a couple optimizations for dynamic HSE frequency - moved SetSysClock() to run after reset vector + bss init, and changed rcc which used hardcoded HSE_VALUE.

turn off leds/beeper before initializing pins to prevent flash at startup
uninitialized errorAngle fix in new PID


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@362 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/drv_adxl345.c

@@ -42,6 +42,10 @@ bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc)
     bool ack = false;
     uint8_t sig = 0;
 
+    // Not supported with this frequency
+    if (hse_value == 12000000)
+        return false;
+
     ack = i2cRead(ADXL345_ADDRESS, 0x00, 1, &sig);
     if (!ack || sig != 0xE5)
         return false;

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;
 

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;

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;

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
 

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();
 

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;

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];