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Merge remote-tracking branch 'betaflight/master' into bfdev-smartaudio

Browse source 
Merge master (with CMS auto repeat enhancement).
This commit is contained in:
jflyper 2016-11-15 16:10:01 +09:00
commit 03369a0038
13 changed files with 141 additions and 220 deletions
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126
src/main/cms/cms.c
View file

@ -160,23 +160,6 @@ static CMS_Menu menuErr = {
};
#endif
// Stick/key detection
#define IS_HI(X) (rcData[X] > 1750)
#define IS_LO(X) (rcData[X] < 1250)
#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
//key definiotion because API provide menu navigation over MSP/GUI app - not used NOW
#define KEY_ENTER 0
#define KEY_UP 1
#define KEY_DOWN 2
#define KEY_LEFT 3
#define KEY_RIGHT 4
#define KEY_ESC 5
#define BUTTON_TIME 250 // msec
#define BUTTON_PAUSE 500 // msec
static void cmsUpdateMaxRow(displayPort_t *instance)
{
maxRow = 0;
@ -185,7 +168,7 @@ static void cmsUpdateMaxRow(displayPort_t *instance)
maxRow++;
}
if (maxRow > MAX_MENU_ITEMS(instance)) {
if (maxRow > MAX_MENU_ITEMS(instance)) {
maxRow = MAX_MENU_ITEMS(instance);
}
@ -547,8 +530,6 @@ STATIC_UNIT_TESTED void cmsMenuOpen(void)
static void cmsTraverseGlobalExit(const CMS_Menu *pMenu)
{
debug[0]++;
for (const OSD_Entry *p = pMenu->entries; p->type != OME_END ; p++) {
if (p->type == OME_Submenu) {
cmsTraverseGlobalExit(p->data);
@ -556,7 +537,6 @@ static void cmsTraverseGlobalExit(const CMS_Menu *pMenu)
}
if (pMenu->onGlobalExit) {
debug[1]++;
pMenu->onGlobalExit();
}
}
@ -594,6 +574,24 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
return 0;
}
// Stick/key detection and key codes
#define IS_HI(X) (rcData[X] > 1750)
#define IS_LO(X) (rcData[X] < 1250)
#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
#define KEY_NONE 0
#define KEY_UP 1
#define KEY_DOWN 2
#define KEY_LEFT 3
#define KEY_RIGHT 4
#define KEY_ESC 5
#define KEY_MENU 6
#define BUTTON_TIME 250 // msec
#define BUTTON_PAUSE 500 // msec
STATIC_UNIT_TESTED uint16_t cmsHandleKey(displayPort_t *pDisplay, uint8_t key)
{
uint16_t res = BUTTON_TIME;
@ -782,9 +780,24 @@ STATIC_UNIT_TESTED uint16_t cmsHandleKey(displayPort_t *pDisplay, uint8_t key)
return res;
}
uint16_t cmsHandleKeyWithRepeat(displayPort_t *pDisplay, uint8_t key, int repeatCount)
{
uint16_t ret;
for (int i = 0 ; i < repeatCount ; i++) {
ret = cmsHandleKey(pDisplay, key);
}
return ret;
}
static void cmsUpdate(uint32_t currentTimeUs)
{
static int16_t rcDelayMs = BUTTON_TIME;
static int holdCount = 1;
static int repeatCount = 1;
static int repeatBase = 0;
static uint32_t lastCalledMs = 0;
static uint32_t lastCmsHeartBeatMs = 0;
@ -797,42 +810,79 @@ static void cmsUpdate(uint32_t currentTimeUs)
rcDelayMs = BUTTON_PAUSE; // Tends to overshoot if BUTTON_TIME
}
} else {
uint8_t key = 0;
if (rcDelayMs > 0) {
rcDelayMs -= (currentTimeMs - lastCalledMs);
}
else if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
// Double enter = display switching
cmsMenuOpen();
rcDelayMs = BUTTON_PAUSE;
//
// Scan 'key' first
//
uint8_t key = KEY_NONE;
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
key = KEY_MENU;
}
else if (IS_HI(PITCH)) {
key = KEY_UP;
rcDelayMs = BUTTON_TIME;
}
else if (IS_LO(PITCH)) {
key = KEY_DOWN;
rcDelayMs = BUTTON_TIME;
}
else if (IS_LO(ROLL)) {
key = KEY_LEFT;
rcDelayMs = BUTTON_TIME;
}
else if (IS_HI(ROLL)) {
key = KEY_RIGHT;
rcDelayMs = BUTTON_TIME;
}
else if (IS_HI(YAW) || IS_LO(YAW))
{
key = KEY_ESC;
rcDelayMs = BUTTON_TIME;
}
//lastCalled = currentTime;
if (key == KEY_NONE) {
// No 'key' pressed, reset repeat control
holdCount = 1;
repeatCount = 1;
repeatBase = 0;
} else {
// The 'key' is being pressed; keep counting
++holdCount;
}
if (key) {
rcDelayMs = cmsHandleKey(pCurrentDisplay, key);
return;
if (rcDelayMs > 0) {
rcDelayMs -= (currentTimeMs - lastCalledMs);
} else if (key) {
rcDelayMs = cmsHandleKeyWithRepeat(pCurrentDisplay, key, repeatCount);
// Key repeat effect is implemented in two phases.
// First phldase is to decrease rcDelayMs reciprocal to hold time.
// When rcDelayMs reached a certain limit (scheduling interval),
// repeat rate will not raise anymore, so we call key handler
// multiple times (repeatCount).
//
// XXX Caveat: Most constants are adjusted pragmatically.
// XXX Rewrite this someday, so it uses actual hold time instead
// of holdCount, which depends on the scheduling interval.
if (((key == KEY_LEFT) || (key == KEY_RIGHT)) && (holdCount > 20)) {
// Decrease rcDelayMs reciprocally
rcDelayMs /= (holdCount - 20);
// When we reach the scheduling limit,
if (rcDelayMs <= 50) {
// start calling handler multiple times.
if (repeatBase == 0)
repeatBase = holdCount;
repeatCount = repeatCount + (holdCount - repeatBase) / 5;
if (repeatCount > 5) {
repeatCount= 5;
}
}
}
}
cmsDrawMenu(pCurrentDisplay, currentTimeUs);

2
src/main/drivers/pwm_output_stm32f3xx.c
View file

@ -125,7 +125,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
IOInit(motorIO, OWNER_MOTOR, 0);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
if (configureTimer) {

2
src/main/drivers/pwm_output_stm32f4xx.c
View file

@ -123,7 +123,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
IOInit(motorIO, OWNER_MOTOR, 0);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
if (configureTimer) {

2
src/main/drivers/pwm_output_stm32f7xx.c
View file

@ -130,7 +130,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
IOInit(motorIO, OWNER_MOTOR, 0);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP), timerHardware->alternateFunction);
__DMA1_CLK_ENABLE();

34
src/main/drivers/serial_escserial.c
View file

@ -23,14 +23,16 @@
typedef enum {
BAUDRATE_NORMAL = 19200,
BAUDRATE_KISS = 38400
BAUDRATE_KISS = 38400,
BAUDRATE_CASTLE = 18880,
} escBaudRate_e;
typedef enum {
PROTOCOL_SIMONK = 0,
PROTOCOL_BLHELI = 1,
PROTOCOL_KISS = 2,
PROTOCOL_KISSALL = 3
PROTOCOL_KISSALL = 3,
PROTOCOL_CASTLE = 4,
} escProtocol_e;
#if defined(USE_ESCSERIAL)
@ -117,7 +119,7 @@ static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polari
void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
{
if((escSerial->mode = PROTOCOL_KISSALL))
if((escSerial->mode == PROTOCOL_KISSALL))
{
for (volatile uint8_t i = 0; i < escSerial->outputCount; i++) {
uint8_t state_temp = state;
@ -334,6 +336,11 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
setTxSignalEsc(escSerial, ENABLE);
serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
}
else if(mode == PROTOCOL_CASTLE){
escSerialOutputPortConfig(escSerial->rxTimerHardware);
serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options);
}
return &escSerial->port;
}
@ -485,7 +492,7 @@ void processTxStateBL(escSerial_t *escSerial)
//set output
if(escSerial->mode==PROTOCOL_BLHELI) {
if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) {
escSerialOutputPortConfig(escSerial->rxTimerHardware);
}
return;
@ -502,7 +509,7 @@ void processTxStateBL(escSerial_t *escSerial)
escSerial->isTransmittingData = false;
if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
if(escSerial->mode==PROTOCOL_BLHELI)
if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE)
{
escSerialInputPortConfig(escSerial->rxTimerHardware);
}
@ -921,7 +928,18 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
pwmDisableMotors();
passPort = escPassthroughPort;
uint32_t escBaudrate = (mode == PROTOCOL_KISS) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
uint32_t escBaudrate;
switch (mode) {
case PROTOCOL_KISS:
escBaudrate = BAUDRATE_KISS;
break;
case PROTOCOL_CASTLE:
escBaudrate = BAUDRATE_CASTLE;
break;
default:
escBaudrate = BAUDRATE_NORMAL;
break;
}
if((mode == PROTOCOL_KISS) && (output == 255)){
motor_output = 255;
@ -982,7 +1000,9 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
}
LED1_OFF;
}
delay(5);
if(mode != PROTOCOL_CASTLE){
delay(5);
}
}
}

4
src/main/io/serial_cli.c
View file

@ -3000,6 +3000,10 @@ static void cliEscPassthrough(char *cmdline)
{
mode = 2;
}
else if(strncasecmp(pch, "cc", strlen(pch)) == 0)
{
mode = 4;
}
else
{
cliShowParseError();

45
src/main/target/RMDO/target.c
View file

@ -1,45 +0,0 @@
/*
* 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(TIM2, CH1, PA0, TIM_USE_PWM | TIM_USE_PPM, 0 ), // RC_CH1 - PA0 - *TIM2_CH1
DEF_TIM(TIM2, CH2, PA1, TIM_USE_PWM, 0 ), // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
DEF_TIM(TIM2, CH4, PB11, TIM_USE_PWM, 0 ), // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
DEF_TIM(TIM2, CH3, PB10, TIM_USE_PWM, 0 ), // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
DEF_TIM(TIM3, CH1, PB4, TIM_USE_PWM, 0 ), // RC_CH5 - PB4 - *TIM3_CH1
DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, 0 ), // RC_CH6 - PB5 - *TIM3_CH2
DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, 0 ), // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
DEF_TIM(TIM3, CH4, PB1, TIM_USE_PWM, 0 ), // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
DEF_TIM(TIM16, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
DEF_TIM(TIM17, CH1, PA7, TIM_USE_MOTOR, 1 ), // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
DEF_TIM(TIM4, CH1, PA11, TIM_USE_MOTOR, 1 ), // PWM3 - PA11
DEF_TIM(TIM4, CH2, PA12, TIM_USE_MOTOR, 1 ), // PWM4 - PA12
DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 1 ), // PWM5 - PB8
DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, 1 ), // PWM6 - PB9
DEF_TIM(TIM15, CH1, PA2, TIM_USE_MOTOR, 1 ), // PWM7 - PA2
DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM8 - PA3
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, 1 ), // GPIO_TIMER / LED_STRIP
};

116
src/main/target/RMDO/target.h
View file

@ -1,116 +0,0 @@
/*
* 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 "RMDO" // Ready Made RC DoDo
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#define LED0 PB3
#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_MAG_DATA_READY_SIGNAL // XXX Do RMDO has onboard mag???
//#define ENSURE_MAG_DATA_READY_IS_HIGH
#define GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define BARO
#define USE_BARO_BMP280
#define USE_FLASHFS
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_UART1
#define USE_UART2
#define USE_UART3
#define USE_SOFTSERIAL1
#define USE_SOFTSERIAL2
#define SERIAL_PORT_COUNT 5
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
#define UART1_TX_PIN PA9
#define UART1_RX_PIN PA10
#define UART2_TX_PIN PA14 // PA14 / SWCLK
#define UART2_RX_PIN PA15 // PA15
#define UART3_TX_PIN PB10 // PB10 (AF7)
#define UART3_RX_PIN PB11 // PB11 (AF7)
#define SOFTSERIAL_1_TIMER TIM3
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
#define SOFTSERIAL_2_TIMER TIM3
#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
#define USE_I2C
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
#define USE_SPI
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
#define M25P16_CS_GPIO GPIOB
#define M25P16_CS_PIN PB12
#define M25P16_SPI_INSTANCE SPI2
#define BOARD_HAS_VOLTAGE_DIVIDER
#define USE_ADC
#define ADC_INSTANCE ADC2
#define VBAT_ADC_PIN PA4
#define CURRENT_METER_ADC_PIN PA5
#define RSSI_ADC_PIN PB2
#define LED_STRIP
#define USE_DSHOT
#undef GPS
#define SPEKTRUM_BIND
// USART3,
#define BIND_PIN PB11
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
#define USABLE_TIMER_CHANNEL_COUNT 17
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))

9
src/main/target/RMDO/target.mk
View file

@ -1,9 +0,0 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP ONBOARDFLASH
TARGET_FLAGS = -DSPRACINGF3
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp280.c

4
src/main/target/SIRINFPV/target.h
View file

@ -151,6 +151,10 @@
#define USE_SERVOS
#define SPEKTRUM_BIND
// USART3, PB11
#define BIND_PIN PB11
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)

0
src/main/target/SPRACINGF3/RMDO.mk Normal file
View file

15
src/main/target/SPRACINGF3/target.h
View file

@ -17,7 +17,11 @@
#pragma once
#ifdef RMDO
#define TARGET_BOARD_IDENTIFIER "RMDO"
#else
#define TARGET_BOARD_IDENTIFIER "SRF3"
#endif
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
@ -40,9 +44,16 @@
#define ACC_MPU6050_ALIGN CW270_DEG
#define BARO
#define USE_BARO_BMP280
#ifdef RMDO
#undef USE_GPS
#else
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define USE_BARO_BMP280
#define MAG
#define USE_MAG_AK8975
@ -53,6 +64,8 @@
#define ENSURE_MAG_DATA_READY_IS_HIGH
#define MAG_INT_EXTI PC14
#endif
#define USE_FLASHFS
#define USE_FLASH_M25P16

2
src/main/target/SPRACINGF3EVO/target.c
View file

@ -29,7 +29,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH1, PA15, TIM_USE_PPM, 0 ), // PPM
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM1 [TIM2_CH1 (D1_CH5)]
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, 1 ), // PWM2 [TIM2_CH2 (D1_CH7)] [TIM15_CH1N (D1_CH5)]
DEF_TIM(TIM15, CH1, PA2, TIM_USE_MOTOR, 1 ), // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)]
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)]
DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM4 [TIM2_CH4 (D1_CH7)]
DEF_TIM(TIM3, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM5 [TIM3_CH1 (D1_CH6)] [TIM16_CH1 (D1_CH3 / D1_CH6)]
DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM6