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Code Issues Wiki Activity

SPI3 fix

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reintroduce SPI timeout to avoid driver blockage
AlienFlight related fixes
This commit is contained in:
Michael Jakob 2016-02-03 19:13:07 +01:00 • committed by borisbstyle
parent fda0794441
commit 47f1d7e955
6 changed files with 167 additions and 20 deletions
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2
docs/Spektrum bind.md
View file

@ -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

1
src/main/config/config.c
View file

@ -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

168
src/main/drivers/bus_spi.c
View file

@ -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);

2
src/main/io/serial_msp.c
View file

@ -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.

8
src/main/sensors/initialisation.c
View file

@ -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

4
src/main/target/ALIENFLIGHTF3/target.h
View file

@ -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