mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 13:25:30 +03:00
New SPI API supporting DMA
Call targetConfiguration() once before config is loaded and again afterwards in case the config needs to be changed to load from SD card etc Drop SPI clock during binding Remove debug Add per device SPI DMA enable Fix sdioPinConfigure() declaration warning Reduce clock speed during SPI RX initialisation
This commit is contained in:
Steve Evans
Michael Keller
parent
6d286e25f1
commit
87c8847c13
136 changed files with 3585 additions and 2721 deletions
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@ -81,7 +81,7 @@
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#define DISPLAY_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5)
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#define PAGE_CYCLE_FREQUENCY (MICROSECONDS_IN_A_SECOND * 5)
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static busDevice_t *bus;
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static extDevice_t *dev;
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static uint32_t nextDisplayUpdateAt = 0;
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static bool dashboardPresent = false;
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@ -128,12 +128,12 @@ static pageState_t pageState;
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static void resetDisplay(void)
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{
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dashboardPresent = ug2864hsweg01InitI2C(bus);
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dashboardPresent = ug2864hsweg01InitI2C(dev);
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}
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void LCDprint(uint8_t i)
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{
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i2c_OLED_send_char(bus, i);
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i2c_OLED_send_char(dev, i);
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}
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static void padLineBuffer(void)
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@ -182,8 +182,8 @@ static void fillScreenWithCharacters(void)
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{
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for (uint8_t row = 0; row < SCREEN_CHARACTER_ROW_COUNT; row++) {
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for (uint8_t column = 0; column < SCREEN_CHARACTER_COLUMN_COUNT; column++) {
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i2c_OLED_set_xy(bus, column, row);
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i2c_OLED_send_char(bus, 'A' + column);
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i2c_OLED_set_xy(dev, column, row);
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i2c_OLED_send_char(dev, 'A' + column);
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}
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}
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}
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@ -193,22 +193,22 @@ static void fillScreenWithCharacters(void)
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static void updateTicker(void)
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{
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static uint8_t tickerIndex = 0;
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i2c_OLED_set_xy(bus, SCREEN_CHARACTER_COLUMN_COUNT - 1, 0);
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i2c_OLED_send_char(bus, tickerCharacters[tickerIndex]);
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i2c_OLED_set_xy(dev, SCREEN_CHARACTER_COLUMN_COUNT - 1, 0);
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i2c_OLED_send_char(dev, tickerCharacters[tickerIndex]);
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tickerIndex++;
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tickerIndex = tickerIndex % TICKER_CHARACTER_COUNT;
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}
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static void updateRxStatus(void)
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{
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i2c_OLED_set_xy(bus, SCREEN_CHARACTER_COLUMN_COUNT - 2, 0);
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i2c_OLED_set_xy(dev, SCREEN_CHARACTER_COLUMN_COUNT - 2, 0);
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char rxStatus = '!';
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if (rxIsReceivingSignal()) {
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rxStatus = 'r';
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} if (rxAreFlightChannelsValid()) {
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rxStatus = 'R';
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}
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i2c_OLED_send_char(bus, rxStatus);
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i2c_OLED_send_char(dev, rxStatus);
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}
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static void updateFailsafeStatus(void)
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@ -237,19 +237,19 @@ static void updateFailsafeStatus(void)
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failsafeIndicator = 'G';
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break;
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}
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i2c_OLED_set_xy(bus, SCREEN_CHARACTER_COLUMN_COUNT - 3, 0);
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i2c_OLED_send_char(bus, failsafeIndicator);
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i2c_OLED_set_xy(dev, SCREEN_CHARACTER_COLUMN_COUNT - 3, 0);
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i2c_OLED_send_char(dev, failsafeIndicator);
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}
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static void showTitle(void)
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{
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i2c_OLED_set_line(bus, 0);
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i2c_OLED_send_string(bus, pageState.page->title);
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i2c_OLED_set_line(dev, 0);
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i2c_OLED_send_string(dev, pageState.page->title);
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}
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static void handlePageChange(void)
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{
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i2c_OLED_clear_display_quick(bus);
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i2c_OLED_clear_display_quick(dev);
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showTitle();
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}
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@ -265,7 +265,7 @@ static void drawRxChannel(uint8_t channelIndex, uint8_t width)
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static void showRxPage(void)
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{
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for (int channelIndex = 0; channelIndex < rxRuntimeState.channelCount && channelIndex < RX_CHANNELS_PER_PAGE_COUNT; channelIndex += 2) {
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i2c_OLED_set_line(bus, (channelIndex / 2) + PAGE_TITLE_LINE_COUNT);
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i2c_OLED_set_line(dev, (channelIndex / 2) + PAGE_TITLE_LINE_COUNT);
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drawRxChannel(channelIndex, HALF_SCREEN_CHARACTER_COLUMN_COUNT);
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@ -286,11 +286,11 @@ static void showWelcomePage(void)
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uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
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tfp_sprintf(lineBuffer, "v%s (%s)", FC_VERSION_STRING, shortGitRevision);
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, targetName);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, targetName);
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}
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static void showArmedPage(void)
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@ -302,8 +302,8 @@ static void showProfilePage(void)
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uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
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tfp_sprintf(lineBuffer, "Profile: %d", getCurrentPidProfileIndex());
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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static const char* const axisTitles[3] = {"ROL", "PIT", "YAW"};
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const pidProfile_t *pidProfile = currentPidProfile;
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@ -315,8 +315,8 @@ static void showProfilePage(void)
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pidProfile->pid[axis].D
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);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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}
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@ -326,15 +326,15 @@ static void showRateProfilePage(void)
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const uint8_t currentRateProfileIndex = getCurrentControlRateProfileIndex();
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tfp_sprintf(lineBuffer, "Rate profile: %d", currentRateProfileIndex);
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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const controlRateConfig_t *controlRateConfig = controlRateProfiles(currentRateProfileIndex);
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tfp_sprintf(lineBuffer, " R P Y");
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "RcRate %3d %3d %3d",
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controlRateConfig->rcRates[FD_ROLL],
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@ -342,8 +342,8 @@ static void showRateProfilePage(void)
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controlRateConfig->rcRates[FD_YAW]
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);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "Super %3d %3d %3d",
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controlRateConfig->rates[FD_ROLL],
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@ -351,8 +351,8 @@ static void showRateProfilePage(void)
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controlRateConfig->rates[FD_YAW]
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);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "Expo %3d %3d %3d",
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controlRateConfig->rcExpo[FD_ROLL],
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@ -360,8 +360,8 @@ static void showRateProfilePage(void)
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controlRateConfig->rcExpo[FD_YAW]
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);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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#define SATELLITE_COUNT (sizeof(GPS_svinfo_cno) / sizeof(GPS_svinfo_cno[0]))
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@ -385,64 +385,64 @@ static void showGpsPage(void)
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gpsTicker = gpsTicker % TICKER_CHARACTER_COUNT;
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}
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i2c_OLED_set_xy(bus, 0, rowIndex);
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i2c_OLED_send_char(bus, tickerCharacters[gpsTicker]);
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i2c_OLED_set_xy(dev, 0, rowIndex);
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i2c_OLED_send_char(dev, tickerCharacters[gpsTicker]);
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i2c_OLED_set_xy(bus, MAX(0, (uint8_t)SATELLITE_GRAPH_LEFT_OFFSET), rowIndex++);
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i2c_OLED_set_xy(dev, MAX(0, (uint8_t)SATELLITE_GRAPH_LEFT_OFFSET), rowIndex++);
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uint32_t index;
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for (index = 0; index < SATELLITE_COUNT && index < SCREEN_CHARACTER_COLUMN_COUNT; index++) {
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uint8_t bargraphOffset = ((uint16_t) GPS_svinfo_cno[index] * VERTICAL_BARGRAPH_CHARACTER_COUNT) / (GPS_DBHZ_MAX - 1);
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bargraphOffset = MIN(bargraphOffset, VERTICAL_BARGRAPH_CHARACTER_COUNT - 1);
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i2c_OLED_send_char(bus, VERTICAL_BARGRAPH_ZERO_CHARACTER + bargraphOffset);
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i2c_OLED_send_char(dev, VERTICAL_BARGRAPH_ZERO_CHARACTER + bargraphOffset);
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}
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char fixChar = STATE(GPS_FIX) ? 'Y' : 'N';
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tfp_sprintf(lineBuffer, "Sats: %d Fix: %c", gpsSol.numSat, fixChar);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "La/Lo: %d/%d", gpsSol.llh.lat / GPS_DEGREES_DIVIDER, gpsSol.llh.lon / GPS_DEGREES_DIVIDER);
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "Spd: %d", gpsSol.groundSpeed);
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padHalfLineBuffer();
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i2c_OLED_set_line(bus, rowIndex);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "GC: %d", gpsSol.groundCourse);
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padHalfLineBuffer();
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i2c_OLED_set_xy(bus, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "RX: %d", GPS_packetCount);
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padHalfLineBuffer();
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i2c_OLED_set_line(bus, rowIndex);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "ERRs: %d", gpsData.errors);
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padHalfLineBuffer();
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i2c_OLED_set_xy(bus, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "Dt: %d", gpsData.lastMessage - gpsData.lastLastMessage);
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padHalfLineBuffer();
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i2c_OLED_set_line(bus, rowIndex);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex);
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i2c_OLED_send_string(dev, lineBuffer);
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tfp_sprintf(lineBuffer, "TOs: %d", gpsData.timeouts);
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padHalfLineBuffer();
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i2c_OLED_set_xy(bus, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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strncpy(lineBuffer, gpsPacketLog, GPS_PACKET_LOG_ENTRY_COUNT);
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padHalfLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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#endif
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@ -453,11 +453,11 @@ static void showBatteryPage(void)
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if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
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tfp_sprintf(lineBuffer, "Volts: %d.%02d Cells: %d", getBatteryVoltage() / 100, getBatteryVoltage() % 100, getBatteryCellCount());
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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uint8_t batteryPercentage = calculateBatteryPercentageRemaining();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_set_line(dev, rowIndex++);
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drawHorizonalPercentageBar(SCREEN_CHARACTER_COLUMN_COUNT, batteryPercentage);
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}
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@ -468,11 +468,11 @@ static void showBatteryPage(void)
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// Amp: DDD.D mAh: DDDDD
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tfp_sprintf(lineBuffer, "Amp: %d.%d mAh: %d", amperage / 100, (amperage % 100) / 10, getMAhDrawn());
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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uint8_t capacityPercentage = calculateBatteryPercentageRemaining();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_set_line(dev, rowIndex++);
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drawHorizonalPercentageBar(SCREEN_CHARACTER_COLUMN_COUNT, capacityPercentage);
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}
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}
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@ -482,38 +482,38 @@ static void showSensorsPage(void)
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uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
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static const char *format = "%s %5d %5d %5d";
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, " X Y Z");
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, " X Y Z");
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#if defined(USE_ACC)
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if (sensors(SENSOR_ACC)) {
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tfp_sprintf(lineBuffer, format, "ACC", lrintf(acc.accADC[X]), lrintf(acc.accADC[Y]), lrintf(acc.accADC[Z]));
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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#endif
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if (sensors(SENSOR_GYRO)) {
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tfp_sprintf(lineBuffer, format, "GYR", lrintf(gyro.gyroADCf[X]), lrintf(gyro.gyroADCf[Y]), lrintf(gyro.gyroADCf[Z]));
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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#ifdef USE_MAG
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if (sensors(SENSOR_MAG)) {
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tfp_sprintf(lineBuffer, format, "MAG", lrintf(mag.magADC[X]), lrintf(mag.magADC[Y]), lrintf(mag.magADC[Z]));
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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}
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#endif
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tfp_sprintf(lineBuffer, format, "I&H", attitude.values.roll, attitude.values.pitch, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
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padLineBuffer();
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i2c_OLED_set_line(bus, rowIndex++);
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i2c_OLED_send_string(bus, lineBuffer);
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i2c_OLED_set_line(dev, rowIndex++);
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i2c_OLED_send_string(dev, lineBuffer);
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/*
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uint8_t length;
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@ -526,8 +526,8 @@ static void showSensorsPage(void)
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}
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ftoa(EstG.A[Y], lineBuffer + length);
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padLineBuffer();
|
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i2c_OLED_set_line(bus, rowIndex++);
|
||||
i2c_OLED_send_string(bus, lineBuffer);
|
||||
i2c_OLED_set_line(dev, rowIndex++);
|
||||
i2c_OLED_send_string(dev, lineBuffer);
|
||||
|
||||
ftoa(EstG.A[Z], lineBuffer);
|
||||
length = strlen(lineBuffer);
|
||||
|
|
@ -537,8 +537,8 @@ static void showSensorsPage(void)
|
|||
}
|
||||
ftoa(smallAngle, lineBuffer + length);
|
||||
padLineBuffer();
|
||||
i2c_OLED_set_line(bus, rowIndex++);
|
||||
i2c_OLED_send_string(bus, lineBuffer);
|
||||
i2c_OLED_set_line(dev, rowIndex++);
|
||||
i2c_OLED_send_string(dev, lineBuffer);
|
||||
*/
|
||||
|
||||
}
|
||||
|
|
@ -549,8 +549,8 @@ static void showTasksPage(void)
|
|||
uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
|
||||
static const char *format = "%2d%6d%5d%4d%4d";
|
||||
|
||||
i2c_OLED_set_line(bus, rowIndex++);
|
||||
i2c_OLED_send_string(bus, "Task max avg mx% av%");
|
||||
i2c_OLED_set_line(dev, rowIndex++);
|
||||
i2c_OLED_send_string(dev, "Task max avg mx% av%");
|
||||
taskInfo_t taskInfo;
|
||||
for (taskId_e taskId = 0; taskId < TASK_COUNT; ++taskId) {
|
||||
getTaskInfo(taskId, &taskInfo);
|
||||
|
|
@ -560,8 +560,8 @@ static void showTasksPage(void)
|
|||
const int averageLoad = (taskInfo.averageExecutionTimeUs * taskFrequency + 5000) / 10000;
|
||||
tfp_sprintf(lineBuffer, format, taskId, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTimeUs, maxLoad, averageLoad);
|
||||
padLineBuffer();
|
||||
i2c_OLED_set_line(bus, rowIndex++);
|
||||
i2c_OLED_send_string(bus, lineBuffer);
|
||||
i2c_OLED_set_line(dev, rowIndex++);
|
||||
i2c_OLED_send_string(dev, lineBuffer);
|
||||
if (rowIndex > SCREEN_CHARACTER_ROW_COUNT) {
|
||||
break;
|
||||
}
|
||||
|
|
@ -594,8 +594,8 @@ static void showBBPage(void)
|
|||
}
|
||||
|
||||
padLineBuffer();
|
||||
i2c_OLED_set_line(bus, rowIndex++);
|
||||
i2c_OLED_send_string(bus, lineBuffer);
|
||||
i2c_OLED_set_line(dev, rowIndex++);
|
||||
i2c_OLED_send_string(dev, lineBuffer);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -606,8 +606,8 @@ static void showDebugPage(void)
|
|||
for (int rowIndex = 0; rowIndex < 4; rowIndex++) {
|
||||
tfp_sprintf(lineBuffer, "%d = %5d", rowIndex, debug[rowIndex]);
|
||||
padLineBuffer();
|
||||
i2c_OLED_set_line(bus, rowIndex + PAGE_TITLE_LINE_COUNT);
|
||||
i2c_OLED_send_string(bus, lineBuffer);
|
||||
i2c_OLED_set_line(dev, rowIndex + PAGE_TITLE_LINE_COUNT);
|
||||
i2c_OLED_send_string(dev, lineBuffer);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
@ -722,16 +722,21 @@ void dashboardUpdate(timeUs_t currentTimeUs)
|
|||
|
||||
void dashboardInit(void)
|
||||
{
|
||||
static extDevice_t dashBoardDev;
|
||||
// TODO Use bus singleton
|
||||
static busDevice_t dashBoardBus;
|
||||
dashBoardBus.busdev_u.i2c.device = I2C_CFG_TO_DEV(dashboardConfig()->device);
|
||||
dashBoardBus.busdev_u.i2c.address = dashboardConfig()->address;
|
||||
bus = &dashBoardBus;
|
||||
|
||||
dashBoardDev.bus = &dashBoardBus;
|
||||
|
||||
dashBoardBus.busType_u.i2c.device = I2C_CFG_TO_DEV(dashboardConfig()->device);
|
||||
dashBoardDev.busType_u.i2c.address = dashboardConfig()->address;
|
||||
dev = &dashBoardDev;
|
||||
|
||||
delay(200);
|
||||
resetDisplay();
|
||||
delay(200);
|
||||
|
||||
displayPort = displayPortOledInit(bus);
|
||||
displayPort = displayPortOledInit(dev);
|
||||
#if defined(USE_CMS)
|
||||
if (dashboardPresent) {
|
||||
cmsDisplayPortRegister(displayPort);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue