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

CF/BF - SPRACINGF3OSD initial target support inc support for OSD SLAVE via MSP_DISPLAYPORT. 

OSD is tested and working on an SPRACINGF3EVO stacked with an SPRACINGF3OSD.
This commit is contained in:
Hydra 2017-04-08 15:01:55 +01:00 committed by Dominic Clifton
parent 73e46e9050
commit ca5bafeab9
23 changed files with 638 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Makefile
View File

@ -760,6 +760,7 @@ COMMON_SRC = \
io/gps.c \
io/ledstrip.c \
io/osd.c \
io/osd_slave.c \
io/transponder_ir.c \
sensors/sonar.c \
sensors/barometer.c \
@ -851,6 +852,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
io/dashboard.c \
io/displayport_max7456.c \
io/osd.c \
io/osd_slave.c
SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
drivers/serial_escserial.c \

1
src/main/config/parameter_group_ids.h
View File

@ -112,6 +112,7 @@
#define PG_OSD_VIDEO_CONFIG 2046
#define PG_OSD_ELEMENT_CONFIG 2045
// 4095 is currently the highest number that can be used for a PGN due to the top 4 bits of the 16 bit value being reserved for the version when the PG is stored in an EEPROM.
#define PG_RESERVED_FOR_TESTING_1 4095
#define PG_RESERVED_FOR_TESTING_2 4094

23
src/main/drivers/max7456.c Executable file → Normal file
View File

@ -389,6 +389,8 @@ void max7456ReInit(void)
void max7456Init(const vcdProfile_t *pVcdProfile)
{
max7456HardwareReset();
#ifdef MAX7456_SPI_CS_PIN
max7456CsPin = IOGetByTag(IO_TAG(MAX7456_SPI_CS_PIN));
#endif
@ -612,4 +614,25 @@ void max7456WriteNvm(uint8_t char_address, const uint8_t *font_data)
max7456Lock = false;
}
#ifdef MAX7456_NRST_PIN
static IO_t max7456ResetPin = IO_NONE;
#endif
void max7456HardwareReset(void)
{
#ifdef MAX7456_NRST_PIN
#define IO_RESET_CFG IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_2MHz, GPIO_OType_PP, GPIO_PuPd_DOWN)
max7456ResetPin = IOGetByTag(IO_TAG(MAX7456_NRST_PIN));
IOInit(max7456ResetPin, OWNER_OSD, 0);
IOConfigGPIO(max7456ResetPin, IO_RESET_CFG);
// RESET
IOLo(max7456ResetPin);
delay(100);
IOHi(max7456ResetPin);
#endif
}
#endif

1
src/main/drivers/max7456.h
View File

@ -35,6 +35,7 @@
extern uint16_t maxScreenSize;
struct vcdProfile_s;
void max7456HardwareReset(void);
void max7456Init(const struct vcdProfile_s *vcdProfile);
void max7456DrawScreen(void);
void max7456WriteNvm(uint8_t char_address, const uint8_t *font_data);

37
src/main/fc/fc_init.c
View File

@ -91,6 +91,7 @@
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/osd_slave.h"
#include "io/displayport_msp.h"
#include "io/vtx.h"
#include "io/vtx_smartaudio.h"
@ -155,6 +156,21 @@ void processLoopback(void)
#endif
}
#ifdef BUS_SWITCH_PIN
void busSwitchInit(void)
{
static IO_t busSwitchResetPin = IO_NONE;
busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
// ENABLE
IOLo(busSwitchResetPin);
}
#endif
void init(void)
{
#ifdef USE_HAL_DRIVER
@ -255,6 +271,10 @@ void init(void)
timerInit(); // timer must be initialized before any channel is allocated
#ifdef BUS_SWITCH_PIN
busSwitchInit();
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
@ -440,11 +460,11 @@ void init(void)
cmsInit();
#endif
#if ( defined(OSD) || (defined(USE_MSP_DISPLAYPORT) && defined(CMS)) )
#if (defined(OSD) || (defined(USE_MSP_DISPLAYPORT) && defined(CMS)) || defined(USE_OSD_SLAVE))
displayPort_t *osdDisplayPort = NULL;
#endif
#ifdef OSD
#if defined(OSD) && !defined(USE_OSD_SLAVE)
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
if (feature(FEATURE_OSD)) {
@ -459,6 +479,15 @@ void init(void)
}
#endif
#if defined(USE_OSD_SLAVE) && !defined(OSD)
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
// osdInit will register with CMS by itself.
osdSlaveInit(osdDisplayPort);
#endif
#endif
#if defined(CMS) && defined(USE_MSP_DISPLAYPORT)
// If BFOSD is not active, then register MSP_DISPLAYPORT as a CMS device.
if (!osdDisplayPort)
@ -588,6 +617,10 @@ void init(void)
latchActiveFeatures();
motorControlEnable = true;
#ifdef USE_OSD_SLAVE
osdSlaveTasksInit();
#else
fcTasksInit();
#endif
systemState |= SYSTEM_STATE_READY;
}

52
src/main/fc/fc_msp.c
View File

@ -78,6 +78,7 @@
#include "io/ledstrip.h"
#include "io/motors.h"
#include "io/osd.h"
#include "io/osd_slave.h"
#include "io/serial.h"
#include "io/serial_4way.h"
#include "io/servos.h"
@ -2010,6 +2011,57 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
return ret;
}
void mspFcProcessReply(mspPacket_t *reply)
{
sbuf_t *src = &reply->buf;
UNUSED(src); // potentially unused depending on compile options.
switch (reply->cmd) {
case MSP_DISPLAYPORT: {
#ifdef USE_OSD_SLAVE
int subCmd = sbufReadU8(src);
switch (subCmd) {
case 0: // HEARTBEAT
//debug[0]++;
osdSlaveHeartbeat();
break;
case 1: // RELEASE
//debug[1]++;
break;
case 2: // CLEAR
//debug[2]++;
osdSlaveClearScreen();
break;
case 3: {
//debug[3]++;
#define MSP_OSD_MAX_STRING_LENGTH 30 // FIXME move this
const uint8_t y = sbufReadU8(src); // row
const uint8_t x = sbufReadU8(src); // column
const uint8_t reserved = sbufReadU8(src);
UNUSED(reserved);
char buf[MSP_OSD_MAX_STRING_LENGTH + 1];
const int len = MIN(sbufBytesRemaining(src), MSP_OSD_MAX_STRING_LENGTH);
sbufReadData(src, &buf, len);
buf[len] = 0;
osdSlaveWrite(x, y, buf);
break;
}
case 4: {
osdSlaveDrawScreen();
}
}
#endif
break;
}
}
}
/*
* Return a pointer to the process command function
*/

1
src/main/fc/fc_msp.h
View File

@ -31,3 +31,4 @@ const box_t *findBoxByPermanentId(uint8_t permenantId);
void mspFcInit(void);
mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
void mspFcProcessReply(mspPacket_t *reply);

58
src/main/fc/fc_tasks.c
View File

@ -59,6 +59,7 @@
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/osd_slave.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "io/vtx_tramp.h" // Will be gone
@ -96,6 +97,13 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
}
bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs) {
UNUSED(currentTimeUs);
UNUSED(currentDeltaTimeUs);
return mspSerialWaiting();
}
static void taskHandleSerial(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -106,7 +114,11 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
return;
}
#endif
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
#ifdef USE_OSD_SLAVE
mspSerialProcess(MSP_SKIP_NON_MSP_DATA, mspFcProcessCommand, mspFcProcessReply);
#else
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand, mspFcProcessReply);
#endif
}
void taskBatteryAlerts(timeUs_t currentTimeUs)
@ -208,6 +220,32 @@ void taskVtxControl(uint32_t currentTime)
}
#endif
#ifdef USE_OSD_SLAVE
void osdSlaveTasksInit(void)
{
schedulerInit();
setTaskEnabled(TASK_SERIAL, true);
bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
bool useBatteryAlerts = (batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts);
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
setTaskEnabled(TASK_OSD_SLAVE, true);
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
}
#endif
void fcTasksInit(void)
{
schedulerInit();
@ -281,6 +319,9 @@ void fcTasksInit(void)
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_OSD_SLAVE
setTaskEnabled(TASK_OSD_SLAVE, true);
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
@ -348,8 +389,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
#ifdef USE_OSD_SLAVE
.checkFunc = taskSerialCheck,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_REALTIME,
#else
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
#endif
},
[TASK_DISPATCH] = {
@ -457,6 +504,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef USE_OSD_SLAVE
[TASK_OSD_SLAVE] = {
.taskName = "OSD_SLAVE",
.checkFunc = osdSlaveCheck,
.taskFunc = osdSlaveUpdate,
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_HIGH,
},
#endif
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",

1
src/main/fc/fc_tasks.h
View File

@ -20,3 +20,4 @@
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
void fcTasksInit(void);
void osdSlaveTasksInit(void);

4
src/main/io/displayport_max7456.c
View File

@ -33,6 +33,7 @@
#include "io/displayport_max7456.h"
#include "io/osd.h"
#include "io/osd_slave.h"
displayPort_t max7456DisplayPort;
@ -41,9 +42,12 @@ PG_REGISTER(displayPortProfile_t, displayPortProfileMax7456, PG_DISPLAY_PORT_MAX
static int grab(displayPort_t *displayPort)
{
// FIXME this should probably not have a dependency on the OSD or OSD slave code
UNUSED(displayPort);
#ifdef OSD
osdResetAlarms();
refreshTimeout = 0;
#endif
return 0;
}

6
src/main/io/displayport_msp.c
View File

@ -79,8 +79,8 @@ static int clearScreen(displayPort_t *displayPort)
static int drawScreen(displayPort_t *displayPort)
{
UNUSED(displayPort);
return 0;
const uint8_t subcmd[] = { 4 };
return output(displayPort, MSP_DISPLAYPORT, subcmd, sizeof(subcmd));
}
static int screenSize(const displayPort_t *displayPort)
@ -90,7 +90,7 @@ static int screenSize(const displayPort_t *displayPort)
static int write(displayPort_t *displayPort, uint8_t col, uint8_t row, const char *string)
{
#define MSP_OSD_MAX_STRING_LENGTH 30
#define MSP_OSD_MAX_STRING_LENGTH 30 // FIXME move this
uint8_t buf[MSP_OSD_MAX_STRING_LENGTH + 4];
int len = strlen(string);

153
src/main/io/osd_slave.c Normal file
View File

@ -0,0 +1,153 @@
/*
* 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/>.
*/
/*
Created by Dominic Clifton
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_OSD_SLAVE
#include "build/debug.h"
#include "build/version.h"
#include "common/printf.h"
#include "common/utils.h"
#include "drivers/max7456_symbols.h"
#include "drivers/display.h"
#include "drivers/system.h"
#include "io/osd_slave.h"
//#define OSD_SLAVE_DEBUG
static displayPort_t *osdDisplayPort;
static void osdDrawLogo(int x, int y)
{
char fontOffset = 160;
for (int row = 0; row < 4; row++) {
for (int column = 0; column < 24; column++) {
if (fontOffset != 255) // FIXME magic number
displayWriteChar(osdDisplayPort, x + column, y + row, fontOffset++);
}
}
}
bool displayDrawScreenQueued = false;
bool receivingScreen = false;
bool stalled = false;
void osdSlaveDrawScreen(void)
{
displayDrawScreenQueued = true;
}
static uint32_t timeoutAt = 0;
void osdSlaveClearScreen(void)
{
displayClearScreen(osdDisplayPort);
receivingScreen = true;
}
void osdSlaveWriteChar(const uint8_t x, const uint8_t y, const uint8_t c)
{
displayWriteChar(osdDisplayPort, x, y, c);
}
void osdSlaveWrite(const uint8_t x, const uint8_t y, const char *s)
{
displayWrite(osdDisplayPort, x, y, s);
}
void osdSlaveHeartbeat(void)
{
timeoutAt = micros() + (1000 * 1000);
stalled = false;
}
void osdSlaveInit(displayPort_t *osdDisplayPortToUse)
{
if (!osdDisplayPortToUse)
return;
osdDisplayPort = osdDisplayPortToUse;
displayClearScreen(osdDisplayPort);
osdDrawLogo(3, 1);
char string_buffer[30];
sprintf(string_buffer, "V%s", FC_VERSION_STRING);
displayWrite(osdDisplayPort, 20, 6, string_buffer);
displayWrite(osdDisplayPort, 13, 6, "OSD");
displayResync(osdDisplayPort);
displayDrawScreenQueued = true;
}
bool osdSlaveCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
{
UNUSED(currentTimeUs);
UNUSED(currentDeltaTimeUs);
if (!stalled && (cmp32(currentTimeUs, timeoutAt) > 0)) {
stalled = true;
displayWrite(osdDisplayPort, 8, 12, "WAITING FOR FC");
displayResync(osdDisplayPort);
}
return receivingScreen || displayDrawScreenQueued || stalled;
}
/*
* Called periodically by the scheduler
*/
void osdSlaveUpdate(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
#ifdef MAX7456_DMA_CHANNEL_TX
// don't touch buffers if DMA transaction is in progress
if (displayIsTransferInProgress(osdDisplayPort)) {
return;
}
#endif // MAX7456_DMA_CHANNEL_TX
#ifdef OSD_SLAVE_DEBUG
char buff[32];
for (int i = 0; i < 4; i ++) {
sprintf(buff, "%5d", debug[i]);
displayWrite(osdDisplayPort, i * 8, 0, buff);
}
#endif
if (displayDrawScreenQueued || stalled) {
displayDrawScreen(osdDisplayPort);
displayDrawScreenQueued = false;
receivingScreen = false;
}
}
#endif // OSD_SLAVE

40
src/main/io/osd_slave.h Normal file
View File

@ -0,0 +1,40 @@
/*
* 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
#ifdef USE_OSD_SLAVE
#include "common/time.h"
struct displayPort_s;
// init
void osdSlaveInit(struct displayPort_s *osdDisplayPort);
// task api
bool osdSlaveCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
void osdSlaveUpdate(timeUs_t currentTimeUs);
// msp api
void osdSlaveHeartbeat(void);
void osdSlaveClearScreen(void);
void osdSlaveWriteChar(const uint8_t x, const uint8_t y, const uint8_t c);
void osdSlaveWrite(const uint8_t x, const uint8_t y, const char *s);
void osdSlaveDrawScreen(void);
#endif

1
src/main/msp/msp.h
View File

@ -35,3 +35,4 @@ typedef struct mspPacket_s {
struct serialPort_s;
typedef void (*mspPostProcessFnPtr)(struct serialPort_s *port); // msp post process function, used for gracefully handling reboots, etc.
typedef mspResult_e (*mspProcessCommandFnPtr)(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
typedef void (*mspProcessReplyFnPtr)(mspPacket_t *cmd);

57
src/main/msp/msp_serial.c
View File

@ -23,6 +23,7 @@
#include "common/streambuf.h"
#include "common/utils.h"
#include "build/debug.h"
#include "io/serial.h"
@ -82,7 +83,19 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c)
} else if (mspPort->c_state == MSP_HEADER_START) {
mspPort->c_state = (c == 'M') ? MSP_HEADER_M : MSP_IDLE;
} else if (mspPort->c_state == MSP_HEADER_M) {
mspPort->c_state = (c == '<') ? MSP_HEADER_ARROW : MSP_IDLE;
mspPort->c_state = MSP_IDLE;
switch(c) {
case '<': // COMMAND
mspPort->packetType = MSP_PACKET_COMMAND;
mspPort->c_state = MSP_HEADER_ARROW;
break;
case '>': // REPLY
mspPort->packetType = MSP_PACKET_REPLY;
mspPort->c_state = MSP_HEADER_ARROW;
break;
default:
break;
}
} else if (mspPort->c_state == MSP_HEADER_ARROW) {
if (c > MSP_PORT_INBUF_SIZE) {
mspPort->c_state = MSP_IDLE;
@ -173,12 +186,29 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
return mspPostProcessFn;
}
static void mspSerialProcessReceivedReply(mspPort_t *msp, mspProcessReplyFnPtr mspProcessReplyFn)
{
mspPacket_t reply = {
.buf = {
.ptr = msp->inBuf,
.end = msp->inBuf + msp->dataSize,
},
.cmd = msp->cmdMSP,
.result = 0,
};
mspProcessReplyFn(&reply);
msp->c_state = MSP_IDLE;
}
/*
* Process MSP commands from serial ports configured as MSP ports.
*
* Called periodically by the scheduler.
*/
void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn)
void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn, mspProcessReplyFnPtr mspProcessReplyFn)
{
for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t * const mspPort = &mspPorts[portIndex];
@ -196,7 +226,11 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessComm
}
if (mspPort->c_state == MSP_COMMAND_RECEIVED) {
mspPostProcessFn = mspSerialProcessReceivedCommand(mspPort, mspProcessCommandFn);
if (mspPort->packetType == MSP_PACKET_COMMAND) {
mspPostProcessFn = mspSerialProcessReceivedCommand(mspPort, mspProcessCommandFn);
} else if (mspPort->packetType == MSP_PACKET_REPLY) {
mspSerialProcessReceivedReply(mspPort, mspProcessReplyFn);
}
break; // process one command at a time so as not to block.
}
}
@ -207,6 +241,21 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessComm
}
}
bool mspSerialWaiting(void)
{
for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t * const mspPort = &mspPorts[portIndex];
if (!mspPort->port) {
continue;
}
if (serialRxBytesWaiting(mspPort->port)) {
return true;
}
}
return false;
}
void mspSerialInit(void)
{
memset(mspPorts, 0, sizeof(mspPorts));
@ -215,7 +264,7 @@ void mspSerialInit(void)
int mspSerialPush(uint8_t cmd, const uint8_t *data, int datalen)
{
static uint8_t pushBuf[30];
static uint8_t pushBuf[34];
int ret = 0;
mspPacket_t push = {

9
src/main/msp/msp_serial.h
View File

@ -32,6 +32,11 @@ typedef enum {
MSP_COMMAND_RECEIVED
} mspState_e;
typedef enum {
MSP_PACKET_COMMAND,
MSP_PACKET_REPLY
} mspPacketType_e;
typedef enum {
MSP_EVALUATE_NON_MSP_DATA,
MSP_SKIP_NON_MSP_DATA
@ -58,12 +63,14 @@ typedef struct mspPort_s {
uint8_t checksum;
uint8_t cmdMSP;
mspState_e c_state;
mspPacketType_e packetType;
uint8_t inBuf[MSP_PORT_INBUF_SIZE];
} mspPort_t;
void mspSerialInit(void);
void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn);
bool mspSerialWaiting(void);
void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn, mspProcessReplyFnPtr mspProcessReplyFn);
void mspSerialAllocatePorts(void);
void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
int mspSerialPush(uint8_t cmd, const uint8_t *data, int datalen);

3
src/main/scheduler/scheduler.h
View File

@ -95,6 +95,9 @@ typedef enum {
#ifdef OSD
TASK_OSD,
#endif
#ifdef USE_OSD_SLAVE
TASK_OSD_SLAVE,
#endif
#ifdef USE_BST
TASK_BST_MASTER_PROCESS,
#endif

4
src/main/target/SPRACINGF3EVO/target.h
View File

@ -145,6 +145,10 @@
#define CURRENT_METER_ADC_PIN PA5
#endif
#define OSD
#define USE_OSD_OVER_MSP_DISPLAYPORT
#undef USE_DASHBOARD
#define TRANSPONDER
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT

36
src/main/target/SPRACINGF3OSD/config.c Normal file
View File

@ -0,0 +1,36 @@
/*
* 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 <platform.h>
#include "drivers/serial.h"
#include "io/serial.h"
#include "config/feature.h"
#include "fc/config.h"
#ifdef TARGET_CONFIG
void targetConfiguration(void)
{
serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // To connect to FC.
}
#endif

36
src/main/target/SPRACINGF3OSD/target.c Normal file
View File

@ -0,0 +1,36 @@
/*
* 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 <stdint.h>
#include <platform.h>
#include "drivers/io.h"
#include "drivers/timer.h"
#include "drivers/timer_def.h"
#include "drivers/dma.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // DMA1_Channel2
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // DMA1_Channel4
DEF_TIM(TIM16, CH1, PB4, TIM_USE_MOTOR, 1 ), // DMA1_Channel3 or DMA1_Channel6 with Remap (need remap to free SPI1_TX for Flash)
DEF_TIM(TIM17, CH1, PB5, TIM_USE_MOTOR, 1 ), // DMA1_Channel1 or DMA1_Channel7 with Remap (need remap, ADC1 is on DMA1_Channel1)
DEF_TIM(TIM1, CH1, PA8, TIM_USE_TRANSPONDER, 0 ),
};

115
src/main/target/SPRACINGF3OSD/target.h Normal file
View File

@ -0,0 +1,115 @@
/*
* 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
#define TARGET_BOARD_IDENTIFIER "SOF3"
#define TARGET_CONFIG
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define LED0 PA15
#define USE_EXTI
#define GYRO
#define USE_FAKE_GYRO
#define ACC
#define USE_FAKE_ACC
#define REMAP_TIM16_DMA
#define REMAP_TIM17_DMA
#define USE_VCP
#define USE_UART1
#define USE_UART3
#define SERIAL_PORT_COUNT 3
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define BUS_SWITCH_PIN PB3 // connects and disconnects UART1 from external devices
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C_DEVICE (I2CDEV_1)
#define USE_SPI
#define USE_SPI_DEVICE_1 // Flash Chip
#define USE_SPI_DEVICE_2 // MAX7456
#define SPI1_NSS_PIN PA4
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define SPI2_NSS_PIN PB12
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI2
#define MAX7456_SPI_CS_PIN SPI2_NSS_PIN
#define MAX7456_NRST_PIN PB2
#define MAX7456_DMA_CHANNEL_TX DMA1_Channel5
#define MAX7456_DMA_CHANNEL_RX DMA1_Channel4
#define MAX7456_DMA_IRQ_HANDLER_ID DMA1_CH4_HANDLER
#define BOARD_HAS_VOLTAGE_DIVIDER
#define BOARD_HAS_CURRENT_SENSOR
#define USE_ADC
#define ADC_INSTANCE ADC1
#define VBAT_ADC_PIN PA2
#define CURRENT_METER_ADC_PIN PA3
#define VOLTAGE_12V_ADC_PIN PA0
#define VOLTAGE_5V_ADC_PIN PA1
#define TRANSPONDER
#define USE_OSD_SLAVE
#undef OSD
#undef GPS
#undef BLACKBOX
#undef TELEMETRY
#undef USE_SERVOS
#undef VTX_COMMON
#undef VTX_CONTROL
#undef VTX_SMARTAUDIO
#undef VTX_TRAMP
#undef USE_MSP_DISPLAYPORT
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER)
// IO - assuming 303 in 64pin package, TODO
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD (BIT(2))
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
#define USABLE_TIMER_CHANNEL_COUNT 12 // 2xPPM, 6xPWM, UART3 RX/TX, LED Strip, IR.
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15) | TIM_N(16))

6
src/main/target/SPRACINGF3OSD/target.mk Normal file
View File

@ -0,0 +1,6 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro_fake.c \
drivers/max7456.c

4
src/main/target/SPRACINGF4EVO/target.h
View File

@ -31,7 +31,7 @@
#define BEEPER PC15
#define BEEPER_INVERTED
#define INVERTER_PIN_UART2 PB2
#define INVERTER_PIN_UART2 PB2
#define USE_EXTI
#define MPU_INT_EXTI PC13
@ -154,6 +154,8 @@
#define BOARD_HAS_VOLTAGE_DIVIDER
#define OSD
#define USE_OSD_OVER_MSP_DISPLAYPORT
#define LED_STRIP
#define TRANSPONDER