diff --git a/baseflight.uvopt b/baseflight.uvopt index 637b26d3e..eaae91b9c 100755 --- a/baseflight.uvopt +++ b/baseflight.uvopt @@ -73,7 +73,7 @@ 1 0 - 1 + 0 255 @@ -523,6 +523,257 @@ + + STM32-FY90Q + 0x4 + ARM-ADS + + 8000000 + + 1 + 1 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + .\obj\ + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 255 + + + 0 + Reference Manual + DATASHTS\ST\STM32F10xxx.PDF + + + + SARMCM3.DLL + + DARMSTM.DLL + -pSTM32F103RB + SARMCM3.DLL + + TARMSTM.DLL + -pSTM32F103RB + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 0 + 0 + 1 + + + + + + + + + + + BIN\UL2CM3.DLL + + + + 0 + DLGTARM + (1010=333,106,699,649,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=1068,219,1479,610,0)(121=-1,-1,-1,-1,0)(122=828,316,1239,707,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=582,118,1166,798,0)(131=549,135,1133,815,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0) + + + 0 + ARMDBGFLAGS + + + + 0 + DLGUARM + (105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0) + + + 0 + JL2CM3 + -U5800306 -O110 -S8 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC72000000 -TP21 -TDS800B -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO3 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 + + + 0 + UL2CM3 + -UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 + + + + + 0 + 0 + 71 + 1 +
134237162
+ 0 + 0 + 0 + 0 + 1 + + + \\baseflight\src/spektrum.c\71 + + + 1 + 0 + 157 + 1 +
134250840
+ 0 + 0 + 0 + 0 + 1 + + + \\baseflight\src/baseflight_startups/startup_stm32f10x_md_fy90q.s\157 + + + + + 0 + 1 + gyroADC,0x0A + + + 1 + 1 + accADC,0x0A + + + 2 + 1 + cycleTime,0x0A + + + 3 + 1 + gyroData,0x0A + + + 4 + 1 + magADC,0x0A + + + 5 + 1 + angle,0x0A + + + 6 + 1 + accData + + + 7 + 1 + adcData,0x0A + + + + + 1 + 0 + \\baseflight\src/drv_adc_fy90q.c\adcData + + + + + 2 + 0 + \\baseflight\sensors.c\maginv + + + + 0 + 1 + 1 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + App 1 @@ -562,10 +813,10 @@ 1 0 0 - 16 + 0 0 - 25 - 50 + 46 + 56 0 .\src\imu.c imu.c @@ -578,8 +829,8 @@ 0 12 0 - 53 - 67 + 1 + 17 0 .\src\main.c main.c @@ -604,10 +855,10 @@ 1 0 0 - 0 + 10 0 - 466 - 489 + 497 + 507 0 .\src\mw.c mw.c @@ -618,10 +869,10 @@ 1 0 0 - 0 + 17 0 - 1 - 4 + 23 + 26 0 .\src\sensors.c sensors.c @@ -634,8 +885,8 @@ 0 31 0 - 82 - 98 + 0 + 0 0 .\src\serial.c serial.c @@ -648,8 +899,8 @@ 0 0 0 - 31 - 48 + 55 + 66 0 .\src\board.h board.h @@ -662,8 +913,8 @@ 0 0 0 - 1 - 1 + 7 + 7 0 .\src\mw.h mw.h @@ -725,8 +976,8 @@ 0 0 0 - 67 - 84 + 0 + 0 0 .\src\drv_adxl345.c drv_adxl345.c @@ -737,10 +988,10 @@ 1 0 0 - 0 + 15 0 - 0 - 0 + 1 + 19 0 .\src\drv_bmp085.c drv_bmp085.c @@ -753,8 +1004,8 @@ 0 21 0 - 1 - 23 + 0 + 0 0 .\src\drv_hmc5883l.c drv_hmc5883l.c @@ -779,10 +1030,10 @@ 1 0 0 - 0 + 26 0 - 77 - 117 + 0 + 0 0 .\src\drv_mpu3050.c drv_mpu3050.c @@ -793,10 +1044,10 @@ 1 0 0 - 6 + 0 0 - 253 - 278 + 1 + 1 0 .\src\drv_pwm.c drv_pwm.c @@ -809,8 +1060,8 @@ 0 0 0 - 32 - 39 + 38 + 50 0 .\src\drv_system.c drv_system.c @@ -845,18 +1096,46 @@ 2 - 23 + 0 1 0 0 0 0 - 192 - 223 + 146 + 168 0 .\src\drv_mpu6050.c drv_mpu6050.c + + 2 + 0 + 1 + 0 + 0 + 0 + 0 + 1 + 24 + 0 + .\src\drv_adc_fy90q.c + drv_adc_fy90q.c + + + 2 + 0 + 1 + 0 + 0 + 0 + 0 + 231 + 245 + 0 + .\src\drv_pwm_fy90q.c + drv_pwm_fy90q.c + @@ -912,10 +1191,10 @@ 1 0 0 - 0 + 19 0 - 0 - 0 + 656 + 656 0 .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_adc.c stm32f10x_adc.c @@ -1040,12 +1319,26 @@ 0 0 0 - 133 - 133 + 145 + 166 0 .\src\baseflight_startups\startup_stm32f10x_md.s startup_stm32f10x_md.s + + 3 + 0 + 2 + 0 + 0 + 0 + 0 + 125 + 133 + 0 + .\src\baseflight_startups\startup_stm32f10x_md_fy90q.s + startup_stm32f10x_md_fy90q.s + diff --git a/baseflight.uvproj b/baseflight.uvproj index 7f6d50f24..e5091c274 100755 --- a/baseflight.uvproj +++ b/baseflight.uvproj @@ -506,6 +506,94 @@ 1 .\src\drv_mpu6050.c + + drv_adc_fy90q.c + 1 + .\src\drv_adc_fy90q.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_pwm_fy90q.c + 1 + .\src\drv_pwm_fy90q.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + @@ -630,6 +718,45 @@ 2 .\src\baseflight_startups\startup_stm32f10x_md.s + + startup_stm32f10x_md_fy90q.s + 2 + .\src\baseflight_startups\startup_stm32f10x_md_fy90q.s + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 2 + 2 + 2 + 2 + 2 + 2 + + + + + + + + + + @@ -1134,6 +1261,94 @@ 1 .\src\drv_mpu6050.c + + drv_adc_fy90q.c + 1 + .\src\drv_adc_fy90q.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_pwm_fy90q.c + 1 + .\src\drv_pwm_fy90q.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + @@ -1204,6 +1419,1034 @@ 2 .\src\baseflight_startups\startup_stm32f10x_md.s + + startup_stm32f10x_md_fy90q.s + 2 + .\src\baseflight_startups\startup_stm32f10x_md_fy90q.s + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 2 + 2 + 2 + 2 + 2 + 2 + + + + + + + + + + + + + + + + STM32-FY90Q + 0x4 + ARM-ADS + + + STM32F103RB + STMicroelectronics + IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x801FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") + + "STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code") + UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000) + 4231 + stm32f10x_md.h + + + + + + + + + + SFD\ST\STM32F10xx\STM32F10xxB.sfr + 0 + + + + ST\STM32F10x\ + ST\STM32F10x\ + + 0 + 0 + 0 + 0 + 1 + + .\obj\ + baseflight_fy90q + 1 + 0 + 1 + 1 + 1 + .\obj\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + + + SARMCM3.DLL + + DARMSTM.DLL + -pSTM32F103RB + SARMCM3.DLL + + TARMSTM.DLL + -pSTM32F103RB + + + + 1 + 0 + 0 + 0 + 16 + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + + 0 + 1 + + + + + + + + + + + + + + BIN\UL2CM3.DLL + + + + + 1 + 0 + 0 + 1 + 1 + 4096 + + BIN\UL2CM3.DLL + "" () + + + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + "Cortex-M3" + + 0 + 0 + 0 + 1 + 1 + 0 + 0 + 0 + 0 + 0 + 8 + 1 + 0 + 0 + 3 + 3 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 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+ 1 + .\src\sensors.c + + + serial.c + 1 + .\src\serial.c + + + board.h + 5 + .\src\board.h + + + mw.h + 5 + .\src\mw.h + + + gps.c + 1 + .\src\gps.c + + + spektrum.c + 1 + .\src\spektrum.c + + + + + Drivers + + + drv_adc.c + 1 + .\src\drv_adc.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_adxl345.c + 1 + .\src\drv_adxl345.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_bmp085.c + 1 + .\src\drv_bmp085.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_hmc5883l.c + 1 + .\src\drv_hmc5883l.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + + + + + + + + + + + + drv_i2c.c + 1 + .\src\drv_i2c.c + + + drv_mpu3050.c + 1 + .\src\drv_mpu3050.c + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 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.\lib\CMSIS\CM3\CoreSupport\core_cm3.c + + + system_stm32f10x.c + 1 + .\lib\CMSIS\CM3\DeviceSupport\ST\STM32F10x\system_stm32f10x.c + + + misc.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\misc.c + + + stm32f10x_adc.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_adc.c + + + stm32f10x_dma.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_dma.c + + + stm32f10x_exti.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_exti.c + + + stm32f10x_i2c.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_i2c.c + + + stm32f10x_rcc.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_rcc.c + + + stm32f10x_tim.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_tim.c + + + stm32f10x_usart.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_usart.c + + + stm32f10x_gpio.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c + + + stm32f10x_flash.c + 1 + .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c + + + startup_stm32f10x_md.s + 2 + .\src\baseflight_startups\startup_stm32f10x_md.s + + + 2 + 0 + 0 + 0 + 0 + 0 + 2 + 2 + 2 + 2 + 11 + + + + + + 2 + 2 + 2 + 2 + 2 + 2 + 2 + + + + + + + + + + + + startup_stm32f10x_md_fy90q.s + 2 + .\src\baseflight_startups\startup_stm32f10x_md_fy90q.s + diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 487dd57f9..a8c9ae9dc 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,81 +1,81 @@ :020000040800F2 -:10000000C8170020F574000835750008377500081A -:10001000397500083B7500083D75000800000000B8 -:100020000000000000000000000000003F75000814 -:10003000417500080000000043750008854B00086A -:1000400047750008477500084775000847750008A0 -:100050004775000847750008477500084775000890 -:100060004775000847750008477500084775000880 -:100070004775000847750008F34D000847750008EC -:100080004775000847750008477500084775000860 -:100090004775000847750008477500084775000850 -:1000A0004775000847750008477500084775000840 -:1000B000554700086747000847750008A143000836 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+:107F9000B4020000F26E000874800008B4020020F1 +:107FA00044140000F07000084113217C1B085D049C +:107FB0001A98041A1E041A250413CB7B1B08C60446 +:107FC0001A120C1AC3081A92081ACE081A6E081A46 +:107FD0009E041AD90C1A3D081AE6081ABC04411A64 +:107FE0004B101A82041A2C041A4F041A63041A87BD +:107FF000041AF2201AFA041A090C1A7E04411AD53E +:10800000101A580C1AE2089A7818720C024F017272 +:1080100004CBDC0502018A09169A021E03026901DB +:1080200022403A020812043A040812083A080812D8 +:108030000C22105A0420190839201908392019086F +:1080400029201334081B4038041A3C0419191B401A +:1080500034181A38041A3C04193112403BA24A550C +:1080600039D3380B02030406070809020406612904 +:04807000106914413E +:04000005080000ED02 +:00000001FF diff --git a/src/baseflight_startups/startup_stm32f10x_md_fy90q.s b/src/baseflight_startups/startup_stm32f10x_md_fy90q.s new file mode 100644 index 000000000..dd7e1376d --- /dev/null +++ b/src/baseflight_startups/startup_stm32f10x_md_fy90q.s @@ -0,0 +1,359 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_md.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Medium Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00001000 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1_2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =0x20004FF0 + LDR R1, =0xDEADBEEF + LDR R2, [R0, #0] + STR R0, [R0, #0] ; Invalidate + CMP R2, R1 + BEQ Reboot_Loader + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +RCC_APB2ENR EQU 0x40021018 +GPIO_AFIO_MASK EQU 0x00000015 +GPIOA_CRH EQU 0x40010804 +GPIOA_BRR EQU 0x40010814 +GPIOC_CRH EQU 0x40011004 +GPIOC_BRR EQU 0x40011014 +AFIO_MAPR EQU 0x40010004 + +Reboot_Loader PROC + EXPORT Reboot_Loader + + ; RCC Enable GPIOA+C+AFIO + LDR R6, =RCC_APB2ENR + LDR R0, =GPIO_AFIO_MASK + STR R0, [R6] + ; MAPR pt1 + LDR R0, =AFIO_MAPR + LDR R1, [R0] + BIC R1, R1, #0xF000000 + STR R1, [R0] + ; MAPR pt2 + LSLS R1, R0, #9 + STR R1, [R0] + ; GPIO A BRR + LDR R4, =GPIOA_BRR + MOVS R0, #0x8000 + STR R0, [R4] + ; GPIO A CRL + LDR R1, =GPIOA_CRH + LDR R0, =0x34444444 + STR R0, [R1] + ; GPIO C BRR + LDR R4, =GPIOC_BRR + MOVS R0, #0x1000 + STR R0, [R4] + ; GPIO C CRL + LDR R1, =GPIOC_CRH + LDR R0, =0x44434444 + STR R0, [R1] + ; Reboot to ROM + LDR R0, =0x1FFFF000 + LDR SP,[R0, #0] + LDR R0,[R0, #4] + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler + + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/src/board.h b/src/board.h index cfe5e101c..ee0c05d17 100755 --- a/src/board.h +++ b/src/board.h @@ -55,7 +55,20 @@ typedef struct sensor_t #define digitalLo(p, i) { p->BRR = i; } #define digitalToggle(p, i) { p->ODR ^= i; } -// Hardware GPIO +// Hardware definitions and GPIO + +#ifdef FY90Q + // FY90Q +#define LED0_GPIO GPIOC +#define LED0_PIN GPIO_Pin_12 +#define LED1_GPIO GPIOA +#define LED1_PIN GPIO_Pin_15 + +#define GYRO +#define ACC + +#else + // Afroflight32 #define LED0_GPIO GPIOB #define LED0_PIN GPIO_Pin_3 #define LED1_GPIO GPIOB @@ -65,6 +78,14 @@ typedef struct sensor_t #define BARO_GPIO GPIOC #define BARO_PIN GPIO_Pin_13 +#define GYRO +#define ACC +#define MAG +#define BARO +#define LEDRING + +#endif + // Helpful macros #define LED0_TOGGLE digitalToggle(LED0_GPIO, LED0_PIN); #define LED0_OFF digitalHi(LED0_GPIO, LED0_PIN); @@ -74,13 +95,26 @@ typedef struct sensor_t #define LED1_OFF digitalHi(LED1_GPIO, LED1_PIN); #define LED1_ON digitalLo(LED1_GPIO, LED1_PIN); +#ifdef BEEP_GPIO #define BEEP_TOGGLE digitalToggle(BEEP_GPIO, BEEP_PIN); #define BEEP_OFF digitalHi(BEEP_GPIO, BEEP_PIN); #define BEEP_ON digitalLo(BEEP_GPIO, BEEP_PIN); +#else +#define BEEP_TOGGLE ; +#define BEEP_OFF ; +#define BEEP_ON ; +#endif -#define BARO_OFF digitalLo(BARO_GPIO, BARO_PIN); -#define BARO_ON digitalHi(BARO_GPIO, BARO_PIN); +#ifdef FY90Q + // FY90Q +#include "drv_system.h" // timers, delays, etc +#include "drv_adc.h" +#include "drv_i2c.h" +#include "drv_pwm.h" +#include "drv_uart.h" +#else + // AfroFlight32 #include "drv_system.h" // timers, delays, etc #include "drv_adc.h" #include "drv_adxl345.h" @@ -92,3 +126,5 @@ typedef struct sensor_t #include "drv_mpu6050.h" #include "drv_pwm.h" #include "drv_uart.h" + +#endif diff --git a/src/drv_adc.h b/src/drv_adc.h index 97f01b753..18d2feab2 100755 --- a/src/drv_adc.h +++ b/src/drv_adc.h @@ -2,3 +2,6 @@ void adcInit(void); uint16_t adcGetBattery(void); +#ifdef FY90Q +void adcSensorInit(sensor_t *acc, sensor_t *gyro); +#endif diff --git a/src/drv_adc_fy90q.c b/src/drv_adc_fy90q.c new file mode 100644 index 000000000..480c55295 --- /dev/null +++ b/src/drv_adc_fy90q.c @@ -0,0 +1,130 @@ +#include "board.h" + +#define ADC_CHANNELS 10 + +volatile uint16_t adcData[ADC_CHANNELS] = { 0, }; +extern uint16_t acc_1G; + +static void adcAccRead(int16_t *accelData); +static void adcAccAlign(int16_t *accelData); +static void adcGyroRead(int16_t *gyroData); +static void adcGyroAlign(int16_t *gyroData); +static void adcDummyInit(void); + +void adcSensorInit(sensor_t *acc, sensor_t *gyro) +{ + acc->init = adcDummyInit; + acc->read = adcAccRead; + acc->align = adcAccAlign; + + gyro->init = adcDummyInit; + gyro->read = adcGyroRead; + gyro->align = adcGyroAlign; + + acc_1G = 376; +} + +void adcCalibrateADC(ADC_TypeDef *ADCx, int n) +{ + while (n > 0) { + delay(5); + // Enable ADC reset calibration register + ADC_ResetCalibration(ADCx); + // Check the end of ADC reset calibration register + while(ADC_GetResetCalibrationStatus(ADCx)); + // Start ADC calibration + ADC_StartCalibration(ADCx); + // Check the end of ADC calibration + while(ADC_GetCalibrationStatus(ADCx)); + n--; + } +} + +void adcInit(void) +{ + ADC_InitTypeDef ADC_InitStructure; + DMA_InitTypeDef DMA_InitStructure; + + // ADC assumes all the GPIO was already placed in 'AIN' mode + DMA_DeInit(DMA1_Channel1); + DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR; + DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adcData; + DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; + DMA_InitStructure.DMA_BufferSize = ADC_CHANNELS; + DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; + DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; + DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; + DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; + DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; + DMA_InitStructure.DMA_Priority = DMA_Priority_High; + DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; + DMA_Init(DMA1_Channel1, &DMA_InitStructure); + /* Enable DMA1 channel1 */ + DMA_Cmd(DMA1_Channel1, ENABLE); + + ADC_InitStructure.ADC_Mode = ADC_Mode_Independent; + ADC_InitStructure.ADC_ScanConvMode = ENABLE; + ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; + ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None; + ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; + ADC_InitStructure.ADC_NbrOfChannel = ADC_CHANNELS; + ADC_Init(ADC1, &ADC_InitStructure); + + ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_28Cycles5); // GY_X + ADC_RegularChannelConfig(ADC1, ADC_Channel_11, 2, ADC_SampleTime_28Cycles5); // GY_Y + ADC_RegularChannelConfig(ADC1, ADC_Channel_12, 3, ADC_SampleTime_28Cycles5); // GY_Z + + ADC_RegularChannelConfig(ADC1, ADC_Channel_13, 4, ADC_SampleTime_28Cycles5); // ACC_X + ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 5, ADC_SampleTime_28Cycles5); // ACC_Y + ADC_RegularChannelConfig(ADC1, ADC_Channel_15, 6, ADC_SampleTime_28Cycles5); // ACC_Z + + ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 7, ADC_SampleTime_28Cycles5); // POT_ELE + ADC_RegularChannelConfig(ADC1, ADC_Channel_6, 8, ADC_SampleTime_28Cycles5); // POT_AIL + ADC_RegularChannelConfig(ADC1, ADC_Channel_7, 9, ADC_SampleTime_28Cycles5); // POT_RUD + + ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 10, ADC_SampleTime_28Cycles5); // Power Monitor?? + + ADC_DMACmd(ADC1, ENABLE); + + ADC_Cmd(ADC1, ENABLE); + + // Calibrate ADC + adcCalibrateADC(ADC1, 2); + + // Fire off ADC + ADC_SoftwareStartConvCmd(ADC1, ENABLE); +} + +static void adcAccRead(int16_t *accelData) +{ + accelData[0] = adcData[3]; + accelData[1] = adcData[4]; + accelData[2] = adcData[5]; +} + +static void adcAccAlign(int16_t *accelData) +{ + // align OK +} + +static void adcGyroRead(int16_t *gyroData) +{ + gyroData[0] = adcData[0] * 2; + gyroData[1] = adcData[1] * 2; + gyroData[2] = adcData[2] * 2; +} + +static void adcGyroAlign(int16_t *gyroData) +{ + // align OK +} + +static void adcDummyInit(void) +{ + // nothing to init here +} + +uint16_t adcGetBattery(void) +{ + return adcData[9]; +} diff --git a/src/drv_bmp085.c b/src/drv_bmp085.c index 659018061..efa66a4b1 100755 --- a/src/drv_bmp085.c +++ b/src/drv_bmp085.c @@ -1,9 +1,11 @@ #include "board.h" // BMP085, Standard address 0x77 - static bool convDone = false; +#define BARO_OFF digitalLo(BARO_GPIO, BARO_PIN); +#define BARO_ON digitalHi(BARO_GPIO, BARO_PIN); + // EXTI14 for BMP085 End of Conversion Interrupt void EXTI15_10_IRQHandler(void) { diff --git a/src/drv_pwm_fy90q.c b/src/drv_pwm_fy90q.c new file mode 100644 index 000000000..b1b6aaba8 --- /dev/null +++ b/src/drv_pwm_fy90q.c @@ -0,0 +1,328 @@ +#include "board.h" + +#define PULSE_1MS (1000) // 1ms pulse width +// #define PULSE_PERIOD (2500) // pulse period (400Hz) +// #define PULSE_PERIOD_SERVO_DIGITAL (5000) // pulse period for digital servo (200Hz) +// #define PULSE_PERIOD_SERVO_ANALOG (20000) // pulse period for analog servo (50Hz) + +// Forward declaration +static void pwmIRQHandler(TIM_TypeDef *tim); +static void ppmIRQHandler(TIM_TypeDef *tim); + +// local vars +static struct TIM_Channel { + TIM_TypeDef *tim; + uint16_t channel; + uint16_t cc; +} Channels[] = { + { TIM2, TIM_Channel_1, TIM_IT_CC1 }, + { TIM2, TIM_Channel_2, TIM_IT_CC2 }, + { TIM2, TIM_Channel_3, TIM_IT_CC3 }, + { TIM2, TIM_Channel_4, TIM_IT_CC4 }, + { TIM3, TIM_Channel_1, TIM_IT_CC1 }, + { TIM3, TIM_Channel_2, TIM_IT_CC2 }, + { TIM3, TIM_Channel_3, TIM_IT_CC3 }, + { TIM3, TIM_Channel_4, TIM_IT_CC4 }, +}; + +static volatile uint16_t *OutputChannels[] = { + &(TIM4->CCR1), + &(TIM4->CCR2), + &(TIM4->CCR3), + &(TIM4->CCR4), + // Extended use during CPPM input (TODO) + &(TIM3->CCR1), + &(TIM3->CCR2), + &(TIM3->CCR3), + &(TIM3->CCR4), +}; + +static struct PWM_State { + uint8_t state; + uint16_t rise; + uint16_t fall; + uint16_t capture; +} Inputs[8] = { { 0, } }; + +static TIM_ICInitTypeDef TIM_ICInitStructure = { 0, }; +static bool usePPMFlag = false; +static uint8_t numOutputChannels = 0; +static volatile bool rcActive = false; + +void TIM2_IRQHandler(void) +{ + if (usePPMFlag) + ppmIRQHandler(TIM2); + else + pwmIRQHandler(TIM2); +} + +static void ppmIRQHandler(TIM_TypeDef *tim) +{ + uint16_t diff; + static uint16_t now; + static uint16_t last = 0; + static uint8_t chan = 0; + + if (TIM_GetITStatus(tim, TIM_IT_CC1) == SET) { + last = now; + now = TIM_GetCapture1(tim); + rcActive = true; + } + + TIM_ClearITPendingBit(tim, TIM_IT_CC1); + + if (now > last) { + diff = (now - last); + } else { + diff = ((0xFFFF - last) + now); + } + + if (diff > 4000) { + chan = 0; + } else { + if (diff > 750 && diff < 2250 && chan < 8) { // 750 to 2250 ms is our 'valid' channel range + Inputs[chan].capture = diff; + } + chan++; + } +} + +static void pwmIRQHandler(TIM_TypeDef *tim) +{ + uint8_t i; + uint16_t val = 0; + + for (i = 0; i < 8; i++) { + struct TIM_Channel channel = Channels[i]; + struct PWM_State *state = &Inputs[i]; + + if (channel.tim == tim && (TIM_GetITStatus(tim, channel.cc) == SET)) { + TIM_ClearITPendingBit(channel.tim, channel.cc); + if (i == 0) + rcActive = true; + + switch (channel.channel) { + case TIM_Channel_1: + val = TIM_GetCapture1(channel.tim); + break; + case TIM_Channel_2: + val = TIM_GetCapture2(channel.tim); + break; + case TIM_Channel_3: + val = TIM_GetCapture3(channel.tim); + break; + case TIM_Channel_4: + val = TIM_GetCapture4(channel.tim); + break; + } + + if (state->state == 0) + state->rise = val; + else + state->fall = val; + + if (state->state == 0) { + // switch states + state->state = 1; + + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.tim, &TIM_ICInitStructure); + } else { + // compute capture + if (state->fall > state->rise) + state->capture = (state->fall - state->rise); + else + state->capture = ((0xffff - state->rise) + state->fall); + + // switch state + state->state = 0; + + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.tim, &TIM_ICInitStructure); + } + } + } +} + +static void pwmInitializeInput(bool usePPM) +{ + GPIO_InitTypeDef GPIO_InitStructure = { 0, }; + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, }; + NVIC_InitTypeDef NVIC_InitStructure = { 0, }; + uint8_t i; + + // Input pins + if (usePPM) { + // Configure TIM2_CH1 for PPM input + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + // Input timer on TIM2 only for PPM + NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&NVIC_InitStructure); + + // TIM2 timebase + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); + TIM_TimeBaseStructure.TIM_Period = 0xffff; + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); + + // Input capture on TIM2_CH1 for PPM + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; + TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; + TIM_ICInitStructure.TIM_ICFilter = 0x0; + TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; + TIM_ICInit(TIM2, &TIM_ICInitStructure); + + // TIM2_CH1 capture compare interrupt enable + TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE); + TIM_Cmd(TIM2, ENABLE); + + // configure number of PWM outputs, in PPM mode, we use bottom 4 channels more more motors + numOutputChannels = 10; + } else { + // Configure TIM2 all 4 channels + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + // TODO Configure EXTI4 1 channel + + // Input timers on TIM2 for PWM + NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&NVIC_InitStructure); + + // TIM2 timebase + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); + TIM_TimeBaseStructure.TIM_Period = 0xffff; + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); + + // PWM Input capture + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; + TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; + TIM_ICInitStructure.TIM_ICFilter = 0x0; + + for (i = 0; i < 4; i++) { + TIM_ICInitStructure.TIM_Channel = Channels[i].channel; + TIM_ICInit(Channels[i].tim, &TIM_ICInitStructure); + } + + // TODO EXTI4 + + TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE); + // TODO EXTI4 + TIM_Cmd(TIM2, ENABLE); + + // In PWM input mode, all 4 channels are wasted + numOutputChannels = 4; + } +} + +bool pwmInit(drv_pwm_config_t *init) +{ + GPIO_InitTypeDef GPIO_InitStructure = { 0, }; + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, }; + TIM_OCInitTypeDef TIM_OCInitStructure = { 0, }; + + uint8_t i; + + // Inputs + + // RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration] + // RX2 TIM2_CH2 PA1 + // RX3 TIM2_CH3 PA2 [also UART2_TX] + // RX4 TIM2_CH4 PA3 [also UART2_RX] + // RX5 TIM3_CH1 PA6 [also ADC_IN6] + // RX6 TIM3_CH2 PA7 [also ADC_IN7] + // RX7 TIM3_CH3 PB0 [also ADC_IN8] + // RX8 TIM3_CH4 PB1 [also ADC_IN9] + + // Outputs + // PWM1 TIM1_CH1 PA8 + // PWM2 TIM1_CH4 PA11 + // PWM3 TIM4_CH1 PB6 [also I2C1_SCL] + // PWM4 TIM4_CH2 PB7 [also I2C1_SDA] + // PWM5 TIM4_CH3 PB8 + // PWM6 TIM4_CH4 PB9 + + // use PPM or PWM input + usePPMFlag = init->usePPM; + + // preset channels to center + for (i = 0; i < 8; i++) + Inputs[i].capture = 1500; + + // Timers run at 1mhz. + // TODO: clean this shit up. Make it all dynamic etc. + if (init->enableInput) + pwmInitializeInput(usePPMFlag); + + // Output pins (4x) + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOB, &GPIO_InitStructure); + + // Output timer + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); + + TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1; + TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); + + TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; + TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; + TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; + TIM_OCInitStructure.TIM_Pulse = PULSE_1MS; + TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; + TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; + + // PWM1,2,3,4 + TIM_OC1Init(TIM4, &TIM_OCInitStructure); + TIM_OC2Init(TIM4, &TIM_OCInitStructure); + TIM_OC3Init(TIM4, &TIM_OCInitStructure); + TIM_OC4Init(TIM4, &TIM_OCInitStructure); + + TIM_Cmd(TIM4, ENABLE); + TIM_CtrlPWMOutputs(TIM4, ENABLE); + + // turn on more motor outputs if we're using ppm / not using pwm input + if (!init->enableInput || init->usePPM) { + // TODO + } + + return false; +} + +void pwmWrite(uint8_t channel, uint16_t value) +{ + if (channel < numOutputChannels) + *OutputChannels[channel] = value; +} + +uint16_t pwmRead(uint8_t channel) +{ + return Inputs[channel].capture; +} + +uint8_t pwmGetNumOutputChannels(void) +{ + return numOutputChannels; +} diff --git a/src/drv_system.c b/src/drv_system.c index 79b5db332..0af3407f2 100755 --- a/src/drv_system.c +++ b/src/drv_system.c @@ -5,6 +5,13 @@ #define DWT_CYCCNT ((volatile uint32_t *)0xE0001004) #define CYCCNTENA (1 << 0) +typedef struct gpio_config_t +{ + GPIO_TypeDef *gpio; + uint16_t pin; + GPIOMode_TypeDef mode; +} gpio_config_t; + // cycles per microsecond static volatile uint32_t usTicks = 0; // current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care. @@ -52,6 +59,16 @@ uint32_t millis(void) void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; + uint8_t i; + + gpio_config_t gpio_cfg[] = { + { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED) + { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED) +#ifndef FY90Q + { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer) +#endif + }; + uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); @@ -77,20 +94,15 @@ void systemInit(void) GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Configure gpio + for (i = 0; i < gpio_count; i++) { + GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; + GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); + } - // PB3, PB4 (LEDs) - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; - GPIO_Init(GPIOB, &GPIO_InitStructure); LED0_OFF; LED1_OFF; - - // PA12 (Buzzer) - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; - GPIO_Init(GPIOA, &GPIO_InitStructure); BEEP_OFF; // Init cycle counter @@ -101,7 +113,9 @@ void systemInit(void) // Configure the rest of the stuff adcInit(); +#ifndef FY90Q i2cInit(I2C2); +#endif // sleep for 100ms delay(100); diff --git a/src/imu.c b/src/imu.c index d34dfccbd..9b133512a 100755 --- a/src/imu.c +++ b/src/imu.c @@ -23,9 +23,11 @@ void imuInit(void) { acc_25deg = acc_1G * 0.423f; +#ifdef MAG // if mag sensor is enabled, use it if (sensors(SENSOR_MAG)) Mag_init(); +#endif } void computeIMU(void) @@ -230,12 +232,15 @@ static void getEstimatedAttitude(void) angle[ROLL] = _atan2f(EstG.V.X, EstG.V.Z); angle[PITCH] = _atan2f(EstG.V.Y, EstG.V.Z); +#ifdef MAG if (sensors(SENSOR_MAG)) { // Attitude of the cross product vector GxM heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10; } +#endif } +#ifdef BARO #define UPDATE_INTERVAL 25000 // 40hz update rate (20hz LPF on acc) #define INIT_DELAY 4000000 // 4 sec initialization delay #define BARO_TAB_SIZE 40 @@ -288,3 +293,4 @@ void getEstimatedAltitude(void) temp32 = errorAltitudeI / 500; // I in range +/-60 BaroPID += temp32; } +#endif /* BARO */ diff --git a/src/main.c b/src/main.c index 464bd933e..fafe35c97 100755 --- a/src/main.c +++ b/src/main.c @@ -35,6 +35,20 @@ int main(void) uint8_t i; drv_pwm_config_t pwm_params; +#if 0 + // PC12, PA15 + // using this to write asm for bootloader :) + RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only + AFIO->MAPR &= 0xF0FFFFFF; + AFIO->MAPR = 0x02000000; + GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz + GPIOA->BRR = 0x8000; // set low 15 + GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz + GPIOC->BRR = 0x1000; // set low 12 + +#endif + + #if 0 // using this to write asm for bootloader :) RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO @@ -52,7 +66,13 @@ int main(void) serialInit(cfg.serial_baudrate); // We have these sensors +#ifndef FY90Q + // AfroFlight32 sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG); +#else + // FY90Q + sensorsSet(SENSOR_ACC); +#endif mixerInit(); // this will set useServo var depending on mixer type // pwmInit returns true if throttle calibration is requested. if so, do it here. throttleCalibration() does NOT return - for safety. diff --git a/src/mw.c b/src/mw.c index 98d0b7a32..4d1762a74 100755 --- a/src/mw.c +++ b/src/mw.c @@ -181,6 +181,7 @@ void annexCode(void) } } +#ifdef LEDRING if (feature(FEATURE_LED_RING)) { static uint32_t LEDTime; if (currentTime > LEDTime) { @@ -188,6 +189,7 @@ void annexCode(void) ledringState(); } } +#endif if (currentTime > calibratedAccTime) { if (smallAngle25 == 0) { @@ -333,23 +335,31 @@ void loop(void) } else if (rcData[PITCH] > cfg.maxcheck) { cfg.accTrim[PITCH] += 2; writeParams(); +#ifdef LEDRING if (feature(FEATURE_LED_RING)) ledringBlink(); +#endif } else if (rcData[PITCH] < cfg.mincheck) { cfg.accTrim[PITCH] -= 2; writeParams(); +#ifdef LEDRING if (feature(FEATURE_LED_RING)) ledringBlink(); +#endif } else if (rcData[ROLL] > cfg.maxcheck) { cfg.accTrim[ROLL] += 2; writeParams(); +#ifdef LEDRING if (feature(FEATURE_LED_RING)) ledringBlink(); +#endif } else if (rcData[ROLL] < cfg.mincheck) { cfg.accTrim[ROLL] -= 2; writeParams(); +#ifdef LEDRING if (feature(FEATURE_LED_RING)) ledringBlink(); +#endif } else { rcDelayCommand = 0; } @@ -402,6 +412,7 @@ void loop(void) LED1_OFF; } +#ifdef BARO if (sensors(SENSOR_BARO)) { if (rcOptions[BOXBARO]) { if (baroMode == 0) { @@ -414,7 +425,9 @@ void loop(void) } else baroMode = 0; } +#endif +#ifdef MAG if (sensors(SENSOR_MAG)) { if (rcOptions[BOXMAG]) { if (magMode == 0) { @@ -430,6 +443,7 @@ void loop(void) } else headFreeMode = 0; } +#endif if (sensors(SENSOR_GPS)) { if (rcOptions[BOXGPSHOME]) { @@ -456,18 +470,24 @@ void loop(void) switch (taskOrder) { case 0: taskOrder++; +#ifdef MAG if (sensors(SENSOR_MAG)) Mag_getADC(); +#endif break; case 1: taskOrder++; +#ifdef BARO if (sensors(SENSOR_BARO)) Baro_update(); +#endif break; case 2: taskOrder++; +#ifdef BARO if (sensors(SENSOR_BARO)) getEstimatedAltitude(); +#endif break; case 3: taskOrder++; @@ -487,8 +507,11 @@ void loop(void) cycleTime = currentTime - previousTime; previousTime = currentTime; +#ifdef MPU6050_DMP mpu6050DmpLoop(); +#endif +#ifdef MAG if (sensors(SENSOR_MAG)) { if (abs(rcCommand[YAW]) < 70 && magMode) { int16_t dif = heading - magHold; @@ -501,7 +524,9 @@ void loop(void) } else magHold = heading; } +#endif +#ifdef BARO if (sensors(SENSOR_BARO)) { if (baroMode) { if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) { @@ -510,6 +535,7 @@ void loop(void) rcCommand[THROTTLE] = initialThrottleHold + BaroPID; } } +#endif if (sensors(SENSOR_GPS)) { uint16_t GPS_dist = 0; diff --git a/src/sensors.c b/src/sensors.c index 697d9f835..8a8368677 100755 --- a/src/sensors.c +++ b/src/sensors.c @@ -19,6 +19,14 @@ extern uint8_t batteryCellCount; sensor_t acc; // acc access functions sensor_t gyro; // gyro access functions +#ifdef FY90Q +// FY90Q analog gyro/acc +void sensorsAutodetect(void) +{ + adcSensorInit(&acc, &gyro); +} +#else +// AfroFlight32 i2c sensors void sensorsAutodetect(void) { drv_adxl345_config_t acc_params; @@ -54,6 +62,7 @@ void sensorsAutodetect(void) // todo: this is driver specific :( mpu3050Config(cfg.gyro_lpf); } +#endif uint16_t batteryAdcToVoltage(uint16_t src) { @@ -175,6 +184,7 @@ void ACC_getADC(void) ACC_Common(); } +#ifdef BARO static uint32_t baroDeadline = 0; static uint8_t baroState = 0; static uint16_t baroUT = 0; @@ -214,6 +224,7 @@ void Baro_update(void) break; } } +#endif /* BARO */ static void GYRO_Common(void) { @@ -278,6 +289,7 @@ void Gyro_getADC(void) GYRO_Common(); } +#ifdef MAG static float magCal[3] = { 1.0, 1.0, 1.0 }; // gain for each axis, populated at sensor init static uint8_t magInit = 0; @@ -359,3 +371,4 @@ void Mag_getADC(void) } } } +#endif