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

SPRacingF7DUAL - Dual SIMULTANEOUS gyro support. (#5264) 

* CF/BF - Set STM32F7 SPI FAST clock to 13.5Mhz - Gyros not stable at
27mhz.

* CF/BF - Initial SPRacingF7DUAL commit.

Support two simultaneous gyro support (code by Dominic Clifton and Martin Budden)
There are new debug modes so you can see the difference between each gyro.

Notes:
* spi bus instance caching broke spi mpu detection because the detection
tries I2C first which overwrites the selected bus instance when using
dual gyro.
* ALL other dual-gyro boards have one sensor per bus.  SPRacingF7DUAL is has two per bus and thus commit has a lot of changes to fix SPI/BUS/GYRO initialisation issues.

* CF/BF - Add SPRacingF4EVODG target.

This target adds a second gyro to the board using the SPI pads on the back of the board.

* CF/BF - Temporarily disable Gyro EXTI pin to allow NEO target to build.
This commit is contained in:
Dominic Clifton 2018-03-03 23:29:31 +01:00 committed by Michael Keller
parent 9bcc6aca8e
commit cde9a9517b
29 changed files with 797 additions and 117 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
make/mcu/STM32F7.mk
View File

@ -18,8 +18,6 @@ EXCLUDES = stm32f7xx_hal_can.c \
stm32f7xx_hal_crc_ex.c \
stm32f7xx_hal_cryp.c \
stm32f7xx_hal_cryp_ex.c \
stm32f7xx_hal_dac.c \
stm32f7xx_hal_dac_ex.c \
stm32f7xx_hal_dcmi.c \
stm32f7xx_hal_dcmi_ex.c \
stm32f7xx_hal_dfsdm.c \

3
make/targets.mk
View File

@ -1,4 +1,4 @@
OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 FURYF4 REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 FURYF4 REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO SPRACINGF7DUAL STM32F3DISCOVERY
SKIP_TARGETS := ALIENWHOOP MOTOLABF4
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
@ -124,6 +124,7 @@ GROUP_4_TARGETS := \
SPRACINGF3OSD \
SPRACINGF4EVO \
SPRACINGF4NEO \
SPRACINGF7DUAL \
STM32F3DISCOVERY \
TINYBEEF3 \
TINYFISH \

4
src/main/build/debug.c
View File

@ -48,6 +48,10 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"FFT_FREQ",
"RX_FRSKY_SPI",
"GYRO_RAW",
"DUAL_GYRO",
"DUAL_GYRO_RAW",
"DUAL_GYRO_COMBINE",
"DUAL_GYRO_DIFF",
"MAX7456_SIGNAL",
"MAX7456_SPICLOCK",
"SBUS",

4
src/main/build/debug.h
View File

@ -66,6 +66,10 @@ typedef enum {
DEBUG_FFT_FREQ,
DEBUG_RX_FRSKY_SPI,
DEBUG_GYRO_RAW,
DEBUG_DUAL_GYRO,
DEBUG_DUAL_GYRO_RAW,
DEBUG_DUAL_GYRO_COMBINE,
DEBUG_DUAL_GYRO_DIFF,
DEBUG_MAX7456_SIGNAL,
DEBUG_MAX7456_SPICLOCK,
DEBUG_SBUS,

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

@ -65,6 +65,7 @@ typedef struct gyroDev_s {
float scale; // scalefactor
float gyroZero[XYZ_AXIS_COUNT];
float gyroADC[XYZ_AXIS_COUNT]; // gyro data after calibration and alignment
float gyroADCf[XYZ_AXIS_COUNT];
int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int16_t temperature;

77
src/main/drivers/accgyro/accgyro_mpu.c
View File

@ -208,8 +208,10 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
uint8_t sensor = MPU_NONE;
UNUSED(sensor);
// note, when USE_DUAL_GYRO is enabled the gyro->bus must already be initialised.
#ifdef USE_GYRO_SPI_MPU6000
#ifdef MPU6000_SPI_INSTANCE
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
#endif
#ifdef MPU6000_CS_PIN
@ -223,7 +225,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif
#ifdef USE_GYRO_SPI_MPU6500
#ifdef MPU6500_SPI_INSTANCE
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
#endif
#ifdef MPU6500_CS_PIN
@ -238,7 +240,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif
#ifdef USE_GYRO_SPI_MPU9250
#ifdef MPU9250_SPI_INSTANCE
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
#endif
#ifdef MPU9250_CS_PIN
@ -267,13 +269,14 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif
#ifdef USE_GYRO_SPI_ICM20689
#ifdef ICM20689_SPI_INSTANCE
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
#endif
#ifdef ICM20689_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = icm20689SpiDetect(&gyro->bus);
// icm20689SpiDetect detects ICM20602 and ICM20689
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
@ -281,7 +284,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif
#ifdef USE_ACCGYRO_BMI160
#ifdef BMI160_SPI_INSTANCE
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
#endif
#ifdef BMI160_CS_PIN
@ -304,39 +307,43 @@ void mpuDetect(gyroDev_t *gyro)
delay(35);
#ifdef USE_I2C
gyro->bus.bustype = BUSTYPE_I2C;
gyro->bus.busdev_u.i2c.device = MPU_I2C_INSTANCE;
gyro->bus.busdev_u.i2c.address = MPU_ADDRESS;
uint8_t sig = 0;
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
#else
bool ack = false;
if (gyro->bus.bustype == BUSTYPE_NONE) {
// if no bustype is selected try I2C first.
gyro->bus.bustype = BUSTYPE_I2C;
}
if (gyro->bus.bustype == BUSTYPE_I2C) {
gyro->bus.busdev_u.i2c.device = MPU_I2C_INSTANCE;
gyro->bus.busdev_u.i2c.address = MPU_ADDRESS;
uint8_t sig = 0;
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
if (ack) {
// If an MPU3050 is connected sig will contain 0.
uint8_t inquiryResult;
ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
return;
}
sig &= MPU_INQUIRY_MASK;
if (sig == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision(gyro);
} else if (sig == MPU6500_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
}
return;
}
}
#endif
if (!ack) {
#ifdef USE_SPI
detectSPISensorsAndUpdateDetectionResult(gyro);
#endif
return;
}
#ifdef USE_I2C
// If an MPU3050 is connected sig will contain 0.
uint8_t inquiryResult;
ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
return;
}
sig &= MPU_INQUIRY_MASK;
if (sig == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision(gyro);
} else if (sig == MPU6500_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
}
gyro->bus.bustype = BUSTYPE_SPI;
detectSPISensorsAndUpdateDetectionResult(gyro);
#endif
}

3
src/main/drivers/accgyro/accgyro_mpu.h
View File

@ -32,7 +32,6 @@
#define MPU_RA_WHO_AM_I 0x75
#define MPU_RA_WHO_AM_I_LEGACY 0x00
#define MPUx0x0_WHO_AM_I_CONST (0x68) // MPU3050, 6000 and 6050
#define MPU6000_WHO_AM_I_CONST (0x68)
#define MPU6500_WHO_AM_I_CONST (0x70)
@ -44,8 +43,6 @@
#define ICM20649_WHO_AM_I_CONST (0xE1)
#define ICM20689_WHO_AM_I_CONST (0x98)
// RA = Register Address
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD

7
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View File

@ -92,7 +92,6 @@ uint8_t icm20689SpiDetect(const busDevice_t *bus)
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
return icmDetected;
}
void icm20689AccInit(accDev_t *acc)
@ -102,7 +101,11 @@ void icm20689AccInit(accDev_t *acc)
bool icm20689SpiAccDetect(accDev_t *acc)
{
if (acc->mpuDetectionResult.sensor != ICM_20689_SPI) {
switch (acc->mpuDetectionResult.sensor) {
case ICM_20602_SPI:
case ICM_20689_SPI:
break;
default:
return false;
}

8
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View File

@ -38,19 +38,11 @@
static void mpu6500SpiInit(const busDevice_t *bus)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_FAST);
hardwareInitialised = true;
}
uint8_t mpu6500SpiDetect(const busDevice_t *bus)

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

@ -56,7 +56,7 @@ typedef enum {
#elif defined(STM32F7)
SPI_CLOCK_SLOW = 256, //00.42188 MHz
SPI_CLOCK_STANDARD = 16, //06.57500 MHz
SPI_CLOCK_FAST = 4, //27.00000 MHz
SPI_CLOCK_FAST = 8, //13.50000 MHz
SPI_CLOCK_ULTRAFAST = 2 //54.00000 MHz
#else
SPI_CLOCK_SLOW = 128, //00.56250 MHz

24
src/main/drivers/buttons.c
View File

@ -35,32 +35,52 @@ static IO_t buttonAPin = IO_NONE;
static IO_t buttonBPin = IO_NONE;
#endif
#ifdef BUTTON_A_PIN_INVERTED
#define BUTTON_A_PIN_GPIO_MODE IOCFG_IPD
#else
#define BUTTON_A_PIN_GPIO_MODE IOCFG_IPU
#endif
#ifdef BUTTON_B_PIN_INVERTED
#define BUTTON_B_PIN_GPIO_MODE IOCFG_IPD
#else
#define BUTTON_B_PIN_GPIO_MODE IOCFG_IPU
#endif
void buttonsInit(void)
{
#ifdef BUTTON_A_PIN
buttonAPin = IOGetByTag(IO_TAG(BUTTON_A_PIN));
IOInit(buttonAPin, OWNER_SYSTEM, 0);
IOConfigGPIO(buttonAPin, IOCFG_IPU);
IOConfigGPIO(buttonAPin, BUTTON_A_PIN_GPIO_MODE);
#endif
#ifdef BUTTON_B_PIN
buttonBPin = IOGetByTag(IO_TAG(BUTTON_B_PIN));
IOInit(buttonBPin, OWNER_SYSTEM, 0);
IOConfigGPIO(buttonBPin, IOCFG_IPU);
IOConfigGPIO(buttonBPin, BUTTON_B_PIN_GPIO_MODE);
#endif
}
#ifdef BUTTON_A_PIN
bool buttonAPressed(void)
{
#ifdef BUTTON_A_PIN_INVERTED
return IORead(buttonAPin);
#else
return !IORead(buttonAPin);
#endif
}
#endif
#ifdef BUTTON_B_PIN
bool buttonBPressed(void)
{
#ifdef BUTTON_B_PIN_INVERTED
return IORead(buttonBPin);
#else
return !IORead(buttonBPin);
#endif
}
#endif

4
src/main/drivers/serial_uart_hal.c
View File

@ -94,6 +94,10 @@ void uartReconfigure(uartPort_t *uartPort)
usartConfigurePinInversion(uartPort);
#ifdef TARGET_USART_CONFIG
usartTargetConfigure(uartPort);
#endif
if (uartPort->port.options & SERIAL_BIDIR)
{
HAL_HalfDuplex_Init(&uartPort->Handle);

35
src/main/fc/fc_init.c
View File

@ -18,6 +18,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
@ -196,52 +197,58 @@ static IO_t busSwitchResetPin = IO_NONE;
void spiPreInit(void)
{
#ifdef USE_ACC_SPI_MPU6000
#ifdef GYRO_1_CS_PIN
spiPreInitCs(IO_TAG(GYRO_1_CS_PIN));
#endif
#ifdef GYRO_2_CS_PIN
spiPreInitCs(IO_TAG(GYRO_2_CS_PIN));
#endif
#ifdef MPU6000_CS_PIN
spiPreInitCs(IO_TAG(MPU6000_CS_PIN));
#endif
#ifdef USE_ACC_SPI_MPU6500
#ifdef MPU6500_CS_PIN
spiPreInitCs(IO_TAG(MPU6500_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_MPU9250
#ifdef MPU9250_CS_PIN
spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20649
#ifdef ICM20649_CS_PIN
spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20689
#ifdef ICM20689_CS_PIN
spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
#endif
#ifdef USE_ACCGYRO_BMI160
#ifdef BMI160_CS_PIN
spiPreInitCs(IO_TAG(BMI160_CS_PIN));
#endif
#ifdef USE_GYRO_L3GD20
#ifdef L3GD20_CS_PIN
spiPreInitCs(IO_TAG(L3GD20_CS_PIN));
#endif
#ifdef USE_MAX7456
#ifdef MAX7456_SPI_CS_PIN
spiPreInitCsOutPU(IO_TAG(MAX7456_SPI_CS_PIN)); // XXX 3.2 workaround for Kakute F4. See comment for spiPreInitCSOutPU.
#endif
#ifdef USE_SDCARD
spiPreInitCs(sdcardConfig()->chipSelectTag);
#endif
#ifdef USE_BARO_SPI_BMP280
#ifdef BMP280_CS_PIN
spiPreInitCs(IO_TAG(BMP280_CS_PIN));
#endif
#ifdef USE_BARO_SPI_MS5611
#ifdef MS5611_CS_PIN
spiPreInitCs(IO_TAG(MS5611_CS_PIN));
#endif
#ifdef USE_BARO_SPI_LPS
#ifdef LPS_CS_PIN
spiPreInitCs(IO_TAG(LPS_CS_PIN));
#endif
#ifdef USE_MAG_SPI_HMC5883
#ifdef HMC5883_CS_PIN
spiPreInitCs(IO_TAG(HMC5883_CS_PIN));
#endif
#ifdef USE_MAG_SPI_AK8963
#ifdef AK8963_CS_PIN
spiPreInitCs(IO_TAG(AK8963_CS_PIN));
#endif
#if defined(RTC6705_CS_PIN) && !defined(USE_VTX_RTC6705_SOFTSPI) // RTC6705 soft SPI initialisation handled elsewhere.
spiPreInitCs(IO_TAG(RTC6705_CS_PIN));
#endif
#ifdef USE_FLASH_M25P16
#ifdef M25P16_CS_PIN
spiPreInitCs(IO_TAG(M25P16_CS_PIN));
#endif
#if defined(USE_RX_SPI) && !defined(USE_RX_SOFTSPI)

11
src/main/interface/settings.c
View File

@ -149,6 +149,12 @@ static const char * const lookupTableAlignment[] = {
"CW270FLIP"
};
#ifdef USE_DUAL_GYRO
static const char * const lookupTableGyro[] = {
"FIRST", "SECOND", "BOTH"
};
#endif
#ifdef USE_GPS
static const char * const lookupTableGPSProvider[] = {
"NMEA", "UBLOX"
@ -340,6 +346,9 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_OVERCLOCK
{ lookupOverclock, sizeof(lookupOverclock) / sizeof(char *) },
#endif
#ifdef USE_DUAL_GYRO
{ lookupTableGyro, sizeof(lookupTableGyro) / sizeof(char *) },
#endif
};
const clivalue_t valueTable[] = {
@ -374,7 +383,7 @@ const clivalue_t valueTable[] = {
#endif
#endif
#ifdef USE_DUAL_GYRO
{ "gyro_to_use", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
{ "gyro_to_use", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
#endif
// PG_ACCELEROMETER_CONFIG

3
src/main/interface/settings.h
View File

@ -76,6 +76,9 @@ typedef enum {
TABLE_RATES_TYPE,
#ifdef USE_OVERCLOCK
TABLE_OVERCLOCK,
#endif
#ifdef USE_DUAL_GYRO
TABLE_GYRO,
#endif
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;

12
src/main/sensors/acceleration.c
View File

@ -133,7 +133,6 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
#endif
retry:
dev->accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
@ -333,6 +332,17 @@ bool accInit(uint32_t gyroSamplingInverval)
acc.dev.bus = *gyroSensorBus();
acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
acc.dev.acc_high_fsr = accelerometerConfig()->acc_high_fsr;
#ifdef USE_DUAL_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
acc.dev.accAlign = ACC_2_ALIGN;
} else {
acc.dev.accAlign = ACC_1_ALIGN;
}
#else
acc.dev.accAlign = ALIGN_DEFAULT;
#endif
if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
return false;
}

229
src/main/sensors/gyro.c
View File

@ -80,6 +80,8 @@
FAST_RAM gyro_t gyro;
static FAST_RAM uint8_t gyroDebugMode;
static uint8_t gyroToUse = 0;
#ifdef USE_GYRO_OVERFLOW_CHECK
static FAST_RAM uint8_t overflowAxisMask;
#endif
@ -130,6 +132,10 @@ typedef struct gyroSensor_s {
} gyroSensor_t;
STATIC_UNIT_TESTED FAST_RAM gyroSensor_t gyroSensor1;
#ifdef USE_DUAL_GYRO
STATIC_UNIT_TESTED FAST_RAM gyroSensor_t gyroSensor2;
#endif
#ifdef UNIT_TEST
STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyroSensor1;
STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyroSensor1.gyroDev;
@ -158,6 +164,14 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 1);
#ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
#ifdef USE_DUAL_GYRO
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_BOTH
#else
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
#endif
#endif
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 48,
@ -167,7 +181,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_soft_lpf_hz = 90,
.gyro_high_fsr = false,
.gyro_use_32khz = false,
.gyro_to_use = 0,
.gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
.gyro_soft_notch_hz_1 = 400,
.gyro_soft_notch_cutoff_1 = 300,
.gyro_soft_notch_hz_2 = 200,
@ -183,25 +197,47 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
const busDevice_t *gyroSensorBus(void)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
} else {
return &gyroSensor1.gyroDev.bus;
}
#else
return &gyroSensor1.gyroDev.bus;
#endif
}
const mpuConfiguration_t *gyroMpuConfiguration(void)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.mpuConfiguration;
} else {
return &gyroSensor1.gyroDev.mpuConfiguration;
}
#else
return &gyroSensor1.gyroDev.mpuConfiguration;
#endif
}
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.mpuDetectionResult;
} else {
return &gyroSensor1.gyroDev.mpuDetectionResult;
}
#else
return &gyroSensor1.gyroDev.mpuDetectionResult;
#endif
}
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;
switch (gyroHardware) {
case GYRO_DEFAULT:
FALLTHROUGH;
@ -372,27 +408,14 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
static bool gyroInitSensor(gyroSensor_t *gyroSensor)
{
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
#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) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
#if defined(MPU_INT_EXTI)
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor->gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // MPU_INT_EXTI
#ifdef USE_DUAL_GYRO
// set cnsPin using GYRO_n_CS_PIN defined in target.h
gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_1_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_2_CS_PIN));
#else
gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = IO_NONE; // set cnsPin to IO_NONE so mpuDetect will set it according to value defined in target.h
#endif // USE_DUAL_GYRO
mpuDetect(&gyroSensor->gyroDev);
mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
#endif
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
if (gyroHardware == GYRO_NONE) {
@ -423,6 +446,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
}
gyroInitSensorFilters(gyroSensor);
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyseInit(gyro.targetLooptime);
#endif
@ -454,8 +478,80 @@ bool gyroInit(void)
break;
}
firstArmingCalibrationWasStarted = false;
bool ret = false;
memset(&gyro, 0, sizeof(gyro));
return gyroInitSensor(&gyroSensor1);
gyroToUse = gyroConfig()->gyro_to_use;
#if defined(USE_DUAL_GYRO) && defined(GYRO_1_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
IOInit(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOHi(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}
#endif
#if defined(USE_DUAL_GYRO) && defined(GYRO_2_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_2_CS_PIN));
IOInit(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, 1);
IOHi(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}
#endif
gyroSensor1.gyroDev.gyroAlign = ALIGN_DEFAULT;
#if defined(GYRO_1_EXTI_PIN)
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG(GYRO_1_EXTI_PIN);
#elif defined(MPU_INT_EXTI)
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor1.gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // GYRO_1_EXTI_PIN
#ifdef USE_DUAL_GYRO
#ifdef GYRO_1_ALIGN
gyroSensor1.gyroDev.gyroAlign = GYRO_1_ALIGN;
#endif
gyroSensor1.gyroDev.bus.bustype = BUSTYPE_SPI;
spiBusSetInstance(&gyroSensor1.gyroDev.bus, GYRO_1_SPI_INSTANCE);
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
ret = gyroInitSensor(&gyroSensor1);
if (!ret) {
return false; // TODO handle failure of first gyro detection better. - Perhaps update the config to use second gyro then indicate a new failure mode and reboot.
}
}
#else
ret = gyroInitSensor(&gyroSensor1);
#endif
#ifdef USE_DUAL_GYRO
gyroSensor2.gyroDev.gyroAlign = ALIGN_DEFAULT;
#if defined(GYRO_2_EXTI_PIN)
gyroSensor2.gyroDev.mpuIntExtiTag = IO_TAG(GYRO_2_EXTI_PIN);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor2.gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor2.gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // GYRO_2_EXTI_PIN
#ifdef GYRO_2_ALIGN
gyroSensor2.gyroDev.gyroAlign = GYRO_2_ALIGN;
#endif
gyroSensor2.gyroDev.bus.bustype = BUSTYPE_SPI;
spiBusSetInstance(&gyroSensor2.gyroDev.bus, GYRO_2_SPI_INSTANCE);
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
ret = gyroInitSensor(&gyroSensor2);
if (!ret) {
return false; // TODO handle failure of second gyro detection better. - Perhaps update the config to use first gyro then indicate a new failure mode and reboot.
}
}
#endif
return ret;
}
void gyroInitFilterLpf(gyroSensor_t *gyroSensor, uint8_t lpfHz)
@ -613,6 +709,9 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
void gyroInitFilters(void)
{
gyroInitSensorFilters(&gyroSensor1);
#ifdef USE_DUAL_GYRO
gyroInitSensorFilters(&gyroSensor2);
#endif
}
FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
@ -622,7 +721,22 @@ FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
FAST_CODE bool isGyroCalibrationComplete(void)
{
#ifdef USE_DUAL_GYRO
switch (gyroToUse) {
default:
case GYRO_CONFIG_USE_GYRO_1: {
return isGyroSensorCalibrationComplete(&gyroSensor1);
}
case GYRO_CONFIG_USE_GYRO_2: {
return isGyroSensorCalibrationComplete(&gyroSensor2);
}
case GYRO_CONFIG_USE_GYRO_BOTH: {
return isGyroSensorCalibrationComplete(&gyroSensor1) && isGyroSensorCalibrationComplete(&gyroSensor2);
}
}
#else
return isGyroSensorCalibrationComplete(&gyroSensor1);
#endif
}
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
@ -649,6 +763,9 @@ void gyroStartCalibration(bool isFirstArmingCalibration)
{
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor1);
#ifdef USE_DUAL_GYRO
gyroSetCalibrationCycles(&gyroSensor2);
#endif
if (isFirstArmingCalibration) {
firstArmingCalibrationWasStarted = true;
@ -793,10 +910,6 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
alignSensors(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);
} else {
performGyroCalibration(gyroSensor, gyroConfig()->gyroMovementCalibrationThreshold);
// Reset gyro values to zero to prevent other code from using uncalibrated data
gyro.gyroADCf[X] = 0.0f;
gyro.gyroADCf[Y] = 0.0f;
gyro.gyroADCf[Z] = 0.0f;
// still calibrating, so no need to further process gyro data
return;
}
@ -829,7 +942,7 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
gyroSensor->gyroDev.gyroADCf[axis] = gyroADCf;
if (!gyroSensor->overflowDetected) {
// integrate using trapezium rule to avoid bias
accumulatedMeasurements[axis] += 0.5f * (gyroPrevious[axis] + gyroADCf) * sampleDeltaUs;
@ -873,7 +986,7 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
gyroSensor->gyroDev.gyroADCf[axis] = gyroADCf;
if (!gyroSensor->overflowDetected) {
// integrate using trapezium rule to avoid bias
accumulatedMeasurements[axis] += 0.5f * (gyroPrevious[axis] + gyroADCf) * sampleDeltaUs;
@ -885,7 +998,65 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
{
#ifdef USE_DUAL_GYRO
switch (gyroToUse) {
case GYRO_CONFIG_USE_GYRO_1:
gyroUpdateSensor(&gyroSensor1, currentTimeUs);
if (isGyroSensorCalibrationComplete(&gyroSensor1)) {
gyro.gyroADCf[X] = gyroSensor1.gyroDev.gyroADCf[X];
gyro.gyroADCf[Y] = gyroSensor1.gyroDev.gyroADCf[Y];
gyro.gyroADCf[Z] = gyroSensor1.gyroDev.gyroADCf[Z];
}
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyroSensor1.gyroDev.gyroADCRaw[X]);
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyroSensor1.gyroDev.gyroADCRaw[Y]);
DEBUG_SET(DEBUG_DUAL_GYRO, 0, lrintf(gyroSensor1.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 0, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 1, lrintf(gyro.gyroADCf[Y]));
break;
case GYRO_CONFIG_USE_GYRO_2:
gyroUpdateSensor(&gyroSensor2, currentTimeUs);
if (isGyroSensorCalibrationComplete(&gyroSensor2)) {
gyro.gyroADCf[X] = gyroSensor2.gyroDev.gyroADCf[X];
gyro.gyroADCf[Y] = gyroSensor2.gyroDev.gyroADCf[Y];
gyro.gyroADCf[Z] = gyroSensor2.gyroDev.gyroADCf[Z];
}
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyroSensor2.gyroDev.gyroADCRaw[X]);
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyroSensor2.gyroDev.gyroADCRaw[Y]);
DEBUG_SET(DEBUG_DUAL_GYRO, 2, lrintf(gyroSensor2.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO, 3, lrintf(gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 2, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 3, lrintf(gyro.gyroADCf[Y]));
break;
case GYRO_CONFIG_USE_GYRO_BOTH:
gyroUpdateSensor(&gyroSensor1, currentTimeUs);
gyroUpdateSensor(&gyroSensor2, currentTimeUs);
if (isGyroSensorCalibrationComplete(&gyroSensor1) && isGyroSensorCalibrationComplete(&gyroSensor2)) {
gyro.gyroADCf[X] = (gyroSensor1.gyroDev.gyroADCf[X] + gyroSensor2.gyroDev.gyroADCf[X]) / 2.0f;
gyro.gyroADCf[Y] = (gyroSensor1.gyroDev.gyroADCf[Y] + gyroSensor2.gyroDev.gyroADCf[Y]) / 2.0f;
gyro.gyroADCf[Z] = (gyroSensor1.gyroDev.gyroADCf[Z] + gyroSensor2.gyroDev.gyroADCf[Z]) / 2.0f;
}
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyroSensor1.gyroDev.gyroADCRaw[X]);
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyroSensor1.gyroDev.gyroADCRaw[Y]);
DEBUG_SET(DEBUG_DUAL_GYRO, 0, lrintf(gyroSensor1.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyroSensor2.gyroDev.gyroADCRaw[X]);
DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyroSensor2.gyroDev.gyroADCRaw[Y]);
DEBUG_SET(DEBUG_DUAL_GYRO, 2, lrintf(gyroSensor2.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO, 3, lrintf(gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 1, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 2, lrintf(gyro.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 0, lrintf(gyroSensor1.gyroDev.gyroADCf[X] - gyroSensor2.gyroDev.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y] - gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf(gyroSensor1.gyroDev.gyroADCf[Z] - gyroSensor2.gyroDev.gyroADCf[Z]));
break;
}
#else
gyroUpdateSensor(&gyroSensor1, currentTimeUs);
gyro.gyroADCf[X] = gyroSensor1.gyroDev.gyroADCf[X];
gyro.gyroADCf[Y] = gyroSensor1.gyroDev.gyroADCf[Y];
gyro.gyroADCf[Z] = gyroSensor1.gyroDev.gyroADCf[Z];
#endif
}
bool gyroGetAccumulationAverage(float *accumulationAverage)
@ -920,7 +1091,15 @@ int16_t gyroGetTemperature(void)
int16_t gyroRateDps(int axis)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return lrintf(gyro.gyroADCf[axis] / gyroSensor2.gyroDev.scale);
} else {
return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
}
#else
return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
#endif
}
bool gyroOverflowDetected(void)

4
src/main/sensors/gyro.h
View File

@ -55,6 +55,10 @@ typedef enum {
GYRO_OVERFLOW_CHECK_ALL_AXES
} gyroOverflowCheck_e;
#define GYRO_CONFIG_USE_GYRO_1 0
#define GYRO_CONFIG_USE_GYRO_2 1
#define GYRO_CONFIG_USE_GYRO_BOTH 2
typedef struct gyroConfig_s {
sensor_align_e gyro_align; // gyro alignment
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.

12
src/main/target/KAKUTEF7/target.h
View File

@ -43,13 +43,19 @@
#define ACC_MPU6000_ALIGN CW270_DEG
//#define MPU_INT_EXTI PB9
#define MPU6000_CS_PIN SPI3_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI3
#define ICM20689_CS_PIN SPI4_NSS_PIN
#define ICM20689_SPI_INSTANCE SPI4
#define GYRO_2_CS_PIN MPU6000_CS_PIN
#define MPU6000_CS_PIN SPI3_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN ICM20689_CS_PIN
#define GYRO_2_CS_PIN MPU6000_CS_PIN
#define GYRO_1_SPI_INSTANCE ICM20689_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define ACC_1_ALIGN ACC_ICM20689_ALIGN
#define ACC_2_ALIGN ACC_MPU6000_ALIGN
#define GYRO_1_ALIGN GYRO_ICM20689_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6000_ALIGN
//#define USE_MPU_DATA_READY_SIGNAL

18
src/main/target/OMNIBUSF7/target.h
View File

@ -63,12 +63,18 @@
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN SPI3_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_2_CS_PIN MPU6000_CS_PIN
#define GYRO_1_CS_PIN MPU6500_CS_PIN
#define GYRO_2_CS_PIN MPU6000_CS_PIN
#define GYRO_MPU6500_ALIGN CW90_DEG
#define ACC_MPU6500_ALIGN CW90_DEG
#define GYRO_MPU6000_ALIGN CW90_DEG
#define ACC_MPU6000_ALIGN CW90_DEG
#define GYRO_MPU6000_ALIGN ALIGN_DEFAULT
#define ACC_MPU6000_ALIGN ALIGN_DEFAULT
#define ACC_1_ALIGN ACC_MPU6500_ALIGN
#define ACC_2_ALIGN ACC_MPU6000_ALIGN
#define GYRO_1_ALIGN GYRO_MPU6500_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6000_ALIGN
#define GYRO_1_SPI_INSTANCE MPU6500_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6000_SPI_INSTANCE
#else
#define MPU6000_CS_PIN SPI3_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI3
@ -76,6 +82,12 @@
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN MPU6000_CS_PIN
#define GYRO_2_CS_PIN MPU6500_CS_PIN
#define ACC_1_ALIGN ALIGN_DEFAULT
#define ACC_2_ALIGN ALIGN_DEFAULT
#define GYRO_1_ALIGN ALIGN_DEFAULT
#define GYRO_2_ALIGN ALIGN_DEFAULT
#define GYRO_1_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6500_SPI_INSTANCE
#endif
// TODO: dual gyro support

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

@ -98,6 +98,10 @@
#define USE_DUAL_GYRO
#define GYRO_1_CS_PIN MPU6000_CS_PIN
#define GYRO_2_CS_PIN ICM20601_CS_PIN
#define GYRO_1_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE ICM20601_SPI_INSTANCE
#define ACC_1_ALIGN ALIGN_DEFAULT
#define ACC_2_ALIGN ALIGN_DEFAULT
#endif
#if defined(SOULF4)

8
src/main/target/SPRACINGF3NEO/target.h
View File

@ -36,10 +36,10 @@
#define BEEPER PC15
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
//#define USE_EXTI
//#define MPU_INT_EXTI PC13
//#define USE_MPU_DATA_READY_SIGNAL
//#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_MAG_DATA_READY_SIGNAL
#define ENSURE_MAG_DATA_READY_IS_HIGH

54
src/main/target/SPRACINGF4EVO/target.h
View File

@ -23,6 +23,9 @@
#ifndef SPRACINGF4EVO_REV
#define SPRACINGF4EVO_REV 2
#endif
#ifdef SPRACINGF4EVODG
#define USE_DUAL_GYRO
#endif
#define USBD_PRODUCT_STRING "SP Racing F4 EVO"
@ -34,22 +37,42 @@
#define INVERTER_PIN_UART2 PB2
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_1_EXTI_PIN PC13
#ifdef USE_DUAL_GYRO
#define GYRO_2_EXTI_PIN PC5 // GYRO 2 / NC on prototype boards, but if it was it'd be here.
#endif
#define MPU_INT_EXTI
#ifndef SPRACINGF4EVODG
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#endif
#define USE_MAG_DATA_READY_SIGNAL
#define ENSURE_MAG_DATA_READY_IS_HIGH
#define USE_GYRO
// actual gyro is ICM20602 which is detected by the MPU6500 code
#define USE_GYRO_SPI_MPU6500
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define GYRO_MPU6500_ALIGN CW0_DEG
#ifndef USE_DUAL_GYRO
#define ACC_MPU6500_ALIGN CW0_DEG
#define GYRO_MPU6500_ALIGN CW0_DEG
#else
#define ACC_MPU6500_1_ALIGN CW0_DEG
#define GYRO_MPU6500_1_ALIGN CW0_DEG
#define ACC_MPU6500_2_ALIGN CW0_DEG
#define GYRO_MPU6500_2_ALIGN CW0_DEG
#define GYRO_1_ALIGN GYRO_MPU6500_1_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6500_2_ALIGN
#define ACC_1_ALIGN ACC_MPU6500_1_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_2_ALIGN
#endif
#define USE_BARO
#define USE_BARO_BMP280
@ -111,16 +134,18 @@
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define SPI3_NSS_PIN PA15 // NC
#define SPI3_SCK_PIN PB3 // NC
#define SPI3_MISO_PIN PB4 // NC
#define SPI3_MOSI_PIN PB5 // NC
#define SPI3_NSS_PIN PA15
#define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#if !defined(SPRACINGF4EVODG)
#define USE_VTX_RTC6705
#define VTX_RTC6705_OPTIONAL // SPI3 on an F4 EVO may be used for RTC6705 VTX control.
#define RTC6705_CS_PIN SPI3_NSS_PIN
#define RTC6705_SPI_INSTANCE SPI3
#endif
#define USE_SDCARD
@ -134,13 +159,19 @@
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
// Divide to under 25MHz for normal operation:
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
#define SDCARD_DMA_CHANNEL_TX DMA1_Stream4
#define SDCARD_DMA_CHANNEL 0
#ifndef USE_DUAL_GYRO
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#else
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN SPI3_NSS_PIN
#define GYRO_2_SPI_INSTANCE SPI3
#endif
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define USE_ADC
// It's possible to use ADC1 or ADC3 on this target, same pins.
@ -155,8 +186,9 @@
#define CURRENT_METER_ADC_PIN PC2
#define RSSI_ADC_PIN PC0
// PC3 - NC - Free for ADC12_IN13 / VTX Enable
// PC4 - NC - Free for ADC12_IN14 / VTX CS
// PC5 - NC - Free for ADC12_IN15 / VTX Enable / OSD VSYNC
// PC5 - NC - Free for ADC12_IN15 / OSD VSYNC / G2 MPU INT
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC

6
src/main/target/SPRACINGF4EVO/target.mk
View File

@ -10,3 +10,9 @@ TARGET_SRC = \
drivers/compass/compass_hmc5883l.c \
drivers/max7456.c \
drivers/vtx_rtc6705.c
ifeq ($(TARGET), SPRACINGF4EVODG)
TARGET_SRC += \
drivers/accgyro/accgyro_spi_icm20689.c
endif

62
src/main/target/SPRACINGF7DUAL/config.c Normal file
View File

@ -0,0 +1,62 @@
/*
* 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 "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/compass/compass.h"
#include "drivers/serial.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "sensors/sensors.h"
#include "sensors/compass.h"
#include "sensors/barometer.h"
#include "config/feature.h"
#include "fc/config.h"
#ifdef USE_TARGET_CONFIG
void targetConfiguration(void)
{
barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
#ifdef USE_TELEMETRY
// change telemetry settings
telemetryConfigMutable()->telemetry_inverted = 1;
telemetryConfigMutable()->halfDuplex = 1;
#endif
}
#endif

68
src/main/target/SPRACINGF7DUAL/target.c Normal file
View File

@ -0,0 +1,68 @@
/*
* 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(TIM9, CH2, PA3, TIM_USE_PPM | TIM_USE_PWM, 0, 0), // PPM / PWM1 / UART2 RX
DEF_TIM(TIM9, CH1, PA2, TIM_USE_PWM, 0, 0), // PPM / PWM2 / UART2 TX
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // ESC 1
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0), // ESC 2
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // ESC 3
DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 0), // ESC 4
DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), // ESC 5 / Conflicts with USART5_RX / SPI3_RX - SPI3_RX can be mapped to DMA1_ST3_CH0
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // ESC 6 / Conflicts with USART3_RX
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // ESC 7
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // ESC 8
DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0), // LED Strip
// Additional 2 PWM channels available on UART3 RX/TX pins
// However, when using led strip the timer cannot be used, but no code appears to prevent that right now
DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 0, 0), // Shared with UART3 TX PIN and SPI3 TX (OSD)
DEF_TIM(TIM2, CH4, PB11, TIM_USE_MOTOR, 0, 0), // Shared with UART3 RX PIN
DEF_TIM(TIM1, CH1, PA8, TIM_USE_TRANSPONDER, 0, 0), // Transponder
// Additional 2 PWM channels available on UART1 RX/TX pins
// However, when using transponder the timer cannot be used, but no code appears to prevent that right now
DEF_TIM(TIM1, CH2, PA9, TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 3
DEF_TIM(TIM1, CH3, PA10, TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 4
};
#if (SPRACINGF7DUAL_REV <= 1)
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
void usartTargetConfigure(uartPort_t *uartPort)
{
if (uartPort->USARTx == USART3) {
uartPort->Handle.AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_SWAP_INIT;
uartPort->Handle.AdvancedInit.Swap = UART_ADVFEATURE_SWAP_ENABLE;
}
}
#endif

231
src/main/target/SPRACINGF7DUAL/target.h Normal file
View File

@ -0,0 +1,231 @@
/*
* 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 "SP7D"
#define USE_TARGET_CONFIG
#ifndef SPRACINGF7DUAL_REV
#define SPRACINGF7DUAL_REV 2
#endif
#define USBD_PRODUCT_STRING "SP Racing F7 DUAL"
#define TEST_SOUND // for factory testing audio output
#define USE_DUAL_GYRO
//#define DEBUG_MODE DEBUG_DUAL_GYRO_DIFF
#define LED0_PIN PC4
#define BEEPER PC15
#define BEEPER_INVERTED
#define USE_EXTI
#define GYRO_1_EXTI_PIN PC13
#define GYRO_2_EXTI_PIN PC14
#define MPU_INT_EXTI
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#if (SPRACINGF7DUAL_REV >= 2)
#define ACC_MPU6500_1_ALIGN CW0_DEG
#define GYRO_MPU6500_1_ALIGN CW0_DEG
#define ACC_MPU6500_2_ALIGN CW270_DEG
#define GYRO_MPU6500_2_ALIGN CW270_DEG
#else
#define ACC_MPU6500_1_ALIGN CW180_DEG
#define GYRO_MPU6500_1_ALIGN CW180_DEG
#define ACC_MPU6500_2_ALIGN CW270_DEG
#define GYRO_MPU6500_2_ALIGN CW270_DEG
#endif
#define GYRO_1_ALIGN GYRO_MPU6500_1_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6500_2_ALIGN
#define ACC_1_ALIGN ACC_MPU6500_1_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_2_ALIGN
#define USE_BARO
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define DEFAULT_BARO_BMP280
#define USE_MAG
#define USE_MAG_HMC5883
#define USE_VCP
#define USE_UART1
#define USE_UART2
#define USE_UART3
#define USE_UART4
#define USE_UART5
#define SERIAL_PORT_COUNT 6
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART2_TX_PIN PA2
#define UART2_RX_PIN PA3
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11
#define UART4_TX_PIN PC10
#define UART4_RX_PIN PC11
#define UART5_TX_PIN PC12
#define UART5_RX_PIN PD2
#if (SPRACINGF7DUAL_REV <= 1)
#define TARGET_USART_CONFIG
#endif
// TODO
// #define USE_ESCSERIAL
// #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C_DEVICE (I2CDEV_1)
#define I2C1_SCL PB8
#define I2C1_SDA PB9
#define USE_SPI
#define USE_SPI_DEVICE_1 // 2xMPU
#define SPI1_NSS_PIN PA15
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define USE_SPI_DEVICE_2 // MAX7456
#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 USE_SPI_DEVICE_3 // SDCARD
#define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define USE_SDCARD
#define SDCARD_SPI_INSTANCE SPI3
#define SDCARD_SPI_CS_PIN PC3
// SPI3 is on the APB1 bus whose clock runs at 54MHz. Divide to under 400kHz for init:
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 54Mhz/256 = 210kHz
// Divide to under 25MHz for normal operation:
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 54Mhz/3 = 18Mhz // FIXME currently running slower than 18mhz for testing.
#define SDCARD_DMA_STREAM_TX_FULL DMA1_Stream7
#define SDCARD_DMA_TX DMA1
#define SDCARD_DMA_STREAM_TX 7
#define SDCARD_DMA_CLK LL_AHB1_GRP1_PERIPH_DMA1
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF7_4
#define SDCARD_DMA_CHANNEL DMA_CHANNEL_0
#define USE_VTX_RTC6705
#define USE_VTX_RTC6705_SOFTSPI
#define VTX_RTC6705_OPTIONAL // VTX/OSD board is OPTIONAL
#define RTC6705_SPI_MOSI_PIN PB0 // Shared with PWM8
#define RTC6705_CS_PIN PB6 // Shared with PWM5
#define RTC6705_SPICLK_PIN PB1 // Shared with PWM7
#define RTC6705_POWER_PIN PB7 // Shared with PWM6
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PB2
#define GYRO_2_SPI_INSTANCE SPI1
#define USE_ADC
// It's possible to use ADC1 or ADC3 on this target, same pins.
//#define ADC_INSTANCE ADC1
//#define ADC1_DMA_STREAM DMA2_Stream0
// Using ADC3 frees up DMA2_Stream0 for SPI1_RX
#define ADC_INSTANCE ADC3
#define ADC3_DMA_STREAM DMA2_Stream1
#define VBAT_ADC_PIN PC1
#define CURRENT_METER_ADC_PIN PC2
#define RSSI_ADC_PIN PC0
#define CURRENT_METER_SCALE_DEFAULT 300
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define USE_OSD
#define USE_OSD_OVER_MSP_DISPLAYPORT
#define USE_MSP_CURRENT_METER
#define USE_LED_STRIP
//TODO Implement transponder on F7
//#define USE_TRANSPONDER
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//#define RX_CHANNELS_TAER
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
#define GPS_UART SERIAL_PORT_USART3
#define SERIALRX_UART SERIAL_PORT_USART2
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define TELEMETRY_UART SERIAL_PORT_UART5
#define TELEMETRY_PROVIDER_DEFAULT FUNCTION_TELEMETRY_SMARTPORT
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_BUTTONS
#define BUTTON_A_PIN UART5_RX_PIN
#define BUTTON_A_PIN_INVERTED
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD (BIT(2))
//#define USABLE_TIMER_CHANNEL_COUNT 16 // 4xPWM, 8xESC, 2xESC via UART3 RX/TX, 1xLED Strip, 1xIR.
#define USABLE_TIMER_CHANNEL_COUNT 16
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(9))

16
src/main/target/SPRACINGF7DUAL/target.mk Normal file
View File

@ -0,0 +1,16 @@
F7X2RE_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro/accgyro_fake.c \
drivers/barometer/barometer_fake.c \
drivers/compass/compass_fake.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_ms5611.c \
drivers/compass/compass_hmc5883l.c \
drivers/max7456.c \
drivers/vtx_rtc6705_soft_spi.c

2
src/main/target/stm32f7xx_hal_conf.h
View File

@ -54,7 +54,7 @@
/* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */
#define HAL_DAC_MODULE_ENABLED
/* #define HAL_DCMI_MODULE_ENABLED */
/* #define HAL_DMA2D_MODULE_ENABLED */
/* #define HAL_ETH_MODULE_ENABLED */