rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/development' into osd-improvement

This commit is contained in:
Evgeny Sychov 2016-07-02 16:20:28 -07:00
parent 575662f3ea ebbaeb0976
commit acdcff176f
10 changed files with 218 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/drivers/io.h
View File

@ -40,14 +40,12 @@ typedef uint8_t ioConfig_t; // packed IO configuration
#define IO_CONFIG(mode, speed) ((mode) | (speed))
#define IOCFG_OUT_PP IO_CONFIG(GPIO_Mode_Out_PP, GPIO_Speed_2MHz)
#define IOCFG_OUT_PP_25 IO_CONFIG(GPIO_Mode_Out_PP, GPIO_Speed_25MHz)
#define IOCFG_OUT_OD IO_CONFIG(GPIO_Mode_Out_OD, GPIO_Speed_2MHz)
#define IOCFG_AF_PP IO_CONFIG(GPIO_Mode_AF_PP, GPIO_Speed_2MHz)
#define IOCFG_AF_OD IO_CONFIG(GPIO_Mode_AF_OD, GPIO_Speed_2MHz)
#define IOCFG_IPD IO_CONFIG(GPIO_Mode_IPD, GPIO_Speed_2MHz)
#define IOCFG_IPU IO_CONFIG(GPIO_Mode_IPU, GPIO_Speed_2MHz)
#define IOCFG_IN_FLOATING IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_2MHz)
#define IOCFG_IPU_25 IO_CONFIG(GPIO_Mode_IPU, GPIO_Speed_25MHz)
#elif defined(STM32F3) || defined(STM32F4)

160
src/main/drivers/serial_uart_stm32f30x.c
View File

@ -72,6 +72,24 @@
#define UART3_RX_PINSOURCE GPIO_PinSource11
#endif
#ifndef UART4_GPIO
#define UART4_TX_PIN GPIO_Pin_10 // PC10 (AF5)
#define UART4_RX_PIN GPIO_Pin_11 // PC11 (AF5)
#define UART4_GPIO_AF GPIO_AF_5
#define UART4_GPIO GPIOC
#define UART4_TX_PINSOURCE GPIO_PinSource10
#define UART4_RX_PINSOURCE GPIO_PinSource11
#endif
#ifndef UART5_GPIO // The real UART5_RX is on PD2, no board is using.
#define UART5_TX_PIN GPIO_Pin_12 // PC12 (AF5)
#define UART5_RX_PIN GPIO_Pin_12 // PC12 (AF5)
#define UART5_GPIO_AF GPIO_AF_5
#define UART5_GPIO GPIOC
#define UART5_TX_PINSOURCE GPIO_PinSource12
#define UART5_RX_PINSOURCE GPIO_PinSource12
#endif
#ifdef USE_USART1
static uartPort_t uartPort1;
#endif
@ -81,6 +99,12 @@ static uartPort_t uartPort2;
#ifdef USE_USART3
static uartPort_t uartPort3;
#endif
#ifdef USE_USART4
static uartPort_t uartPort4;
#endif
#ifdef USE_USART5
static uartPort_t uartPort5;
#endif
static void handleUsartTxDma(dmaChannelDescriptor_t* descriptor)
{
@ -328,6 +352,124 @@ uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode, portOptions_t optio
}
#endif
#ifdef USE_USART4
uartPort_t *serialUSART4(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx4Buffer[UART4_RX_BUFFER_SIZE];
static volatile uint8_t tx4Buffer[UART4_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
s = &uartPort4;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART4_RX_BUFFER_SIZE;
s->port.txBufferSize = UART4_TX_BUFFER_SIZE;
s->port.rxBuffer = rx4Buffer;
s->port.txBuffer = tx4Buffer;
s->USARTx = UART4;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
if (options & SERIAL_BIDIR) {
GPIO_InitStructure.GPIO_Pin = UART4_TX_PIN;
GPIO_InitStructure.GPIO_OType = (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD;
GPIO_PinAFConfig(UART4_GPIO, UART4_TX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
if(!(options & SERIAL_INVERTED))
GPIO_SetBits(UART4_GPIO, UART4_TX_PIN); // OpenDrain output should be inactive
} else {
if (mode & MODE_TX) {
GPIO_InitStructure.GPIO_Pin = UART4_TX_PIN;
GPIO_PinAFConfig(UART4_GPIO, UART4_TX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
}
if (mode & MODE_RX) {
GPIO_InitStructure.GPIO_Pin = UART4_RX_PIN;
GPIO_PinAFConfig(UART4_GPIO, UART4_RX_PINSOURCE, UART4_GPIO_AF);
GPIO_Init(UART4_GPIO, &GPIO_InitStructure);
}
}
NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART4);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART4);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
#endif
#ifdef USE_USART5
uartPort_t *serialUSART5(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx5Buffer[UART5_RX_BUFFER_SIZE];
static volatile uint8_t tx5Buffer[UART5_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
s = &uartPort5;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART5_RX_BUFFER_SIZE;
s->port.txBufferSize = UART5_TX_BUFFER_SIZE;
s->port.rxBuffer = rx5Buffer;
s->port.txBuffer = tx5Buffer;
s->USARTx = UART5;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
if (options & SERIAL_BIDIR) {
GPIO_InitStructure.GPIO_Pin = UART5_TX_PIN;
GPIO_InitStructure.GPIO_OType = (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD;
GPIO_PinAFConfig(UART5_GPIO, UART5_TX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
if(!(options & SERIAL_INVERTED))
GPIO_SetBits(UART5_GPIO, UART5_TX_PIN); // OpenDrain output should be inactive
} else {
if (mode & MODE_TX) {
GPIO_InitStructure.GPIO_Pin = UART5_TX_PIN;
GPIO_PinAFConfig(UART5_GPIO, UART5_TX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
}
if (mode & MODE_RX) {
GPIO_InitStructure.GPIO_Pin = UART5_RX_PIN;
GPIO_PinAFConfig(UART5_GPIO, UART5_RX_PINSOURCE, UART5_GPIO_AF);
GPIO_Init(UART5_GPIO, &GPIO_InitStructure);
}
}
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
#endif
void usartIrqHandler(uartPort_t *s)
{
uint32_t ISR = s->USARTx->ISR;
@ -386,3 +528,21 @@ void USART3_IRQHandler(void)
usartIrqHandler(s);
}
#endif
#ifdef USE_USART4
void UART4_IRQHandler(void)
{
uartPort_t *s = &uartPort4;
usartIrqHandler(s);
}
#endif
#ifdef USE_USART5
void UART5_IRQHandler(void)
{
uartPort_t *s = &uartPort5;
usartIrqHandler(s);
}
#endif

1
src/main/drivers/system.h
View File

@ -42,6 +42,7 @@ void systemReset(void);
void systemResetToBootloader(void);
bool isMPUSoftReset(void);
void cycleCounterInit(void);
void checkForBootLoaderRequest(void);
void enableGPIOPowerUsageAndNoiseReductions(void);
// current crystal frequency - 8 or 12MHz

8
src/main/drivers/system_stm32f10x.c
View File

@ -37,7 +37,8 @@ void systemReset(void)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
void systemResetToBootloader(void)
{
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
@ -68,6 +69,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock(false);
#ifdef CC3D
@ -110,3 +113,6 @@ void systemInit(void)
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
{
}

9
src/main/drivers/system_stm32f30x.c
View File

@ -35,7 +35,8 @@ void systemReset(void)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
void systemResetToBootloader(void)
{
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
@ -82,6 +83,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
// Enable FPU
SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
SetSysClock();
@ -102,3 +105,7 @@ void systemInit(void)
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
{
}

17
src/main/drivers/system_stm32f4xx.c
View File

@ -169,6 +169,8 @@ bool isMPUSoftReset(void)
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock();
// Configure NVIC preempt/priority groups
@ -194,3 +196,18 @@ void systemInit(void)
SysTick_Config(SystemCoreClock / 1000);
}
void(*bootJump)(void);
void checkForBootLoaderRequest(void)
{
if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
*((uint32_t *)0x2001FFFC) = 0x0;
__enable_irq();
__set_MSP(0x20001000);
bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004));
bootJump();
while (1);
}
}

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

@ -316,7 +316,7 @@ serialPort_t *openSerialPort(
#endif
#ifdef USE_USART5
case SERIAL_PORT_USART5:
serialPort = uartOpen(USART5, callback, baudRate, mode, options);
serialPort = uartOpen(UART5, callback, baudRate, mode, options);
break;
#endif
#ifdef USE_USART6

4
src/main/io/serial_4way.c
View File

@ -120,12 +120,12 @@ void setEscLo(uint8_t selEsc)
void setEscInput(uint8_t selEsc)
{
IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU_25);
IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU);
}
void setEscOutput(uint8_t selEsc)
{
IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP_25);
IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP);
}
// Initialize 4way ESC interface

24
src/main/io/serial_cli.c
View File

@ -112,6 +112,7 @@ static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
void cliDfu(char *cmdLine);
static void cliDump(char *cmdLine);
void cliDumpProfile(uint8_t profileIndex);
void cliDumpRateProfile(uint8_t rateProfileIndex) ;
@ -122,6 +123,7 @@ static void cliPlaySound(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliRebootEx(bool bootLoader);
static void cliSave(char *cmdline);
static void cliSerial(char *cmdline);
#ifndef SKIP_SERIAL_PASSTHROUGH
@ -263,8 +265,8 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile]", cliDump),
CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
CLI_COMMAND_DEF("feature", "configure features",
"list\r\n"
@ -2564,10 +2566,19 @@ static void cliRateProfile(char *cmdline) {
static void cliReboot(void)
{
cliPrint("\r\nRebooting");
cliRebootEx(false);
}
static void cliRebootEx(bool bootLoader)
{
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopMotors();
if (bootLoader) {
systemResetToBootloader();
return;
}
systemReset();
}
@ -3107,6 +3118,13 @@ static void cliResource(char *cmdline)
}
}
void cliDfu(char *cmdLine)
{
UNUSED(cmdLine);
cliPrint("\r\nRestarting in DFU mode");
cliRebootEx(true);
}
void cliInit(serialConfig_t *serialConfig)
{
UNUSED(serialConfig);

1
src/main/target/ALIENFLIGHTF4/target.h
View File

@ -170,6 +170,7 @@
#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
#define SERIALRX_UART SERIAL_PORT_USART3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE