serial 1wire passthrough for ESCs with the BlHeli bootloader

Makefile

@@ -238,6 +238,7 @@ COMMON_SRC	 = build_config.c \
 		   io/rc_controls.c \
 		   io/rc_curves.c \
 		   io/serial.c \
+		   io/serial_1wire.c \
 		   io/serial_cli.c \
 		   io/serial_msp.c \
 		   io/statusindicator.c \

docs/1wire.md

@@ -0,0 +1,113 @@
+# 1-wire passthrough esc programming
+
+### ESCs must have the BlHeli Bootloader.
+
+If your ESCs didn't come with BlHeli Bootloader, you'll need to flash them with an ArduinoISP programmer first. [Here's a guide](http://bit.ly/blheli-f20).
+
+This is the option you need to select for the bootloader:
+
+![Flashing BlHeli Bootloader](assets/images/blheli-bootloader.png)
+
+Currently supported on the STM32F3DISCOVERY, NAZE32 (including clones such as the FLIP32) and CC3D.
+
+## Wiring
+
+  - For the NAZE, no external wiring is necessary. Simply plugin the board via USB cable.
+
+  - For the CC3D, connect [a USB to UART adapter](http://bit.ly/cf-cp2102) to the main port. If you need one, I prefer the [CP2102](http://bit.ly/cf-cp2102) as it is cheap and [the driver](https://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx) is readily available.
+
+    - This is how you plug in the USB/UART adapter on the CC3D. Be sure to also plug in the normal USB cable as well.
+
+    ![Flashing BlHeli Bootloader](assets/images/serial1wire-cc3d-wiring.jpg)
+
+  - In the case that your board does not power on fully without a battery attached, it is OK to attach the battery before following the steps below. However, it may not be necessary in all cases.
+
+## Usage
+
+How to for the CC3D: [https://youtu.be/fmUPL1lRcss](https://youtu.be/fmUPL1lRcss)
+
+  - Plug in the USB cable and connect to your board with the CleanFlight configurator.
+
+  - Open the CLI tab, then run: `1wire <esc index>`
+
+    E.g. to connect to the ESC on your flight controller's port #1, run the command:
+
+    ```
+    1wire 1
+    ```
+
+  - Click "Disconnect" in the CleanFlight configurator. Do not power down your board.
+
+    - Note, in the future it may be possible to configure your ESCs directly in CleanFlight.
+
+  - Open the BlHeli Suite.
+
+  - Ensure you have selected the correct Atmel or SILABS "(USB/Com)" option under the "Select ATMEL / SILABS Interface" menu option.
+
+  - Ensure you have the correct port selected.
+
+    - On the NAZE, this port will be the same COM port used by the CleanFlight configurator.
+
+    - On the CC3D, this port will be your USB to UART serial adapter.
+
+  - Click "Connect" and wait for the connection to complete. If you get a COM error, hit connect again. It will probably work.
+
+  - Click "Read Setup"
+
+  - Use BlHeli suite as normal.
+
+  - When you're finished with one ESC, click "Disconnect"
+
+  - Unplug the flight control board from Blheli.
+
+    - On the CC3D this means you can unplug just the USB/UART adapter, leaving the USB cable attached. The advantage is that Cleanflight will stay connected and you'll only have to reconnect BlHeli.
+
+    - On the NAZE you'll have to unplug USB cable and start over on the next ESC.
+
+## Implementing and Configuring targets
+
+The following parameters can be used to enable and configure this in the related target.h file:
+
+    USE_SERIAL_1WIRE              Enables the 1wire code, defined in target.h
+
+
+  - For new targets
+
+    - in `target.h`
+
+        ```
+        // Turn on serial 1wire passthrough
+        #define USE_SERIAL_1WIRE
+        // How many escs does this board support?
+        #define ESC_COUNT 6
+        // STM32F3DISCOVERY TX - PC3 connects to UART RX
+        #define S1W_TX_GPIO         GPIOC
+        #define S1W_TX_PIN          GPIO_Pin_3
+        // STM32F3DISCOVERY RX - PC1 connects to UART TX
+        #define S1W_RX_GPIO         GPIOC
+        #define S1W_RX_PIN          GPIO_Pin_1
+        ```
+
+    - in `serial_1wire.c`
+
+       ```
+       // Define your esc hardware
+       #if defined(STM32F3DISCOVERY) && !(defined(CHEBUZZF3))
+       const escHardware_t escHardware[ESC_COUNT] = {
+         { GPIOD, 12 },
+         { GPIOD, 13 },
+         { GPIOD, 14 },
+         { GPIOD, 15 },
+         { GPIOA, 1 },
+         { GPIOA, 2 }
+       };
+       ```
+
+## Development Notes
+
+On the STM32F3DISCOVERY, an external pullup on the ESC line may be necessary. I needed a 3v, 4.7k pullup.
+
+## Todo
+
+Implement the BlHeli bootloader configuration protocol in the CleanFlight GUI
+

docs/Cli.md

@@ -73,6 +73,7 @@ Re-apply any new defaults as desired.
 
 | `Command`        | Description                                    |
 |------------------|------------------------------------------------|
+| `1wire <esc>`    | passthrough 1wire to the specified esc         |
 | `adjrange`       | show/set adjustment ranges settings            |
 | `aux`            | show/set aux settings                          |
 | `mmix`           | design custom motor mixer                      |

src/main/io/serial_1wire.c

@@ -0,0 +1,235 @@
+/*
+ * 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/>.
+ *
+ * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
+ *  by Nathan Tsoi <nathan@vertile.com>
+ */
+
+#include <stdbool.h>
+
+#include "platform.h"
+
+#ifdef USE_SERIAL_1WIRE
+
+#include "drivers/gpio.h"
+#include "drivers/inverter.h"
+#include "drivers/light_led.h"
+#include "drivers/system.h"
+#include "io/serial_1wire.h"
+
+// Figure out esc clocks and pins, extrapolated from timer.c
+// Periphs could be pulled progmatically... but I'll leave that for another exercise
+#if defined(STM32F3DISCOVERY) && !(defined(CHEBUZZF3))
+const escHardware_t escHardware[ESC_COUNT] = {
+  { GPIOD, 12 },
+  { GPIOD, 13 },
+  { GPIOD, 14 },
+  { GPIOD, 15 },
+  { GPIOA, 1 },
+  { GPIOA, 2 }
+};
+#elif defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R)
+const escHardware_t escHardware[ESC_COUNT] = {
+  { GPIOA, 8 },
+  { GPIOA, 11 },
+  { GPIOB, 6 },
+  { GPIOB, 7 },
+  { GPIOB, 8 },
+  { GPIOB, 9 }
+};
+#elif CC3D
+const escHardware_t escHardware[ESC_COUNT] = {
+  { GPIOB, 9 },
+  { GPIOB, 8 },
+  { GPIOB, 7 },
+  { GPIOA, 8 },
+  { GPIOB, 4 },
+  { GPIOA, 2 }
+};
+#endif
+
+static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) {
+  gpio_config_t cfg;
+  cfg.pin = pin;
+  cfg.mode = mode;
+  cfg.speed = Speed_10MHz;
+  gpioInit(gpio, &cfg);
+}
+
+#ifdef STM32F10X
+static volatile uint32_t original_cr_mask, in_cr_mask, out_cr_mask;
+static __IO uint32_t *cr;
+static void gpio_prep_vars(uint16_t escIndex)
+{
+  GPIO_TypeDef *gpio = escHardware[escIndex].gpio;
+  uint32_t pinpos = escHardware[escIndex].pinpos;
+  // mask out extra bits from pinmode, leaving just CNF+MODE
+  uint32_t inmode = Mode_IPU & 0x0F;
+  uint32_t outmode = (Mode_Out_PP & 0x0F) | Speed_10MHz;
+  // reference CRL or CRH, depending whether pin number is 0..7 or 8..15
+  cr = &gpio->CRL + (pinpos / 8);
+  // offset to CNF and MODE portions of CRx register
+  uint32_t shift = (pinpos % 8) * 4;
+  // Read out current CRx value
+  original_cr_mask = in_cr_mask = out_cr_mask = *cr;
+  // Mask out 4 bits
+  in_cr_mask &= ~(0xF << shift);
+  out_cr_mask &= ~(0xF << shift);
+  // save current pinmode
+  in_cr_mask |= inmode << shift;
+  out_cr_mask |= outmode << shift;
+}
+
+static void gpioSetOne(uint16_t escIndex, GPIO_Mode mode) {
+  // reference CRL or CRH, depending whether pin number is 0..7 or 8..15
+  if (mode == Mode_IPU) {
+    *cr = in_cr_mask;
+    escHardware[escIndex].gpio->ODR |= (1U << escHardware[escIndex].pinpos);
+  }
+  else {
+    *cr = out_cr_mask;
+  }
+}
+#endif
+
+#define disable_hardware_uart  __disable_irq()
+#define enable_hardware_uart   __enable_irq()
+#define ESC_HI(escIndex)       ((escHardware[escIndex].gpio->IDR & (1U << escHardware[escIndex].pinpos)) != (uint32_t)Bit_RESET)
+#define RX_HI                  ((S1W_RX_GPIO->IDR & S1W_RX_PIN) != (uint32_t)Bit_RESET)
+#define ESC_SET_HI(escIndex)   escHardware[escIndex].gpio->BSRR = (1U << escHardware[escIndex].pinpos)
+#define ESC_SET_LO(escIndex)   escHardware[escIndex].gpio->BRR = (1U << escHardware[escIndex].pinpos)
+#define TX_SET_HIGH            S1W_TX_GPIO->BSRR = S1W_TX_PIN
+#define TX_SET_LO              S1W_TX_GPIO->BRR = S1W_TX_PIN
+
+#ifdef STM32F303xC
+#define ESC_INPUT(escIndex)    escHardware[escIndex].gpio->MODER &= ~(GPIO_MODER_MODER0 << (escHardware[escIndex].pinpos * 2))
+#define ESC_OUTPUT(escIndex)   escHardware[escIndex].gpio->MODER |= GPIO_Mode_OUT << (escHardware[escIndex].pinpos * 2)
+#endif
+
+#ifdef STM32F10X
+#define ESC_INPUT(escIndex)    gpioSetOne(escIndex, Mode_IPU)
+#define ESC_OUTPUT(escIndex)   gpioSetOne(escIndex, Mode_Out_PP)
+#endif
+
+#if defined(STM32F3DISCOVERY)
+#define LED_PRGMR_RX GPIO_Pin_8
+#define LED_PRGMR_TX GPIO_Pin_10
+// Top Left LD4, PE8 (blue)-- from programmer (RX)
+#define RX_LED_OFF GPIOE->BRR =  LED_PRGMR_RX
+#define RX_LED_ON  GPIOE->BSRR = LED_PRGMR_RX
+// Top Right LD5, PE10 (orange) -- to programmer (TX)
+#define TX_LED_OFF GPIOE->BRR =  LED_PRGMR_TX
+#define TX_LED_ON  GPIOE->BSRR = LED_PRGMR_TX
+static void ledInitDebug(void)
+{
+  uint32_t pinmask = LED_PRGMR_RX|LED_PRGMR_TX;
+  GPIO_DeInit(GPIOE);
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
+  gpio_set_mode(GPIOE, pinmask, Mode_Out_PP);
+  GPIOE->BRR = pinmask;
+}
+#else
+#define RX_LED_OFF LED0_OFF
+#define RX_LED_ON LED0_ON
+#define TX_LED_OFF LED1_OFF
+#define TX_LED_ON LED1_ON
+#endif
+
+// This method translates 2 wires (a tx and rx line) to 1 wire, by letting the
+// RX line control when data should be read or written from the single line
+void usb1WirePassthrough(int8_t escIndex)
+{
+#ifdef STM32F3DISCOVERY
+  ledInitDebug();
+#endif
+
+  //Disable all interrupts
+  disable_hardware_uart;
+
+  //Turn off the inverter, if necessary
+#if defined(INVERTER) && defined(SERIAL_1WIRE_USE_MAIN)
+  INVERTER_OFF;
+#endif
+
+  // reset all the pins
+  GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN);
+  GPIO_ResetBits(S1W_TX_GPIO, S1W_TX_PIN);
+  GPIO_ResetBits(escHardware[escIndex].gpio, (1U << escHardware[escIndex].pinpos));
+  // configure gpio
+  gpio_set_mode(S1W_RX_GPIO, S1W_RX_PIN, Mode_IPU);
+  gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_Out_PP);
+  gpio_set_mode(escHardware[escIndex].gpio, (1U << escHardware[escIndex].pinpos), Mode_IPU);
+  // hey user, turn on your ESC now
+
+#ifdef STM32F10X
+  // reset our gpio register pointers and bitmask values
+  gpio_prep_vars(escIndex);
+#endif
+
+  // Wait for programmer to go from 1 -> 0 indicating incoming data
+  while(RX_HI);
+  while(1) {
+    // A new iteration on this loop starts when we have data from the programmer (read_programmer goes low)
+    // Setup escIndex pin to send data, pullup is the default
+    ESC_OUTPUT(escIndex);
+    // Write the first bit
+    ESC_SET_LO(escIndex);
+    // Echo on the programmer tx line
+    TX_SET_LO;
+    //set LEDs
+    RX_LED_OFF;
+    TX_LED_ON;
+    // Wait for programmer to go 0 -> 1
+    uint32_t ct=3000;
+    while(!RX_HI) {
+      ct--;
+      if (ct==0) {
+        // Programmer RX -- unneeded as we explicity set this mode above
+        // gpio_set_mode(S1W_RX_GPIO, S1W_RX_PIN, Mode_IPU);
+        // Programmer TX
+        gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_AF_PP);
+#ifdef STM32F10X
+        *cr = original_cr_mask;
+#endif
+#if defined(INVERTER) && defined(SERIAL_1WIRE_USE_MAIN)
+        INVERTER_ON;
+#endif
+        // Enable Hardware UART
+        enable_hardware_uart;
+        return;
+      }
+    }
+    // Programmer is high, end of bit
+    // Echo to the esc
+    ESC_SET_HI(escIndex);
+    // Listen to the escIndex, input mode, pullup resistor is on
+    ESC_INPUT(escIndex);
+    TX_LED_OFF;
+    // Listen to the escIndex while there is no data from the programmer
+    while (RX_HI) {
+      if (ESC_HI(escIndex)) {
+        TX_SET_HIGH;
+        RX_LED_OFF;
+      }
+      else {
+        TX_SET_LO;
+        RX_LED_ON;
+      }
+    }
+  }
+}
+
+#endif

src/main/io/serial_1wire.h

@@ -0,0 +1,31 @@
+/*
+ * 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/>.
+ *
+ * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
+ *  by Nathan Tsoi <nathan@vertile.com>
+ */
+
+#pragma once
+
+#ifdef USE_SERIAL_1WIRE
+
+typedef struct {
+  GPIO_TypeDef* gpio;
+  uint32_t pinpos;
+} escHardware_t;
+
+void usb1WirePassthrough(int8_t escIndex);
+#endif

src/main/io/serial_cli.c

@@ -51,6 +51,7 @@
 #include "io/gimbal.h"
 #include "io/rc_controls.h"
 #include "io/serial.h"
+#include "io/serial_1wire.h"
 #include "io/ledstrip.h"
 #include "io/flashfs.h"
 #include "io/beeper.h"
@@ -144,6 +145,10 @@ static void cliFlashRead(char *cmdline);
 #endif
 #endif
 
+#ifdef USE_SERIAL_1WIRE
+static void cliUSB1Wire(char *cmdline);
+#endif
+
 // buffer
 static char cliBuffer[48];
 static uint32_t bufferIndex = 0;
@@ -216,6 +221,9 @@ typedef struct {
 
 // should be sorted a..z for bsearch()
 const clicmd_t cmdTable[] = {
+#ifdef USE_SERIAL_1WIRE
+    CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
+#endif
     CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
     CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
 #ifdef LED_STRIP
@@ -2110,6 +2118,30 @@ static void cliStatus(char *cmdline)
     printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
 }
 
+#ifdef USE_SERIAL_1WIRE
+static void cliUSB1Wire(char *cmdline)
+{
+    int i;
+
+    if (isEmpty(cmdline)) {
+        cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
+        return;
+    } else {
+        i = atoi(cmdline);
+        if (i >= 0 && i <= ESC_COUNT) {
+            printf("Switching to BlHeli mode on motor port %d\r\n", i);
+        }
+        else {
+            printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
+        }
+    }
+    UNUSED(cmdline);
+    StopPwmAllMotors();
+    // motor 1 => index 0
+    usb1WirePassthrough(i-1);
+}
+#endif
+
 static void cliVersion(char *cmdline)
 {
     UNUSED(cmdline);

src/main/target/CC3D/target.h

@@ -116,6 +116,34 @@
 #define USE_SERVOS
 #define USE_CLI
 
+#define USE_SERIAL_1WIRE
+// How many escs does this board support?
+#define ESC_COUNT 6
+
+// TODO: MainPort/FlexPort config via command line config
+// Comment out to use the FlexPort
+#define SERIAL_1WIRE_USE_MAIN
+
+#ifdef SERIAL_1WIRE_USE_MAIN
+// MainPort (pin 30/31, TX/RX respectively)
+// Note, main port has an inverter driven by pin 20
+// JST Pin3 TX - connect to external UART/USB RX
+#define S1W_TX_GPIO         GPIOA
+#define S1W_TX_PIN          GPIO_Pin_9
+// JST Pin4 RX - connect to external UART/USB TX
+#define S1W_RX_GPIO         GPIOA
+#define S1W_RX_PIN          GPIO_Pin_10
+#else
+// FlexPort (pin 21/22, TX/RX respectively):
+// Note, FlexPort has 10k pullups on both TX and RX
+// JST Pin3 TX - connect to external UART/USB RX
+#define S1W_TX_GPIO         GPIOB
+#define S1W_TX_PIN          GPIO_Pin_10
+// JST Pin4 RX - connect to external UART/USB TX
+#define S1W_RX_GPIO         GPIOB
+#define S1W_RX_PIN          GPIO_Pin_11
+#endif
+
 #if defined(OPBL)
 // disabled some features for OPBL build due to code size.
 #undef AUTOTUNE
@@ -124,6 +152,10 @@
 #define SKIP_CLI_COMMAND_HELP
 #endif
 
+#if defined(OPBL) && defined(USE_SERIAL_1WIRE)
+#undef DISPLAY
+#endif
+
 
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)

src/main/target/NAZE/target.h

@@ -183,6 +183,16 @@
 #define BIND_PORT  GPIOA
 #define BIND_PIN   Pin_3
 
+#define USE_SERIAL_1WIRE
+// How many escs does this board support?
+#define ESC_COUNT 6
+// STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX
+#define S1W_TX_GPIO         GPIOA
+#define S1W_TX_PIN          GPIO_Pin_9
+// STM32F103CBT6-LQFP48 Pin31 (PA10) RX - PC1 to onboard CP2102 TX
+#define S1W_RX_GPIO         GPIOA
+#define S1W_RX_PIN          GPIO_Pin_10
+
 // alternative defaults for AlienWii32 F1 target
 #ifdef ALIENWII32
 #undef TARGET_BOARD_IDENTIFIER

src/main/target/STM32F3DISCOVERY/target.h

@@ -98,3 +98,13 @@
 #define AUTOTUNE
 #define USE_SERVOS
 #define USE_CLI
+
+#define USE_SERIAL_1WIRE
+// How many escs does this board support?
+#define ESC_COUNT 6
+// STM32F3DISCOVERY TX - PC3 connects to UART RX
+#define S1W_TX_GPIO         GPIOC
+#define S1W_TX_PIN          GPIO_Pin_3
+// STM32F3DISCOVERY RX - PC1 connects to UART TX
+#define S1W_RX_GPIO         GPIOC
+#define S1W_RX_PIN          GPIO_Pin_1