diff --git a/lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c b/lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c index d661d1ac0c..ada6acfa36 100755 --- a/lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c +++ b/lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c @@ -6,7 +6,7 @@ uint32_t SystemCoreClock = SYSCLK_FREQ_72MHz; /*!< System Clock Frequency (Cor __I uint8_t AHBPrescTable[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9 }; -static int SetSysClock(void); +uint32_t hse_value = 8000000; void SystemInit(void) { @@ -29,10 +29,6 @@ void SystemInit(void) /* Disable all interrupts and clear pending bits */ RCC->CIR = 0x009F0000; - /* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */ - /* Configure the Flash Latency cycles and enable prefetch buffer */ - SetSysClock(); - SCB->VTOR = FLASH_BASE; /* Vector Table Relocation in Internal FLASH. */ } @@ -48,7 +44,7 @@ void SystemCoreClockUpdate(void) SystemCoreClock = HSI_VALUE; break; case 0x04: /* HSE used as system clock */ - SystemCoreClock = HSE_VALUE; + SystemCoreClock = hse_value; break; case 0x08: /* PLL used as system clock */ @@ -64,9 +60,9 @@ void SystemCoreClockUpdate(void) } else { /* HSE selected as PLL clock entry */ if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t) RESET) { /* HSE oscillator clock divided by 2 */ - SystemCoreClock = (HSE_VALUE >> 1) * pllmull; + SystemCoreClock = (hse_value >> 1) * pllmull; } else { - SystemCoreClock = HSE_VALUE * pllmull; + SystemCoreClock = hse_value * pllmull; } } break; @@ -90,7 +86,7 @@ enum { }; // Set system clock to 72 (HSE) or 64 (HSI) MHz -static int SetSysClock(void) +void SetSysClock(void) { __IO uint32_t StartUpCounter = 0, status = 0, clocksrc = SRC_NONE; __IO uint32_t *RCC_CRH = &GPIOC->CRH; @@ -140,10 +136,11 @@ static int SetSysClock(void) *RCC_CRH &= (uint32_t)~((uint32_t)0xF << (RCC_CFGR_PLLMULL9 >> 16)); // Configure PLL + hse_value = 8000000; RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); *RCC_CRH |= (uint32_t)0x8 << (RCC_CFGR_PLLMULL9 >> 16); GPIOC->ODR &= (uint32_t)~(CAN_MCR_RESET); - RCC_CFGR_PLLMUL = GPIOC->IDR & CAN_MCR_RESET ? StartUpCounter = 42, RCC_CFGR_PLLMULL6 : RCC_CFGR_PLLMULL9; + RCC_CFGR_PLLMUL = GPIOC->IDR & CAN_MCR_RESET ? hse_value = 12000000, RCC_CFGR_PLLMULL6 : RCC_CFGR_PLLMULL9; switch (clocksrc) { case SRC_HSE: // PLL configuration: PLLCLK = HSE * 9 = 72 MHz @@ -164,5 +161,6 @@ static int SetSysClock(void) RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; // Wait till PLL is used as system clock source while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08); - return StartUpCounter; + + SystemCoreClockUpdate(); } diff --git a/lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c b/lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c index 4b2ec1f104..d65164ba6d 100755 --- a/lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c +++ b/lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c @@ -192,6 +192,7 @@ static __I uint8_t APBAHBPrescTable[16] = {0, 0, 0, 0, 1, 2, 3, 4, 1, 2, 3, 4, 6, 7, 8, 9}; static __I uint8_t ADCPrescTable[4] = {2, 4, 6, 8}; +extern uint32_t hse_value; /** * @} @@ -926,7 +927,7 @@ void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) RCC_Clocks->SYSCLK_Frequency = HSI_VALUE; break; case 0x04: /* HSE used as system clock */ - RCC_Clocks->SYSCLK_Frequency = HSE_VALUE; + RCC_Clocks->SYSCLK_Frequency = hse_value; break; case 0x08: /* PLL used as system clock */ @@ -951,11 +952,11 @@ void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) /* HSE selected as PLL clock entry */ if ((RCC->CFGR & CFGR_PLLXTPRE_Mask) != (uint32_t)RESET) {/* HSE oscillator clock divided by 2 */ - RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE >> 1) * pllmull; + RCC_Clocks->SYSCLK_Frequency = (hse_value >> 1) * pllmull; } else { - RCC_Clocks->SYSCLK_Frequency = HSE_VALUE * pllmull; + RCC_Clocks->SYSCLK_Frequency = hse_value * pllmull; } #endif } @@ -973,7 +974,7 @@ void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) if (pllsource == 0x00) {/* HSI oscillator clock divided by 2 selected as PLL clock entry */ - RCC_Clocks->SYSCLK_Frequency = (HSI_VALUE >> 1) * pllmull; + RCC_Clocks->SYSCLK_Frequency = (hse_value >> 1) * pllmull; } else {/* PREDIV1 selected as PLL clock entry */ @@ -984,7 +985,7 @@ void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) if (prediv1source == 0) { /* HSE oscillator clock selected as PREDIV1 clock entry */ - RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE / prediv1factor) * pllmull; + RCC_Clocks->SYSCLK_Frequency = (hse_value / prediv1factor) * pllmull; } else {/* PLL2 clock selected as PREDIV1 clock entry */ @@ -992,7 +993,7 @@ void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) /* Get PREDIV2 division factor and PLL2 multiplication factor */ prediv2factor = ((RCC->CFGR2 & CFGR2_PREDIV2) >> 4) + 1; pll2mull = ((RCC->CFGR2 & CFGR2_PLL2MUL) >> 8 ) + 2; - RCC_Clocks->SYSCLK_Frequency = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + RCC_Clocks->SYSCLK_Frequency = (((hse_value / prediv2factor) * pll2mull) / prediv1factor) * pllmull; } } #endif /* STM32F10X_CL */ diff --git a/obj/baseflight.hex 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a/src/drv_bmp085.c b/src/drv_bmp085.c index 343d3bbd3c..7f27bdeb39 100755 --- a/src/drv_bmp085.c +++ b/src/drv_bmp085.c @@ -95,6 +95,10 @@ bool bmp085Detect(baro_t *baro) NVIC_InitTypeDef NVIC_InitStructure; uint8_t data; + // Not supported with this frequency + if (hse_value == 12000000) + return false; + if (bmp085InitDone) return true; diff --git a/src/drv_i2c.c b/src/drv_i2c.c index 8fa0fa5561..f701f8ae78 100755 --- a/src/drv_i2c.c +++ b/src/drv_i2c.c @@ -77,7 +77,6 @@ static void i2c_er_handler(void) bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data) { - uint8_t i; uint32_t timeout = I2C_DEFAULT_TIMEOUT; addr = addr_ << 1; diff --git a/src/drv_mma845x.c b/src/drv_mma845x.c index 448281314b..e5a736fae2 100644 --- a/src/drv_mma845x.c +++ b/src/drv_mma845x.c @@ -59,6 +59,10 @@ bool mma8452Detect(sensor_t *acc) bool ack = false; uint8_t sig = 0; + // Not supported with this frequency + if (hse_value == 12000000) + return false; + ack = i2cRead(MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig); if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE)) return false; diff --git a/src/drv_ms5611.c b/src/drv_ms5611.c index 9611013d68..6638d206de 100644 --- a/src/drv_ms5611.c +++ b/src/drv_ms5611.c @@ -36,17 +36,19 @@ static uint8_t ms5611_osr = CMD_ADC_4096; bool ms5611Detect(baro_t *baro) { - gpio_config_t gpio; bool ack = false; uint8_t sig; int i; - // PC13 (BMP085's XCLR reset input, which we use to disable it) - gpio.pin = Pin_13; - gpio.speed = Speed_2MHz; - gpio.mode = Mode_Out_PP; - gpioInit(GPIOC, &gpio); - BMP085_OFF; + if (hse_value != 12000000) { + // PC13 (BMP085's XCLR reset input, which we use to disable it). Only needed when running at 8MHz + gpio_config_t gpio; + gpio.pin = Pin_13; + gpio.speed = Speed_2MHz; + gpio.mode = Mode_Out_PP; + gpioInit(GPIOC, &gpio); + BMP085_OFF; + } delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms diff --git a/src/drv_system.c b/src/drv_system.c index 69fd5190e6..773cbf9df5 100755 --- a/src/drv_system.c +++ b/src/drv_system.c @@ -4,6 +4,8 @@ static volatile uint32_t usTicks = 0; // current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care. static volatile uint32_t sysTickUptime = 0; +// from system_stm32f10x.c +void SetSysClock(void); static void cycleCounterInit(void) { @@ -60,8 +62,9 @@ void systemInit(void) uint32_t i; uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]); - // This is needed because some shit inside Keil startup fucks with SystemCoreClock, setting it back to 72MHz even on HSI. - SystemCoreClockUpdate(); + // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers + // Configure the Flash Latency cycles and enable prefetch buffer + SetSysClock(); // Turn on clocks for stuff we use RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE); @@ -81,13 +84,13 @@ void systemInit(void) AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; // Configure gpio - for (i = 0; i < gpio_count; i++) - gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg); - LED0_OFF; LED1_OFF; BEEP_OFF; + for (i = 0; i < gpio_count; i++) + gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg); + // Init cycle counter cycleCounterInit(); diff --git a/src/drv_system.h b/src/drv_system.h index baf361b2fb..ca2871a5d4 100755 --- a/src/drv_system.h +++ b/src/drv_system.h @@ -12,3 +12,6 @@ void failureMode(uint8_t mode); // bootloader/IAP void systemReset(bool toBootloader); + +// current crystal frequency - 8 or 12MHz +extern uint32_t hse_value; diff --git a/src/mw.c b/src/mw.c index cba104e195..6a9f6600bc 100755 --- a/src/mw.c +++ b/src/mw.c @@ -342,7 +342,7 @@ static void pidMultiWii(void) static void pidRewrite(void) { - int32_t errorAngle; + int32_t errorAngle = 0; int axis; int32_t delta, deltaSum; static int32_t delta1[3], delta2[3];