstRequest) { switch(bstRequest) {
case BST_API_VERSION:
bstWrite8(BST_PROTOCOL_VERSION);
bstWrite8(API_VERSION_MAJOR);
bstWrite8(API_VERSION_MINOR);
break;
case BST_FC_VARIANT:
for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) {
bstWrite8(flightControllerIdentifier[i]);
}
break;
case BST_FC_VERSION:
bstWrite8(FC_VERSION_MAJOR);
bstWrite8(FC_VERSION_MINOR);
bstWrite8(FC_VERSION_PATCH_LEVEL);
break;
case BST_BOARD_INFO:
for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
bstWrite8(boardIdentifier[i]);
}
break;
case BST_BUILD_INFO:
for (i = 0; i < BUILD_DATE_LENGTH; i++) {
bstWrite8(buildDate[i]);
}
for (i = 0; i < BUILD_TIME_LENGTH; i++) {
bstWrite8(buildTime[i]);
}
for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) {
bstWrite8(shortGitRevision[i]);
}
break;
case BST_STATUS: case BST_STATUS:
bstWrite16(getTaskDeltaTime(TASK_GYROPID)); bstWrite16(getTaskDeltaTime(TASK_GYROPID));
#ifdef USE_I2C #ifdef USE_I2C
@ -388,7 +302,6 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(getCurrentPidProfileIndex()); bstWrite8(getCurrentPidProfileIndex());
break; break;
case BST_LOOP_TIME: case BST_LOOP_TIME:
//bstWrite16(masterConfig.looptime);
bstWrite16(getTaskDeltaTime(TASK_GYROPID)); bstWrite16(getTaskDeltaTime(TASK_GYROPID));
break; break;
case BST_RC_TUNING: case BST_RC_TUNING:
@ -502,7 +415,6 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
// we do not know how to handle the (valid) message, indicate error BST // we do not know how to handle the (valid) message, indicate error BST
return false; return false;
} }
//bstSlaveWrite(writeData);
return true; return true;
} }
@ -519,7 +431,6 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
} }
break; break;
case BST_SET_LOOP_TIME: case BST_SET_LOOP_TIME:
//masterConfig.looptime = bstRead16();
bstRead16(); bstRead16();
break; break;
case BST_SET_PID: case BST_SET_PID:
@ -560,15 +471,15 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
failsafeConfigMutable()->failsafe_throttle = bstRead16(); failsafeConfigMutable()->failsafe_throttle = bstRead16();
#ifdef GPS #ifdef GPS
gpsConfigMutable()->provider = bstRead8(); // gps_type gpsConfigMutable()->provider = bstRead8(); // gps_type
bstRead8(); // gps_baudrate bstRead8(); // gps_baudrate
gpsConfigMutable()->sbasMode = bstRead8(); // gps_ubx_sbas gpsConfigMutable()->sbasMode = bstRead8(); // gps_ubx_sbas
#else #else
bstRead8(); // gps_type bstRead8(); // gps_type
bstRead8(); // gps_baudrate bstRead8(); // gps_baudrate
bstRead8(); // gps_ubx_sbas bstRead8(); // gps_ubx_sbas
#endif #endif
bstRead8(); // legacy - was multiwiiCurrentMeterOutput bstRead8(); // legacy - was multiwiiCurrentMeterOutput
rxConfigMutable()->rssi_channel = bstRead8(); rxConfigMutable()->rssi_channel = bstRead8();
bstRead8(); bstRead8();
@ -593,7 +504,6 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
ret = BST_FAILED; ret = BST_FAILED;
bstWrite8(ret); bstWrite8(ret);
//bstSlaveWrite(writeData);
return ret; return ret;
} }
writeEEPROM(); writeEEPROM();
@ -677,9 +587,10 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
ret = BST_FAILED; ret = BST_FAILED;
} }
bstWrite8(ret); bstWrite8(ret);
//bstSlaveWrite(writeData);
if(ret == BST_FAILED) if(ret == BST_FAILED)
return false; return false;
return true; return true;
} }
@ -694,25 +605,26 @@ static bool bstSlaveUSBCommandFeedback(/*uint8_t bstFeedback*/)
bstWrite8(FC_VERSION_MINOR); //Firmware ID bstWrite8(FC_VERSION_MINOR); //Firmware ID
bstWrite8(0x00); bstWrite8(0x00);
bstWrite8(0x00); bstWrite8(0x00);
//bstSlaveWrite(writeData);
return true; return true;
} }
/*************************************************************************************************/ /*************************************************************************************************/
#define BST_RESET_TIME 1.2*1000*1000 //micro-seconds #define BST_RESET_TIME 1.2*1000*1000 //micro-seconds
uint32_t resetBstTimer = 0; uint32_t resetBstTimer = 0;
bool needResetCheck = true; bool needResetCheck = true;
extern bool cleanflight_data_ready; extern bool cleanflight_data_ready;
void bstProcessInCommand(void) void bstProcessInCommand(void)
{ {
readBufferPointer = 2; readBufferPointer = 2;
if(bstCurrentAddress() == CLEANFLIGHT_FC) { if(bstCurrentAddress() == I2C_ADDR_CLEANFLIGHT_FC) {
if(bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) { if(bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) {
uint8_t i; uint8_t i;
writeBufferPointer = 1; writeBufferPointer = 1;
cleanflight_data_ready = false; cleanflight_data_ready = false;
for(i = 0; i < DATA_BUFFER_SIZE; i++) { for(i = 0; i < BST_BUFFER_SIZE; i++) {
writeData[i] = 0; writeData[i] = 0;
} }
switch (bstRead8()) { switch (bstRead8()) {
@ -780,9 +692,10 @@ void taskBstMasterProcess(timeUs_t currentTimeUs)
sendCounter = 0; sendCounter = 0;
next20hzUpdateAt_1 = currentTimeUs + UPDATE_AT_20HZ; next20hzUpdateAt_1 = currentTimeUs + UPDATE_AT_20HZ;
} }
#ifdef GPS
if(sensors(SENSOR_GPS) && !bstWriteBusy()) if(sensors(SENSOR_GPS) && !bstWriteBusy())
writeGpsPositionPrameToBST(); writeGpsPositionPrameToBST();
#endif
} }
bstMasterWriteLoop(); bstMasterWriteLoop();
@ -795,7 +708,7 @@ void taskBstMasterProcess(timeUs_t currentTimeUs)
/*************************************************************************************************/ /*************************************************************************************************/
static uint8_t masterWriteBufferPointer; static uint8_t masterWriteBufferPointer;
static uint8_t masterWriteData[DATA_BUFFER_SIZE]; static uint8_t masterWriteData[BST_BUFFER_SIZE];
static void bstMasterStartBuffer(uint8_t address) static void bstMasterStartBuffer(uint8_t address)
{ {
@ -831,9 +744,9 @@ static uint16_t alt = 0;
static uint8_t numOfSat = 0; static uint8_t numOfSat = 0;
#endif #endif
#ifdef GPS
bool writeGpsPositionPrameToBST(void) bool writeGpsPositionPrameToBST(void)
{ {
#ifdef GPS
if((lat != GPS_coord[LAT]) || (lon != GPS_coord[LON]) || (alt != GPS_altitude) || (numOfSat != GPS_numSat)) { if((lat != GPS_coord[LAT]) || (lon != GPS_coord[LON]) || (alt != GPS_altitude) || (numOfSat != GPS_numSat)) {
lat = GPS_coord[LAT]; lat = GPS_coord[LAT];
lon = GPS_coord[LON]; lon = GPS_coord[LON];
@ -858,10 +771,8 @@ bool writeGpsPositionPrameToBST(void)
return bstMasterWrite(masterWriteData); return bstMasterWrite(masterWriteData);
} else } else
return false; return false;
#else
return true;
#endif
} }
#endif
bool writeRollPitchYawToBST(void) bool writeRollPitchYawToBST(void)
{ {
@ -892,37 +803,6 @@ bool writeRCChannelToBST(void)
bool writeFCModeToBST(void) bool writeFCModeToBST(void)
{ {
#ifdef CLEANFLIGHT_FULL_STATUS_SET
uint32_t tmp = 0;
tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMTRIG)) << BOXCAMTRIG |
IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDMAX)) << BOXLEDMAX |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)) << BOXLLIGHTS |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCALIB)) << BOXCALIB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE;
bstMasterStartBuffer(PUBLIC_ADDRESS);
bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
bstMasterWrite32(tmp);
bstMasterWrite16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
#else
uint8_t tmp = 0; uint8_t tmp = 0;
tmp = IS_ENABLED(ARMING_FLAG(ARMED)) | tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 | IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
@ -937,7 +817,6 @@ bool writeFCModeToBST(void)
bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID); bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
bstMasterWrite8(tmp); bstMasterWrite8(tmp);
bstMasterWrite8(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4); bstMasterWrite8(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
#endif
return bstMasterWrite(masterWriteData); return bstMasterWrite(masterWriteData);
} }

14
src/main/target/COLIBRI_RACE/target.c
View File

@ -23,6 +23,11 @@
#include "drivers/dma.h" #include "drivers/dma.h"
#include "drivers/timer.h" #include "drivers/timer.h"
#ifdef USE_BST
#include "bus_bst.h"
#endif
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_PPM, 0, GPIO_AF_6, NULL, 0 }, // PWM1 - PA8 { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_PPM, 0, GPIO_AF_6, NULL, 0 }, // PWM1 - PA8
{ TIM3, IO_TAG(PC6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_2, DMA1_Channel6, DMA1_CH6_HANDLER }, // PWM2 - PC6 { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_2, DMA1_Channel6, DMA1_CH6_HANDLER }, // PWM2 - PC6
@ -37,3 +42,12 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM15, IO_TAG(PB15), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // PWM11 - PB15 { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // PWM11 - PB15
{ TIM16, IO_TAG(PA6), TIM_Channel_1, TIM_USE_LED, 1, GPIO_AF_1, DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM11 - PB15 { TIM16, IO_TAG(PA6), TIM_Channel_1, TIM_USE_LED, 1, GPIO_AF_1, DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM11 - PB15
}; };
#ifdef USE_BST
void targetBusInit(void)
{
bstInit(BST_DEVICE);
}
#endif

1
src/main/target/COLIBRI_RACE/target.h
View File

@ -22,6 +22,7 @@
#define BST_DEVICE_NAME_LENGTH 12 #define BST_DEVICE_NAME_LENGTH 12
#define TARGET_CONFIG #define TARGET_CONFIG
#define TARGET_VALIDATECONFIG #define TARGET_VALIDATECONFIG
#define TARGET_BUS_INIT
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT