SPI3 fix

reintroduce SPI timeout to avoid driver blockage
AlienFlight related fixes

docs/Spektrum bind.md

@@ -2,7 +2,7 @@
 
 Spektrum bind with hardware bind plug support.
  
-The Spektrum bind code is actually enabled for the NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY, CC3D, ALIENWIIF1, ALIENWIIF3 targets.
+The Spektrum bind code is actually enabled for the NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY, CC3D, ALIENFLIGHTF1, ALIENFLIGHTF3 targets.
 
 ## Configure the bind code
 

src/main/config/config.c

@@ -637,6 +637,7 @@ static void resetConf(void)
 #ifdef ALIENFLIGHTF3
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
     masterConfig.batteryConfig.vbatscale = 20;
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 #else
     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 #endif

src/main/drivers/bus_spi.c

@@ -56,7 +56,6 @@ void initSpi1(void)
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
     RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE);
 
-
 #ifdef STM32F303xC
     GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -65,9 +64,11 @@ void initSpi1(void)
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_SCK_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_MISO_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_MOSI_PIN_SOURCE, GPIO_AF_5);
+
 #ifdef SPI1_NSS_PIN_SOURCE
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_NSS_PIN_SOURCE, GPIO_AF_5);
 #endif
+
     // Init pins
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@@ -106,29 +107,31 @@ void initSpi1(void)
 
     GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
 #endif
-
 #endif
 
 #ifdef STM32F10X
     gpio_config_t gpio;
+
     // MOSI + SCK as output
     gpio.mode = Mode_AF_PP;
     gpio.pin = SPI1_MOSI_PIN | SPI1_SCK_PIN;
     gpio.speed = Speed_50MHz;
-    gpioInit(GPIOA, &gpio);
+    gpioInit(SPI1_GPIO, &gpio);
+
     // MISO as input
     gpio.pin = SPI1_MISO_PIN;
     gpio.mode = Mode_IN_FLOATING;
-    gpioInit(GPIOA, &gpio);
+    gpioInit(SPI1_GPIO, &gpio);
+
 #ifdef SPI1_NSS_PIN
     // NSS as gpio slave select
     gpio.pin = SPI1_NSS_PIN;
     gpio.mode = Mode_Out_PP;
-    gpioInit(GPIOA, &gpio);
+    gpioInit(SPI1_GPIO, &gpio);
 #endif
 #endif
 
-    // Init SPI hardware
+    // Init SPI1 hardware
     SPI_I2S_DeInit(SPI1);
 
     spi.SPI_Mode = SPI_Mode_Master;
@@ -154,6 +157,11 @@ void initSpi1(void)
 
     SPI_Init(SPI1, &spi);
     SPI_Cmd(SPI1, ENABLE);
+
+#ifdef SPI1_NSS_PIN
+    // Drive NSS high to disable connected SPI device.
+    GPIO_SetBits(SPI1_GPIO, SPI1_NSS_PIN);
+#endif
 }
 #endif
 
@@ -187,7 +195,6 @@ void initSpi2(void)
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
     RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE);
 
-
 #ifdef STM32F303xC
     GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -196,10 +203,12 @@ void initSpi2(void)
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_SCK_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_MISO_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_MOSI_PIN_SOURCE, GPIO_AF_5);
+
 #ifdef SPI2_NSS_PIN_SOURCE
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_NSS_PIN_SOURCE, GPIO_AF_5);
 #endif
 
+    // Init pins
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
@@ -237,7 +246,6 @@ void initSpi2(void)
 
     GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
 #endif
-
 #endif
 
 #ifdef STM32F10X
@@ -248,6 +256,7 @@ void initSpi2(void)
     gpio.pin = SPI2_SCK_PIN | SPI2_MOSI_PIN;
     gpio.speed = Speed_50MHz;
     gpioInit(SPI2_GPIO, &gpio);
+
     // MISO as input
     gpio.pin = SPI2_MISO_PIN;
     gpio.mode = Mode_IN_FLOATING;
@@ -264,13 +273,13 @@ void initSpi2(void)
     // Init SPI2 hardware
     SPI_I2S_DeInit(SPI2);
 
-    spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
     spi.SPI_Mode = SPI_Mode_Master;
+    spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
     spi.SPI_DataSize = SPI_DataSize_8b;
     spi.SPI_NSS = SPI_NSS_Soft;
-    spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
     spi.SPI_FirstBit = SPI_FirstBit_MSB;
     spi.SPI_CRCPolynomial = 7;
+    spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
 
 #ifdef USE_SDCARD_SPI2
     spi.SPI_CPOL = SPI_CPOL_Low;
@@ -284,19 +293,136 @@ void initSpi2(void)
     // Configure for 8-bit reads.
     SPI_RxFIFOThresholdConfig(SPI2, SPI_RxFIFOThreshold_QF);
 #endif
+
     SPI_Init(SPI2, &spi);
     SPI_Cmd(SPI2, ENABLE);
 
+#ifdef SPI2_NSS_PIN
     // Drive NSS high to disable connected SPI device.
     GPIO_SetBits(SPI2_GPIO, SPI2_NSS_PIN);
+#endif
+}
+#endif
 
+#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
 
+#ifndef SPI3_GPIO
+#define SPI3_GPIO               GPIOB
+#define SPI3_GPIO_PERIPHERAL    RCC_AHBPeriph_GPIOB
+#define SPI3_NSS_GPIO           GPIOA
+#define SPI3_NSS_PERIPHERAL     RCC_AHBPeriph_GPIOA
+#define SPI3_NSS_PIN            GPIO_Pin_15
+#define SPI3_NSS_PIN_SOURCE     GPIO_PinSource15
+#define SPI3_SCK_PIN            GPIO_Pin_3
+#define SPI3_SCK_PIN_SOURCE     GPIO_PinSource3
+#define SPI3_MISO_PIN           GPIO_Pin_4
+#define SPI3_MISO_PIN_SOURCE    GPIO_PinSource4
+#define SPI3_MOSI_PIN           GPIO_Pin_5
+#define SPI3_MOSI_PIN_SOURCE    GPIO_PinSource5
+#endif
+
+void initSpi3(void)
+{
+    // Specific to the STM32F303 (AF6)
+    // SPI3 Driver
+    // PA15   38    SPI3_NSS
+    // PB3    39    SPI3_SCK
+    // PB4    40    SPI3_MISO
+    // PB5    41    SPI3_MOSI
+
+    SPI_InitTypeDef spi;
+
+    // Enable SPI3 clock
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
+    RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
+
+    GPIO_InitTypeDef GPIO_InitStructure;
+
+    RCC_AHBPeriphClockCmd(SPI3_GPIO_PERIPHERAL, ENABLE);
+
+    GPIO_PinAFConfig(SPI3_GPIO, SPI3_SCK_PIN_SOURCE, GPIO_AF_6);
+    GPIO_PinAFConfig(SPI3_GPIO, SPI3_MISO_PIN_SOURCE, GPIO_AF_6);
+    GPIO_PinAFConfig(SPI3_GPIO, SPI3_MOSI_PIN_SOURCE, GPIO_AF_6);
+
+#ifdef SPI2_NSS_PIN_SOURCE
+    RCC_AHBPeriphClockCmd(SPI3_NNS_PERIPHERAL, ENABLE);
+    GPIO_PinAFConfig(SPI3_NNS_GPIO, SPI3_NSS_PIN_SOURCE, GPIO_AF_6);
+#endif
+
+    // Init pins
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+
+#ifdef USE_SDCARD_SPI3
+    // Configure pins and pullups for SD-card use
+
+    // No pull-up needed since we drive this pin as an output
+    GPIO_InitStructure.GPIO_Pin = SPI3_MOSI_PIN;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+    GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
+
+    // Prevent MISO pin from floating when SDCard is deselected (high-Z) or not connected
+    GPIO_InitStructure.GPIO_Pin = SPI3_MISO_PIN;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+    GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
+
+    // In clock-low mode, STM32 manual says we should enable a pulldown to match
+    GPIO_InitStructure.GPIO_Pin = SPI3_SCK_PIN;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
+    GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
+#else
+    // General-purpose pin config
+    GPIO_InitStructure.GPIO_Pin = SPI3_SCK_PIN | SPI3_MISO_PIN | SPI3_MOSI_PIN;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+    GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
+#endif
+
+#ifdef SPI3_NSS_PIN
+    GPIO_InitStructure.GPIO_Pin = SPI3_NSS_PIN;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+
+    GPIO_Init(SPI3_NSS_GPIO, &GPIO_InitStructure);
+#endif
+
+    // Init SPI hardware
+    SPI_I2S_DeInit(SPI3);
+
+    spi.SPI_Mode = SPI_Mode_Master;
+    spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+    spi.SPI_DataSize = SPI_DataSize_8b;
+    spi.SPI_NSS = SPI_NSS_Soft;
+    spi.SPI_FirstBit = SPI_FirstBit_MSB;
+    spi.SPI_CRCPolynomial = 7;
+    spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
+
+#ifdef USE_SDCARD_SPI3
+    spi.SPI_CPOL = SPI_CPOL_Low;
+    spi.SPI_CPHA = SPI_CPHA_1Edge;
+#else
+    spi.SPI_CPOL = SPI_CPOL_High;
+    spi.SPI_CPHA = SPI_CPHA_2Edge;
+#endif
+
+    // Configure for 8-bit reads.
+    SPI_RxFIFOThresholdConfig(SPI3, SPI_RxFIFOThreshold_QF);
+
+    SPI_Init(SPI3, &spi);
+    SPI_Cmd(SPI3, ENABLE);
+
+#ifdef SPI3_NSS_PIN
+    // Drive NSS high to disable connected SPI device.
+    GPIO_SetBits(SPI3_NSS_GPIO, SPI3_NSS_PIN);
+#endif
 }
 #endif
 
 bool spiInit(SPI_TypeDef *instance)
 {
-#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2)))
+#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2) && defined(USE_SPI_DEVICE_3)))
     UNUSED(instance);
 #endif
 
@@ -311,13 +437,23 @@ bool spiInit(SPI_TypeDef *instance)
         initSpi2();
         return true;
     }
+#endif
+#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
+    if (instance == SPI3) {
+        initSpi3();
+        return true;
+    }
 #endif
     return false;
 }
 
 uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
 {
+    uint16_t spiTimeout = 1000;
+
     while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
+        if ((spiTimeout--) == 0)
+            break;
     }
 
 #ifdef STM32F303xC
@@ -326,7 +462,10 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
 #ifdef STM32F10X
     SPI_I2S_SendData(instance, data);
 #endif
+    spiTimeout = 1000;
     while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET){
+        if ((spiTimeout--) == 0)
+            break;
     }
 
 #ifdef STM32F303xC
@@ -353,11 +492,15 @@ bool spiIsBusBusy(SPI_TypeDef *instance)
 
 void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len)
 {
+    uint16_t spiTimeout = 1000;
+
     uint8_t b;
     instance->DR;
     while (len--) {
         b = in ? *(in++) : 0xFF;
         while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
+            if ((spiTimeout--) == 0)
+                break;
         }
 #ifdef STM32F303xC
         SPI_SendData8(instance, b);
@@ -366,7 +509,10 @@ void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
 #ifdef STM32F10X
         SPI_I2S_SendData(instance, b);
 #endif
+        spiTimeout = 1000;
         while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET) {
+            if ((spiTimeout--) == 0)
+                break;
         }
 #ifdef STM32F303xC
         b = SPI_ReceiveData8(instance);

src/main/io/serial_msp.c

@@ -632,7 +632,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
             serialize8(boardIdentifier[i]);
         }
-#ifdef NAZE
+#ifdef USE_HARDWARE_REVISION_DETECTION
         serialize16(hardwareRevision);
 #else
         serialize16(0); // No other build targets currently have hardware revision detection.

src/main/sensors/initialisation.c

@@ -171,7 +171,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 
 #ifdef ALIENFLIGHTF3
     // MPU_INT output on V1 PA15
-    static const extiConfig_t alienWiiF3V1MPUIntExtiConfig = {
+    static const extiConfig_t alienFlightF3V1MPUIntExtiConfig = {
             .gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,
             .gpioPort = GPIOA,
             .gpioPin = Pin_15,
@@ -181,7 +181,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
             .exti_irqn = EXTI15_10_IRQn
     };
     // MPU_INT output on V2 PB13
-    static const extiConfig_t alienWiiF3V2MPUIntExtiConfig = {
+    static const extiConfig_t alienFlightF3V2MPUIntExtiConfig = {
             .gpioAHBPeripherals = RCC_AHBPeriph_GPIOB,
             .gpioPort = GPIOB,
             .gpioPin = Pin_13,
@@ -191,9 +191,9 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
             .exti_irqn = EXTI15_10_IRQn
     };
     if (hardwareRevision == AFF3_REV_1) {
-        return &alienWiiF3V1MPUIntExtiConfig;
+        return &alienFlightF3V1MPUIntExtiConfig;
     } else {
-        return &alienWiiF3V2MPUIntExtiConfig;
+        return &alienFlightF3V2MPUIntExtiConfig;
     }
 #endif
 

src/main/target/ALIENFLIGHTF3/target.h

@@ -48,7 +48,7 @@
 
 #define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 
-#define DEBUG_MPU_DATA_READY_INTERRUPT
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 
 // Using MPU6050 for the moment.
@@ -72,7 +72,7 @@
 //#define BARO
 //#define USE_BARO_MS5611
 
-// No mag support for now (option to use MPU9150 in the future).
+// option to use MPU9150 or MPU9250 integrated AK89xx Mag
 #define MAG
 #define USE_MAG_AK8963