STM32F4: Main, Sensors, io

src/main/io/serial.h

@@ -56,6 +56,8 @@ typedef enum {
     SERIAL_PORT_USART2,
     SERIAL_PORT_USART3,
     SERIAL_PORT_USART4,
+    SERIAL_PORT_USART5,
+    SERIAL_PORT_USART6,
     SERIAL_PORT_USB_VCP = 20,
     SERIAL_PORT_SOFTSERIAL1 = 30,
     SERIAL_PORT_SOFTSERIAL2,

src/main/io/serial_cli.c

@@ -220,7 +220,7 @@ static const char * const sensorTypeNames[] = {
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
 static const char * const sensorHardwareNames[4][11] = {
-    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
+    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
     { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
     { "", "None", "HMC5883", "AK8975", "AK8963", NULL }

src/main/main.c

@@ -135,13 +135,11 @@ void spektrumBind(rxConfig_t *rxConfig);
 const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
 void sonarInit(const sonarHardware_t *sonarHardware);
 
-#ifdef STM32F303xC
-// from system_stm32f30x.c
-void SetSysClock(void);
-#endif
 #ifdef STM32F10X
 // from system_stm32f10x.c
 void SetSysClock(bool overclock);
+#else 
+void SetSysClock(void);
 #endif
 
 typedef enum {
@@ -169,19 +167,20 @@ void init(void)
 
     systemState |= SYSTEM_STATE_CONFIG_LOADED;
 
-#ifdef STM32F303
+#ifdef STM32F3
     // start fpu
     SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
-#endif
-
-#ifdef STM32F303xC
     SetSysClock();
 #endif
-#ifdef STM32F10X
+#ifdef STM32F1
     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
     // Configure the Flash Latency cycles and enable prefetch buffer
     SetSysClock(0); // TODO - Remove from config in the future
 #endif
+#ifdef STM32F4
+    SetSysClock();
+#endif
+
     //i2cSetOverclock(masterConfig.i2c_overclock);
 
     systemInit();
@@ -198,19 +197,21 @@ void init(void)
     // initialize IO (needed for all IO operations)
     IOInitGlobal();
 
-#ifdef USE_EXTI
-    EXTIInit();
-#endif
-    
 #ifdef ALIENFLIGHTF3
     if (hardwareRevision == AFF3_REV_1) {
         ledInit(false);
-    } else {
+    }
+    else {
         ledInit(true);
     }
 #else
     ledInit(false);
 #endif
+    LED2_ON;
+    
+#ifdef USE_EXTI
+    EXTIInit();
+#endif
 
 #ifdef SPRACINGF3MINI
     gpio_config_t buttonAGpioConfig = {
@@ -301,6 +302,12 @@ void init(void)
 #endif
 #ifdef STM32F303xC
     pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
+#endif
+#if defined(USE_USART2) && defined(STM32F40_41xxx)
+    pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
+#endif
+#if defined(USE_USART6) && defined(STM32F40_41xxx)
+    pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6);
 #endif    
     pwm_params.useVbat = feature(FEATURE_VBAT);
     pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
@@ -431,7 +438,6 @@ void init(void)
     }
 #endif
 
-
 #ifdef USE_I2C
 #if defined(NAZE)
     if (hardwareRevision != NAZE32_SP) {
@@ -477,7 +483,13 @@ void init(void)
     }
 #endif
 
-    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, masterConfig.mag_declination, masterConfig.gyro_lpf, masterConfig.gyro_sync_denom)) {
+    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
+                masterConfig.acc_hardware, 
+                masterConfig.mag_hardware, 
+                masterConfig.baro_hardware, 
+                masterConfig.mag_declination, 
+                masterConfig.gyro_lpf, 
+                masterConfig.gyro_sync_denom)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }
@@ -486,6 +498,8 @@ void init(void)
 
     LED1_ON;
     LED0_OFF;
+    LED2_OFF;
+    
     for (i = 0; i < 10; i++) {
         LED1_TOGGLE;
         LED0_TOGGLE;
@@ -670,7 +684,8 @@ void processLoopback(void) {
 #define processLoopback()
 #endif
 
-void main_init(void) {
+void main_init(void) 
+{
     init();
 
     /* Setup scheduler */
@@ -771,7 +786,8 @@ int main(void)
  * cause of the fault.
  * The function ends with a BKPT instruction to force control back into the debugger
  */
-void hard_fault_handler_c(unsigned long *hardfault_args){
+void hard_fault_handler_c(unsigned long *hardfault_args)
+{
   volatile unsigned long stacked_r0 ;
   volatile unsigned long stacked_r1 ;
   volatile unsigned long stacked_r2 ;
@@ -822,6 +838,8 @@ void hard_fault_handler_c(unsigned long *hardfault_args){
 #else
 void HardFault_Handler(void)
 {
+    LED2_ON;
+
     // fall out of the sky
     uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
     if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
@@ -835,6 +853,14 @@ void HardFault_Handler(void)
     }
 #endif
 
-    while (1);
+    LED1_OFF;
+    LED0_OFF;
+
+    while (1) {
+#ifdef LED2
+        delay(50);
+        LED2_TOGGLE;
+#endif
+    }
 }
 #endif

src/main/platform.h

@@ -17,6 +17,20 @@
 
 #pragma once
 
+#if defined(STM32F40_41xxx) || defined (STM32F411xE)
+#include "stm32f4xx_conf.h"
+#include "stm32f4xx_rcc.h"
+#include "stm32f4xx_gpio.h"
+#include "core_cm4.h"
+
+// Chip Unique ID on F405
+#define U_ID_0 (*(uint32_t*)0x1fff7a10)
+#define U_ID_1 (*(uint32_t*)0x1fff7a14)
+#define U_ID_2 (*(uint32_t*)0x1fff7a18)
+
+#define STM32F4
+#endif
+
 #ifdef STM32F303xC
 #include "stm32f30x_conf.h"
 #include "stm32f30x_rcc.h"

src/main/sensors/gyro.h

@@ -26,6 +26,7 @@ typedef enum {
     GYRO_L3GD20,
     GYRO_MPU6000,
     GYRO_MPU6500,
+    GYRO_MPU9250,
     GYRO_FAKE
 } gyroSensor_e;
 

src/main/sensors/initialisation.c

@@ -45,6 +45,7 @@
 #include "drivers/bus_spi.h"
 #include "drivers/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro_spi_mpu6500.h"
+#include "drivers/accgyro_spi_mpu9250.h"
 #include "drivers/gyro_sync.h"
 
 #include "drivers/barometer.h"
@@ -268,6 +269,20 @@ bool detectGyro(void)
 #endif
             ; // fallthrough
         
+    case GYRO_MPU9250:
+#ifdef USE_GYRO_SPI_MPU9250
+
+        if (mpu9250SpiGyroDetect(&gyro))
+        {
+            gyroHardware = GYRO_MPU9250;
+#ifdef GYRO_MPU9250_ALIGN
+            gyroAlign = GYRO_MPU9250_ALIGN;
+#endif
+
+            break;
+        }
+#endif
+        ; // fallthrough
         case GYRO_FAKE:
 #ifdef USE_FAKE_GYRO
             if (fakeGyroDetect(&gyro)) {
@@ -632,7 +647,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
     memset(&acc, 0, sizeof(acc));
     memset(&gyro, 0, sizeof(gyro));
 
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
+#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250)
 
     const extiConfig_t *extiConfig = selectMPUIntExtiConfig();