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Code Issues Wiki Activity

Changed disable beeper method.

Browse source 
Fix indentation level to 4.
Removed CLI support for 1wire pass through
This commit is contained in:
4712betaflight 2015-11-30 00:42:57 +01:00 • committed by borisbstyle
parent f68add5d4d
commit 5f1540dbcb
11 changed files with 118 additions and 214 deletions
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286
src/main/io/serial_1wire.c
View file

@ -16,6 +16,7 @@
* *
* Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
* by Nathan Tsoi <nathan@vertile.com> * by Nathan Tsoi <nathan@vertile.com>
* Several updates by 4712 in order to optimize interaction with BLHeliSuite
*/ */
#include <stdbool.h> #include <stdbool.h>
@ -29,111 +30,50 @@
#include "drivers/light_led.h" #include "drivers/light_led.h"
#include "drivers/system.h" #include "drivers/system.h"
#include "io/serial_1wire.h" #include "io/serial_1wire.h"
#include "io/beeper.h"
#include "drivers/pwm_mapping.h" #include "drivers/pwm_mapping.h"
#include "flight/mixer.h" #include "flight/mixer.h"
/*
const escHardware_t escHardware[ESC_COUNT] = {
// 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))
{ GPIOD, 12 },
{ GPIOD, 13 },
{ GPIOD, 14 },
{ GPIOD, 15 },
{ GPIOA, 1 },
{ GPIOA, 2 }
#elif defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R)
{ GPIOA, 8 },
{ GPIOA, 11 },
{ GPIOB, 6 },
{ GPIOB, 7 },
{ GPIOB, 8 },
{ GPIOB, 9 }
#elif CC3D
{ GPIOB, 9 },
{ GPIOB, 8 },
{ GPIOB, 7 },
{ GPIOA, 8 },
{ GPIOB, 4 },
{ GPIOA, 2 }
#elif SPRACINGF3
{ GPIOA, 6 },
{ GPIOA, 7 },
{ GPIOA, 11 },
{ GPIOA, 12 },
{ GPIOB, 8 },
{ GPIOB, 9 },
{ GPIOA, 2 },
{ GPIOA, 3 }
#elif MOTOLAB
{ GPIOA, 4 },
{ GPIOA, 6 },
{ GPIOB, 0 },
{ GPIOB, 1 },
{ GPIOA, 1 },
{ GPIOA, 2 },
{ GPIOA, 3 },
{ GPIOA, 8 }
#elif SPARKY
{ GPIOB, 15 },
{ GPIOB, 14 },
{ GPIOA, 8 },
{ GPIOB, 0 },
{ GPIOA, 6 },
{ GPIOA, 2 }
#endif
};
*/
uint8_t escCount; // we detect the hardware dynamically uint8_t escCount; // we detect the hardware dynamically
static escHardware_t escHardware[MAX_PWM_MOTORS]; static escHardware_t escHardware[MAX_PWM_MOTORS];
static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) { static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) {
gpio_config_t cfg; gpio_config_t cfg;
cfg.pin = pin; cfg.pin = pin;
cfg.mode = mode; cfg.mode = mode;
cfg.speed = Speed_10MHz; cfg.speed = Speed_10MHz;
gpioInit(gpio, &cfg); gpioInit(gpio, &cfg);
} }
static uint32_t GetPinPos(uint32_t pin) { static uint32_t GetPinPos(uint32_t pin) {
uint32_t pinPos; uint32_t pinPos;
for (pinPos = 0; pinPos < 16; pinPos++) { for (pinPos = 0; pinPos < 16; pinPos++) {
uint32_t pinMask = (0x1 << pinPos); uint32_t pinMask = (0x1 << pinPos);
if (pin & pinMask) { if (pin & pinMask) {
// pos found // pos found
return pinPos; return pinPos;
} }
} }
return 0; return 0;
} }
void usb1WireInitialize() void usb1WireInitialize()
{ {
escCount = 0; escCount = 0;
memset(&escHardware,0,sizeof(escHardware)); memset(&escHardware,0,sizeof(escHardware));
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration(); pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration();
for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) { for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) {
if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) { if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) {
if(motor[pwmOutputConfiguration->portConfigurations[i].index] >0 ) { if(motor[pwmOutputConfiguration->portConfigurations[i].index] >0 ) {
escHardware[escCount].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio; escHardware[escCount].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio;
escHardware[escCount].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin; escHardware[escCount].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin;
escHardware[escCount].pinpos = GetPinPos(escHardware[escCount].pin); escHardware[escCount].pinpos = GetPinPos(escHardware[escCount].pin);
gpio_set_mode(escHardware[escCount].gpio,escHardware[escCount].pin, Mode_IPU); //GPIO_Mode_IPU gpio_set_mode(escHardware[escCount].gpio,escHardware[escCount].pin, Mode_IPU); //GPIO_Mode_IPU
escCount++; escCount++;
} }
}
} }
}
#ifdef BEEPER
// fix for buzzer often starts beeping continuously when the ESCs are read
// switch beeper off until reboot
gpio_set_mode(BEEP_GPIO, BEEP_PIN, Mode_IN_FLOATING); // set input no pull up or down
#endif
} }
#ifdef STM32F10X #ifdef STM32F10X
@ -142,34 +82,34 @@ static volatile uint32_t in_cr_mask, out_cr_mask;
static __IO uint32_t *cr; static __IO uint32_t *cr;
static void gpio_prep_vars(uint32_t escIndex) static void gpio_prep_vars(uint32_t escIndex)
{ {
GPIO_TypeDef *gpio = escHardware[escIndex].gpio; GPIO_TypeDef *gpio = escHardware[escIndex].gpio;
uint32_t pinpos = escHardware[escIndex].pinpos; uint32_t pinpos = escHardware[escIndex].pinpos;
// mask out extra bits from pinmode, leaving just CNF+MODE // mask out extra bits from pinmode, leaving just CNF+MODE
uint32_t inmode = Mode_IPU & 0x0F; uint32_t inmode = Mode_IPU & 0x0F;
uint32_t outmode = (Mode_Out_PP & 0x0F) | Speed_10MHz; uint32_t outmode = (Mode_Out_PP & 0x0F) | Speed_10MHz;
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15 // reference CRL or CRH, depending whether pin number is 0..7 or 8..15
cr = &gpio->CRL + (pinpos / 8); cr = &gpio->CRL + (pinpos / 8);
// offset to CNF and MODE portions of CRx register // offset to CNF and MODE portions of CRx register
uint32_t shift = (pinpos % 8) * 4; uint32_t shift = (pinpos % 8) * 4;
// Read out current CRx value // Read out current CRx value
in_cr_mask = out_cr_mask = *cr; in_cr_mask = out_cr_mask = *cr;
// Mask out 4 bits // Mask out 4 bits
in_cr_mask &= ~(0xF << shift); in_cr_mask &= ~(0xF << shift);
out_cr_mask &= ~(0xF << shift); out_cr_mask &= ~(0xF << shift);
// save current pinmode // save current pinmode
in_cr_mask |= inmode << shift; in_cr_mask |= inmode << shift;
out_cr_mask |= outmode << shift; out_cr_mask |= outmode << shift;
} }
static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) { static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15 // reference CRL or CRH, depending whether pin number is 0..7 or 8..15
if (mode == Mode_IPU) { if (mode == Mode_IPU) {
*cr = in_cr_mask; *cr = in_cr_mask;
escHardware[escIndex].gpio->ODR |= escHardware[escIndex].pin; escHardware[escIndex].gpio->ODR |= escHardware[escIndex].pin;
} }
else { else {
*cr = out_cr_mask; *cr = out_cr_mask;
} }
} }
#endif #endif
@ -190,7 +130,6 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
#define ESC_OUTPUT(escIndex) gpioSetOne(escIndex, Mode_Out_PP) #define ESC_OUTPUT(escIndex) gpioSetOne(escIndex, Mode_Out_PP)
#endif #endif
#define RX_LED_OFF LED0_OFF #define RX_LED_OFF LED0_OFF
#define RX_LED_ON LED0_ON #define RX_LED_ON LED0_ON
#define TX_LED_OFF LED1_OFF #define TX_LED_OFF LED1_OFF
@ -200,73 +139,78 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
// RX line control when data should be read or written from the single line // RX line control when data should be read or written from the single line
void usb1WirePassthrough(uint8_t escIndex) void usb1WirePassthrough(uint8_t escIndex)
{ {
// disable all interrupts #ifdef BEEPER
__disable_irq(); // fix for buzzer often starts beeping continuously when the ESCs are read
// switch beeper silent here
beeperSilence();
#endif
// reset all the pins // disable all interrupts
GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN); __disable_irq();
GPIO_ResetBits(S1W_TX_GPIO, S1W_TX_PIN);
// configure gpio // prepare MSP UART port for direct pin access
gpio_set_mode(S1W_RX_GPIO, S1W_RX_PIN, Mode_IPU); // reset all the pins
gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_Out_PP); GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN);
// hey user, turn on your ESC now GPIO_ResetBits(S1W_TX_GPIO, S1W_TX_PIN);
// 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);
#ifdef STM32F10X #ifdef STM32F10X
// reset our gpio register pointers and bitmask values // reset our gpio register pointers and bitmask values
gpio_prep_vars(escIndex); gpio_prep_vars(escIndex);
#endif #endif
ESC_OUTPUT(escIndex);
ESC_SET_HI(escIndex);
TX_SET_HIGH;
// 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); 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=3333;
while(!RX_HI) {
if (ct > 0) ct--; // count down until 0;
// check for low time ->ct=3333 ~600uS //byte LO time for 0 @ 19200 baud -> 9*52 uS => 468.75uS
// App must send a 0 at 9600 baud (or lower) which has a LO time of at 104uS (or more) > 0 = 937.5uS LO
// BLHeliSuite will use 4800 baud
}
// Programmer is high, end of bit
// At first Echo to the esc, which helps to charge input capacities at ESC
ESC_SET_HI(escIndex); ESC_SET_HI(escIndex);
// Listen to the escIndex, input mode, pullup resistor is on TX_SET_HIGH;
gpio_set_mode(escHardware[escIndex].gpio, escHardware[escIndex].pin, Mode_IPU); // Wait for programmer to go from 1 -> 0 indicating incoming data
TX_LED_OFF; while(RX_HI);
if (ct==0) break; //we reached zero
// Listen to the escIndex while there is no data from the programmer while(1) {
while (RX_HI) { // A new iteration on this loop starts when we have data from the programmer (read_programmer goes low)
if (ESC_HI(escIndex)) { // Setup escIndex pin to send data, pullup is the default
TX_SET_HIGH; ESC_OUTPUT(escIndex);
RX_LED_OFF; // Write the first bit
} ESC_SET_LO(escIndex);
else { // Echo on the programmer tx line
TX_SET_LO; TX_SET_LO;
RX_LED_ON; //set LEDs
} RX_LED_OFF;
TX_LED_ON;
// Wait for programmer to go 0 -> 1
uint32_t ct=3333;
while(!RX_HI) {
if (ct > 0) ct--; // count down until 0;
// check for low time ->ct=3333 ~600uS //byte LO time for 0 @ 19200 baud -> 9*52 uS => 468.75uS
// App must send a 0 at 9600 baud (or lower) which has a LO time of at 104uS (or more) > 0 = 937.5uS LO
// BLHeliSuite will use 4800 baud
}
// Programmer is high, end of bit
// At first Echo to the esc, which helps to charge input capacities at ESC
ESC_SET_HI(escIndex);
// Listen to the escIndex, input mode, pullup resistor is on
gpio_set_mode(escHardware[escIndex].gpio, escHardware[escIndex].pin, Mode_IPU);
TX_LED_OFF;
if (ct==0) break; //we reached zero
// 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;
}
}
} }
}
// we get here in case ct reached zero // we get here in case ct reached zero
TX_SET_HIGH; TX_SET_HIGH;
RX_LED_OFF; RX_LED_OFF;
// Enable all irq (for Hardware UART) // Enable all irq (for Hardware UART)
__enable_irq(); __enable_irq();
return; return;
} }
#endif #endif

6
src/main/io/serial_1wire.h
View file

@ -25,9 +25,9 @@
extern uint8_t escCount; extern uint8_t escCount;
typedef struct { typedef struct {
GPIO_TypeDef* gpio; GPIO_TypeDef* gpio;
uint16_t pinpos; uint16_t pinpos;
uint16_t pin; uint16_t pin;
} escHardware_t; } escHardware_t;

32
src/main/io/serial_cli.c
View file

@ -51,7 +51,6 @@
#include "io/gimbal.h" #include "io/gimbal.h"
#include "io/rc_controls.h" #include "io/rc_controls.h"
#include "io/serial.h" #include "io/serial.h"
#include "io/serial_1wire.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/flashfs.h" #include "io/flashfs.h"
#include "io/beeper.h" #include "io/beeper.h"
@ -149,10 +148,6 @@ static void cliFlashRead(char *cmdline);
#endif #endif
#endif #endif
#ifdef USE_SERIAL_1WIRE_CLI
static void cliUSB1Wire(char *cmdline);
#endif
// buffer // buffer
static char cliBuffer[48]; static char cliBuffer[48];
static uint32_t bufferIndex = 0; static uint32_t bufferIndex = 0;
@ -229,9 +224,6 @@ typedef struct {
// should be sorted a..z for bsearch() // should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = { const clicmd_t cmdTable[] = {
#ifdef USE_SERIAL_1WIRE_CLI
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("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux), CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef LED_STRIP #ifdef LED_STRIP
@ -2326,30 +2318,6 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t)); printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
} }
#ifdef USE_SERIAL_1WIRE_CLI
static void cliUSB1Wire(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
return;
} else {
usb1WireInitialize(); // init ESC outputs and get escCount value
int i;
i = atoi(cmdline);
if (i >= 0 && i <= escCount) {
printf("Switching to BlHeli mode on motor port %d\r\n", i);
// motor 1 => index 0
usb1WirePassthrough(i-1);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", escCount);
// cliReboot();
}
}
}
#endif
static void cliVersion(char *cmdline) static void cliVersion(char *cmdline)
{ {
UNUSED(cmdline); UNUSED(cmdline);

1
src/main/target/CC3D/target.h
View file

@ -129,7 +129,6 @@
#define USE_CLI #define USE_CLI
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
// FlexPort (pin 21/22, TX/RX respectively): // FlexPort (pin 21/22, TX/RX respectively):
// Note, FlexPort has 10k pullups on both TX and RX // Note, FlexPort has 10k pullups on both TX and RX

1
src/main/target/IRCFUSIONF3/target.h
View file

@ -172,7 +172,6 @@
#define BIND_PIN Pin_11 #define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define S1W_TX_GPIO GPIOA #define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9 #define S1W_TX_PIN GPIO_Pin_9
#define S1W_RX_GPIO GPIOA #define S1W_RX_GPIO GPIOA

1
src/main/target/MOTOLAB/target.h
View file

@ -187,7 +187,6 @@
#define BIND_PIN Pin_4 #define BIND_PIN Pin_4
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOB #define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6 #define S1W_TX_PIN GPIO_Pin_6

1
src/main/target/NAZE/target.h
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@ -187,7 +187,6 @@
#define BIND_PIN Pin_3 #define BIND_PIN Pin_3
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
// STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX // STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX
#define S1W_TX_GPIO GPIOA #define S1W_TX_GPIO GPIOA

1
src/main/target/RMDO/target.h
View file

@ -164,7 +164,6 @@
#define BIND_PIN Pin_11 #define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOA #define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9 #define S1W_TX_PIN GPIO_Pin_9

1
src/main/target/SPARKY/target.h
View file

@ -162,7 +162,6 @@
#endif #endif
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOB #define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6 #define S1W_TX_PIN GPIO_Pin_6

1
src/main/target/SPRACINGF3/target.h
View file

@ -172,7 +172,6 @@
#define BIND_PIN Pin_11 #define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOA #define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9 #define S1W_TX_PIN GPIO_Pin_9

1
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -100,7 +100,6 @@
#define USE_CLI #define USE_CLI
#define USE_SERIAL_1WIRE #define USE_SERIAL_1WIRE
#define USE_SERIAL_1WIRE_CLI
// STM32F3DISCOVERY TX - PD5 connects to UART RX // STM32F3DISCOVERY TX - PD5 connects to UART RX
#define S1W_TX_GPIO GPIOD #define S1W_TX_GPIO GPIOD