BST Port
This commit is contained in:
borisbstyle
parent
1adcfaa798
commit
6da7ced9be
2
Makefile
2
Makefile
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@ -536,6 +536,8 @@ CHEBUZZF3_SRC = \
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COLIBRI_RACE_SRC = \
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$(STM32F30x_COMMON_SRC) \
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io/i2c_bst.c \
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drivers/bus_bst_stm32f30x.c \
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drivers/display_ug2864hsweg01.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu6500.c \
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@ -838,6 +838,14 @@ void validateAndFixConfig(void)
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}
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#endif
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#if defined(COLIBRI_RACE)
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masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
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if(featureConfigured(FEATURE_RX_SERIAL)) {
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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}
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#endif
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useRxConfig(&masterConfig.rxConfig);
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serialConfig_t *serialConfig = &masterConfig.serialConfig;
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@ -0,0 +1,54 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define TBS_CORE_PNP_PRO 0x80
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#define RESERVED 0x8A
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#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
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#define PNP_PRO_GPS 0xC2
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#define TSB_BLACKBOX 0xC4
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#define CLEANFLIGHT_FC 0xC8
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#define CROSSFIRE_UHF_RECEIVER 0xEC
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#define GPS_POSITION_FRAME_ID 0x02
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#define GPS_TIME_FRAME_ID 0x03
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#define FC_ATTITUDE_FRAME_ID 0x1E
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#define RC_CHANNEL_FRAME_ID 0x15
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#define CROSSFIRE_RSSI_FRAME_ID 0x14
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typedef enum BSTDevice {
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BSTDEV_1,
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BSTDEV_2,
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BSTDEV_MAX = BSTDEV_2,
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} BSTDevice;
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void bstInit(BSTDevice index);
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uint16_t bstGetErrorCounter(void);
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bool bstWriteBusy(void);
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bool bstMasterWrite(uint8_t* data);
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bool bstSlaveRead(uint8_t* buf);
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bool bstSlaveWrite(uint8_t* data);
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void bstMasterWriteLoop(void);
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void bstMasterReadLoop(void);
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void crc8Cal(uint8_t data_in);
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@ -0,0 +1,396 @@
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/* By Larry Ho Ka Wai @ 23/06/2015*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include <math.h>
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#include <ctype.h>
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#include <platform.h>
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#include <build_config.h>
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#include "bus_bst.h"
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#ifdef USE_BST
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#define BST_SHORT_TIMEOUT ((uint32_t)0x1000)
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#define BST_LONG_TIMEOUT ((uint32_t)(10 * BST_SHORT_TIMEOUT))
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#if !defined(BST1_SCL_GPIO)
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#define BST1_SCL_GPIO GPIOB
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#define BST1_SCL_GPIO_AF GPIO_AF_4
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#define BST1_SCL_PIN GPIO_Pin_6
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#define BST1_SCL_PIN_SOURCE GPIO_PinSource6
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#define BST1_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOB
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#define BST1_SDA_GPIO GPIOB
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#define BST1_SDA_GPIO_AF GPIO_AF_4
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#define BST1_SDA_PIN GPIO_Pin_7
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#define BST1_SDA_PIN_SOURCE GPIO_PinSource7
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#define BST1_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOB
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#endif
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#if !defined(BST2_SCL_GPIO)
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#define BST2_SCL_GPIO GPIOF
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#define BST2_SCL_GPIO_AF GPIO_AF_4
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#define BST2_SCL_PIN GPIO_Pin_6
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#define BST2_SCL_PIN_SOURCE GPIO_PinSource6
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#define BST2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOF
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#define BST2_SDA_GPIO GPIOA
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#define BST2_SDA_GPIO_AF GPIO_AF_4
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#define BST2_SDA_PIN GPIO_Pin_10
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#define BST2_SDA_PIN_SOURCE GPIO_PinSource10
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#define BST2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
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#endif
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static uint32_t bstTimeout;
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static volatile uint16_t bst1ErrorCount = 0;
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static volatile uint16_t bst2ErrorCount = 0;
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static I2C_TypeDef *BSTx = NULL;
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volatile uint8_t CRC8 = 0;
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volatile bool coreProReady = false;
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///////////////////////////////////////////////////////////////////////////////
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// BST TimeoutUserCallback
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///////////////////////////////////////////////////////////////////////////////
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uint32_t bstTimeoutUserCallback(I2C_TypeDef *BSTx)
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{
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if (BSTx == I2C1) {
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bst1ErrorCount++;
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} else {
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bst2ErrorCount++;
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}
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I2C_SoftwareResetCmd(BSTx);
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return false;
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}
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void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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I2C_InitTypeDef BST_InitStructure;
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if (BSTx == I2C1) {
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RCC_AHBPeriphClockCmd(BST1_SCL_CLK_SOURCE | BST1_SDA_CLK_SOURCE, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
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RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK);
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GPIO_PinAFConfig(BST1_SCL_GPIO, BST1_SCL_PIN_SOURCE, BST1_SCL_GPIO_AF);
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GPIO_PinAFConfig(BST1_SDA_GPIO, BST1_SDA_PIN_SOURCE, BST1_SDA_GPIO_AF);
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GPIO_StructInit(&GPIO_InitStructure);
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I2C_StructInit(&BST_InitStructure);
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// Init pins
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Pin = BST1_SCL_PIN;
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GPIO_Init(BST1_SCL_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = BST1_SDA_PIN;
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GPIO_Init(BST1_SDA_GPIO, &GPIO_InitStructure);
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I2C_StructInit(&BST_InitStructure);
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BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
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BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
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BST_InitStructure.I2C_DigitalFilter = 0x00;
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BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
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//BST_InitStructure.I2C_OwnAddress1 = PNP_PRO_GPS;
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//BST_InitStructure.I2C_OwnAddress1 = Address;
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BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
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BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
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I2C_Init(I2C1, &BST_InitStructure);
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I2C_Cmd(I2C1, ENABLE);
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}
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if (BSTx == I2C2) {
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RCC_AHBPeriphClockCmd(BST2_SCL_CLK_SOURCE | BST2_SDA_CLK_SOURCE, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
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RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK);
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GPIO_PinAFConfig(BST2_SCL_GPIO, BST2_SCL_PIN_SOURCE, BST2_SCL_GPIO_AF);
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GPIO_PinAFConfig(BST2_SDA_GPIO, BST2_SDA_PIN_SOURCE, BST2_SDA_GPIO_AF);
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GPIO_StructInit(&GPIO_InitStructure);
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I2C_StructInit(&BST_InitStructure);
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// Init pins
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Pin = BST2_SCL_PIN;
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GPIO_Init(BST2_SCL_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = BST2_SDA_PIN;
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GPIO_Init(BST2_SDA_GPIO, &GPIO_InitStructure);
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I2C_StructInit(&BST_InitStructure);
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BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
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BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
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BST_InitStructure.I2C_DigitalFilter = 0x00;
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BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
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//BST_InitStructure.I2C_OwnAddress1 = PNP_PRO_GPS;
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//BST_InitStructure.I2C_OwnAddress1 = Address;
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BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
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BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
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I2C_Init(I2C2, &BST_InitStructure);
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I2C_Cmd(I2C2, ENABLE);
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}
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}
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void bstInit(BSTDevice index)
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{
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if (index == BSTDEV_1) {
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BSTx = I2C1;
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} else {
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BSTx = I2C2;
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}
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//bstInitPort(BSTx, PNP_PRO_GPS);
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//bstInitPort(BSTx, CLEANFLIGHT_FC);
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bstInitPort(BSTx);
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}
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uint16_t bstGetErrorCounter(void)
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{
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if (BSTx == I2C1) {
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return bst1ErrorCount;
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}
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return bst2ErrorCount;
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}
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/*************************************************************************************************/
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uint8_t dataBuffer[64] = {0};
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uint8_t bufferPointer = 0;
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uint8_t bstWriteDataLen = 0;
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bool bstWriteBusy(void)
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{
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if(bstWriteDataLen)
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return true;
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else
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return false;
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}
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bool bstMasterWrite(uint8_t* data)
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{
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if(bstWriteDataLen==0) {
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CRC8 = 0;
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bufferPointer = 0;
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dataBuffer[0] = *data;
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dataBuffer[1] = *(data+1);
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bstWriteDataLen = dataBuffer[1] + 2;
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for(uint8_t i=2; i<bstWriteDataLen; i++) {
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if(i==(bstWriteDataLen-1)) {
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crc8Cal(0);
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dataBuffer[i] = CRC8;
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} else {
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dataBuffer[i] = *(data+i);
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crc8Cal((uint8_t)dataBuffer[i]);
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}
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}
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return true;
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}
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return false;
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}
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bool bstSlaveRead(uint8_t* buf) {
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if(I2C_GetAddressMatched(BSTx)==CLEANFLIGHT_FC && I2C_GetTransferDirection(BSTx) == I2C_Direction_Transmitter) {
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//if(I2C_GetTransferDirection(BSTx) == I2C_Direction_Transmitter) {
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uint8_t len = 0;
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CRC8 = 0;
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I2C_ClearFlag(BSTx, I2C_FLAG_ADDR);
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/* Wait until RXNE flag is set */
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_RXNE) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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len = I2C_ReceiveData(BSTx);
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*buf = len;
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buf++;
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while (len) {
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/* Wait until RXNE flag is set */
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_RXNE) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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/* Read data from RXDR */
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*buf = I2C_ReceiveData(BSTx);
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if(len == 1)
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crc8Cal(0);
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else
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crc8Cal((uint8_t)*buf);
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/* Point to the next location where the byte read will be saved */
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buf++;
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/* Decrement the read bytes counter */
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len--;
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}
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/* If all operations OK */
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return true;
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}
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return false;
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}
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bool bstSlaveWrite(uint8_t* data) {
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_ADDR) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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if(I2C_GetAddressMatched(BSTx)==CLEANFLIGHT_FC && I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) {
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//if(I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) {
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uint8_t len = 0;
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CRC8 = 0;
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I2C_ClearFlag(BSTx, I2C_FLAG_ADDR);
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/* Wait until TXIS flag is set */
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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len = *data;
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data++;
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I2C_SendData(BSTx, (uint8_t) len);
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while(len) {
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/* Wait until TXIS flag is set */
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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if(len == 1) {
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crc8Cal(0);
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I2C_SendData(BSTx, (uint8_t) CRC8);
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} else {
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crc8Cal((uint8_t)*data);
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I2C_SendData(BSTx, (uint8_t)*data);
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}
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/* Point to the next location where the byte read will be saved */
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data++;
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/* Decrement the read bytes counter */
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len--;
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}
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/* If all operations OK */
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return true;
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}
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return false;
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}
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/*************************************************************************************************/
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uint32_t bstMasterWriteTimeout = 0;
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void bstMasterWriteLoop(void)
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{
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if(bstWriteDataLen != 0) {
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if(bufferPointer == 0) {
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bool scl_set = false;
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if(BSTx == I2C1)
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scl_set = BST1_SCL_GPIO->IDR&BST1_SCL_PIN;
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else
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scl_set = BST2_SCL_GPIO->IDR&BST2_SCL_PIN;
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if(I2C_GetFlagStatus(BSTx, I2C_ISR_BUSY)==RESET && scl_set) {
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(BSTx, dataBuffer[bufferPointer], 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
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bstMasterWriteTimeout = micros();
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bufferPointer++;
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}
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} else if(bufferPointer == 1) {
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if(I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS)==SET) {
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/* Send Register len */
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I2C_SendData(BSTx, (uint8_t) dataBuffer[bufferPointer]);
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bstMasterWriteTimeout = micros();
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} else if(I2C_GetFlagStatus(BSTx, I2C_ISR_TCR)==SET) {
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(BSTx, dataBuffer[bufferPointer-1], dataBuffer[bufferPointer], I2C_AutoEnd_Mode, I2C_No_StartStop);
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bstMasterWriteTimeout = micros();
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bufferPointer++;
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}
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} else if(bufferPointer == bstWriteDataLen) {
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if(I2C_GetFlagStatus(BSTx, I2C_ISR_STOPF)==SET) {
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I2C_ClearFlag(BSTx, I2C_ICR_STOPCF);
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bstWriteDataLen = 0;
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bufferPointer = 0;
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}
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} else {
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if(I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS)==SET) {
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I2C_SendData(BSTx, (uint8_t) dataBuffer[bufferPointer]);
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bstMasterWriteTimeout = micros();
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bufferPointer++;
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}
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}
|
||||
uint32_t currentTime = micros();
|
||||
if(currentTime>bstMasterWriteTimeout+5000) {
|
||||
I2C_SoftwareResetCmd(BSTx);
|
||||
bstWriteDataLen = 0;
|
||||
bufferPointer = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void bstMasterReadLoop(void)
|
||||
{
|
||||
}
|
||||
/*************************************************************************************************/
|
||||
void crc8Cal(uint8_t data_in)
|
||||
{
|
||||
/* Polynom = x^8+x^7+x^6+x^4+x^2+1 = x^8+x^7+x^6+x^4+x^2+X^0 */
|
||||
uint8_t Polynom = BST_CRC_POLYNOM;
|
||||
bool MSB_Flag;
|
||||
|
||||
/* Step through each bit of the BYTE (8-bits) */
|
||||
for (uint8_t i = 0; i < 8; i++) {
|
||||
/* Clear the Flag */
|
||||
MSB_Flag = false;
|
||||
|
||||
/* MSB_Set = 80; */
|
||||
if (CRC8 & 0x80) {
|
||||
MSB_Flag = true;
|
||||
}
|
||||
|
||||
CRC8 <<= 1;
|
||||
|
||||
/* MSB_Set = 80; */
|
||||
if (data_in & 0x80) {
|
||||
CRC8++;
|
||||
}
|
||||
data_in <<= 1;
|
||||
|
||||
if (MSB_Flag == true) {
|
||||
CRC8 ^= Polynom;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,30 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "drivers/bus_bst.h"
|
||||
|
||||
void bstProcess(void);
|
||||
|
||||
//void writeGpsPositionPrameToBST(void);
|
||||
//void writeGPSTimeFrameToBST(void);
|
||||
//void writeDataToBST(void);
|
||||
bool writeGpsPositionPrameToBST(void);
|
||||
bool writeRollPitchYawToBST(void);
|
||||
bool writeRCChannelToBST(void);
|
||||
|
||||
|
|
@ -44,6 +44,7 @@
|
|||
#include "drivers/pwm_rx.h"
|
||||
#include "drivers/adc.h"
|
||||
#include "drivers/bus_i2c.h"
|
||||
#include "drivers/bus_bst.h"
|
||||
#include "drivers/bus_spi.h"
|
||||
#include "drivers/inverter.h"
|
||||
#include "drivers/flash_m25p16.h"
|
||||
|
|
@ -303,6 +304,10 @@ void init(void)
|
|||
initInverter();
|
||||
#endif
|
||||
|
||||
#ifdef USE_BST
|
||||
bstInit(BST_DEVICE);
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef USE_SPI
|
||||
spiInit(SPI1);
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@
|
|||
#include "drivers/gpio.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/bus_bst.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_rx.h"
|
||||
#include "drivers/gyro_sync.h"
|
||||
|
|
@ -59,6 +60,7 @@
|
|||
#include "io/gps.h"
|
||||
#include "io/ledstrip.h"
|
||||
#include "io/serial.h"
|
||||
#include "io/i2c_bst.h"
|
||||
#include "io/serial_cli.h"
|
||||
#include "io/serial_msp.h"
|
||||
#include "io/statusindicator.h"
|
||||
|
|
@ -884,6 +886,12 @@ void loop(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_BST
|
||||
bstProcess();
|
||||
bstMasterWriteLoop();
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef LED_STRIP
|
||||
if (feature(FEATURE_LED_STRIP)) {
|
||||
updateLedStrip();
|
||||
|
|
|
|||
|
|
@ -18,6 +18,8 @@
|
|||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "CLBR"
|
||||
#define BST_DEVICE_NAME "COLIBRI RACE"
|
||||
#define BST_DEVICE_NAME_LENGTH 12
|
||||
|
||||
#define LED0_GPIO GPIOC
|
||||
#define LED0_PIN Pin_15
|
||||
|
|
@ -71,6 +73,7 @@
|
|||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
||||
// External I2C MAG
|
||||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
#define USE_MAG_AK8975
|
||||
|
|
@ -121,6 +124,12 @@
|
|||
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
|
||||
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
|
||||
|
||||
#define USE_BST
|
||||
#define BST_DEVICE (BSTDEV_1)
|
||||
/* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
|
||||
#define BST_CRC_POLYNOM 0xD5
|
||||
|
||||
|
||||
#define USE_ADC
|
||||
|
||||
#define ADC_INSTANCE ADC1
|
||||
|
|
|
|||
Loading…
Reference in New Issue