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NAZE32 - Add hardware revision detection.

This commit is contained in:
Dominic Clifton 2014-10-15 20:59:06 +01:00
parent d3fc10fd83
commit 8ef70abaa0
12 changed files with 2616 additions and 2452 deletions
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1
Makefile
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@ -244,6 +244,7 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
hardware_revision.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)

4770
obj/cleanflight_CJMCU.hex
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File diff suppressed because it is too large Load Diff

18
src/main/drivers/accgyro_spi_mpu6500.c
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@ -31,22 +31,6 @@
#include "accgyro.h"
#include "accgyro_spi_mpu6500.h"
// MPU6500 (WHO_AM_I 0x70) on SPI bus
#define MPU6500_RA_WHOAMI (0x75)
#define MPU6500_RA_ACCEL_XOUT_H (0x3B)
#define MPU6500_RA_GYRO_XOUT_H (0x43)
#define MPU6500_RA_BANK_SEL (0x6D)
#define MPU6500_RA_MEM_RW (0x6F)
#define MPU6500_RA_GYRO_CFG (0x1B)
#define MPU6500_RA_PWR_MGMT_1 (0x6B)
#define MPU6500_RA_ACCEL_CFG (0x1C)
#define MPU6500_RA_LPF (0x1A)
#define MPU6500_RA_RATE_DIV (0x19)
#define MPU6500_WHO_AM_I_CONST (0x70)
#define BIT_RESET (0x80)
enum lpf_e {
INV_FILTER_256HZ_NOLPF2 = 0,
INV_FILTER_188HZ,
@ -192,7 +176,7 @@ static void mpu6500GyroInit(void)
}
#endif
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, BIT_RESET);
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
delay(100);
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, 0);
delay(100);

14
src/main/drivers/accgyro_spi_mpu6500.h
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@ -15,6 +15,20 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#define MPU6500_RA_WHOAMI (0x75)
#define MPU6500_RA_ACCEL_XOUT_H (0x3B)
#define MPU6500_RA_GYRO_XOUT_H (0x43)
#define MPU6500_RA_BANK_SEL (0x6D)
#define MPU6500_RA_MEM_RW (0x6F)
#define MPU6500_RA_GYRO_CFG (0x1B)
#define MPU6500_RA_PWR_MGMT_1 (0x6B)
#define MPU6500_RA_ACCEL_CFG (0x1C)
#define MPU6500_RA_LPF (0x1A)
#define MPU6500_RA_RATE_DIV (0x19)
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU6500_BIT_RESET (0x80)
#pragma once

22
src/main/drivers/bus_spi.c
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@ -30,6 +30,7 @@ static volatile uint16_t spi2ErrorCount = 0;
static volatile uint16_t spi3ErrorCount = 0;
#endif
#ifdef USE_SPI_DEVICE_1
void initSpi1(void)
{
// Specific to the STM32F103
@ -76,7 +77,9 @@ void initSpi1(void)
SPI_Init(SPI1, &spi);
SPI_Cmd(SPI1, ENABLE);
}
#endif
#ifdef USE_SPI_DEVICE_2
void initSpi2(void)
{
@ -108,6 +111,8 @@ void initSpi2(void)
gpio.mode = Mode_Out_PP;
gpioInit(GPIOB, &gpio);
GPIO_SetBits(GPIOB, GPIO_Pin_12);
// Init SPI2 hardware
SPI_I2S_DeInit(SPI2);
@ -124,18 +129,23 @@ void initSpi2(void)
SPI_Init(SPI2, &spi);
SPI_Cmd(SPI2, ENABLE);
}
#endif
bool spiInit(SPI_TypeDef *instance)
{
#ifdef USE_SPI_DEVICE_1
if (instance == SPI1) {
initSpi1();
} else if (instance == SPI2) {
initSpi2();
} else {
return false;
}
return true;
}
#endif
#ifdef USE_SPI_DEVICE_2
if (instance == SPI1) {
initSpi2();
return true;
}
#endif
return false;
}
uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)

38
src/main/drivers/system.c
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@ -27,8 +27,6 @@
#include "light_led.h"
#include "sound_beeper.h"
#include "inverter.h"
#include "bus_i2c.h"
#include "bus_spi.h"
#include "system.h"
@ -37,15 +35,6 @@ static volatile uint32_t usTicks = 0;
// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
static volatile uint32_t sysTickUptime = 0;
#ifdef STM32F303xC
// from system_stm32f30x.c
void SetSysClock(void);
#endif
#ifdef STM32F10X
// from system_stm32f10x.c
void SetSysClock(bool overclock);
#endif
static void cycleCounterInit(void)
{
RCC_ClocksTypeDef clocks;
@ -76,23 +65,8 @@ uint32_t millis(void)
return sysTickUptime;
}
void systemInit(bool overclock)
void systemInit(void)
{
#ifdef STM32F303
UNUSED(overclock);
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(overclock);
#endif
#ifdef CC3D
/* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
extern void *isr_vector_table_base;
@ -131,16 +105,6 @@ void systemInit(bool overclock)
// SysTick
SysTick_Config(SystemCoreClock / 1000);
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifdef USE_I2C
// Configure the rest of the stuff
i2cInit(I2C_DEVICE);
#endif
// sleep for 100ms
delay(100);
}

2
src/main/drivers/system.h
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@ -17,7 +17,7 @@
#pragma once
void systemInit(bool overclock);
void systemInit(void);
void delayMicroseconds(uint32_t us);
void delay(uint32_t ms);

56
src/main/main.c
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@ -37,6 +37,8 @@
#include "drivers/pwm_mapping.h"
#include "drivers/pwm_rx.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "flight/flight.h"
#include "flight/mixer.h"
@ -66,6 +68,10 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef NAZE
#include "target/NAZE/hardware_revision.h"
#endif
#include "build_config.h"
#ifdef DEBUG_SECTION_TIMES
@ -97,6 +103,16 @@ void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
void loop(void);
#ifdef STM32F303xC
// from system_stm32f30x.c
void SetSysClock(void);
#endif
#ifdef STM32F10X
// from system_stm32f10x.c
void SetSysClock(bool overclock);
#endif
// FIXME bad naming - this appears to be for some new board that hasn't been made available yet.
#ifdef PROD_DEBUG
void productionDebug(void)
@ -133,7 +149,45 @@ void init(void)
ensureEEPROMContainsValidData();
readEEPROM();
systemInit(masterConfig.emf_avoidance);
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
#ifdef NAZE
detectHardwareRevision();
#endif
systemInit();
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifdef NAZE
updateHardwareRevision();
#endif
#ifdef USE_I2C
#ifdef NAZE
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
}
#else
// Configure the rest of the stuff
i2cInit(I2C_DEVICE);
#endif
#endif
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);

3
src/main/target/CC3D/target.h
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@ -54,6 +54,9 @@
#define SERIAL_PORT_COUNT 2
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define SENSORS_SET (SENSOR_ACC)

101
src/main/target/NAZE/hardware_revision.c Normal file
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@ -0,0 +1,101 @@
/*
* 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/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "build_config.h"
#include "drivers/system.h"
#include "drivers/bus_spi.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "hardware_revision.h"
static const char * const hardwareRevisionNames[] = {
"Unknown",
"Naze 32",
"Naze32 rev.5",
"Naze32 SP"
};
uint8_t hardwareRevision = UNKNOWN;
void detectHardwareRevision(void)
{
if (hse_value == 8000000)
hardwareRevision = NAZE32;
else if (hse_value == 12000000)
hardwareRevision = NAZE32_REV5;
}
#ifdef USE_SPI
#define DISABLE_SPI_CS GPIO_SetBits(NAZE_SPI_CS_GPIO, NAZE_SPI_CS_PIN)
#define ENABLE_SPI_CS GPIO_ResetBits(NAZE_SPI_CS_GPIO, NAZE_SPI_CS_PIN)
#define SPI_DEVICE_NONE (0)
#define SPI_DEVICE_FLASH (1)
#define SPI_DEVICE_MPU (2)
#define M25P16_INSTRUCTION_RDID 0x9F
#define FLASH_M25P16 (0x202015)
uint8_t detectSpiDevice(void)
{
uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0 };
uint8_t in[4];
uint32_t flash_id;
delay(50); // short delay required after initialisation of SPI device instance.
// try autodetect flash chip
ENABLE_SPI_CS;
spiTransfer(NAZE_SPI_INSTANCE, in, out, sizeof(out));
DISABLE_SPI_CS;
flash_id = in[1] << 16 | in[2] << 8 | in[3];
if (flash_id == FLASH_M25P16)
return SPI_DEVICE_FLASH;
// try autodetect MPU
ENABLE_SPI_CS;
spiTransferByte(NAZE_SPI_INSTANCE, MPU6500_RA_WHOAMI | MPU6500_BIT_RESET);
in[0] = spiTransferByte(NAZE_SPI_INSTANCE, 0xff);
DISABLE_SPI_CS;
if (in[0] == MPU6500_WHO_AM_I_CONST)
return SPI_DEVICE_MPU;
return SPI_DEVICE_NONE;
}
#endif
void updateHardwareRevision(void)
{
#ifdef USE_SPI
uint8_t detectedSpiDevice = detectSpiDevice();
if (detectedSpiDevice == SPI_DEVICE_MPU && hardwareRevision == NAZE32_REV5)
hardwareRevision = NAZE32_SP;
#endif
}

28
src/main/target/NAZE/hardware_revision.h Normal file
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@ -0,0 +1,28 @@
/*
* 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/>.
*/
typedef enum nazeHardwareRevision_t {
UNKNOWN = 0,
NAZE32, // Naze32 and compatible with 8MHz HSE
NAZE32_REV5, // Naze32 and compatible with 12MHz HSE
NAZE32_SP // Naze32 w/Sensor Platforms
} nazeHardwareRevision_e;
extern uint8_t hardwareRevision;
void updateHardwareRevision(void);
void detectHardwareRevision(void);

15
src/main/target/NAZE/target.h
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@ -43,9 +43,16 @@
// PB13 26 SPI2_SCK
// PB12 25 SPI2_NSS
#define MPU6500_CS_GPIO GPIOB
#define MPU6500_CS_PIN GPIO_Pin_12
#define MPU6500_SPI_INSTANCE SPI2
#define USE_SPI
#define USE_SPI_DEVICE_2
#define NAZE_SPI_INSTANCE SPI2
#define NAZE_SPI_CS_GPIO GPIOB
#define NAZE_SPI_CS_PIN GPIO_Pin_12
#define MPU6500_CS_GPIO NAZE_SPI_CS_GPIO
#define MPU6500_CS_PIN NAZE_SPI_CS_PIN
#define MPU6500_SPI_INSTANCE NAZE_SPI_INSTANCE
#define GYRO
#define USE_GYRO_MPU6050
@ -76,8 +83,6 @@
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2)
#define USE_SPI