mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
Add BST support for TBS CorePro to betaflight
Conflicts: Makefile src/main/drivers/bus_bst.h src/main/drivers/bus_bst_stm32f30x.c src/main/io/i2c_bst.c src/main/io/i2c_bst.h src/main/main.c src/main/mw.c src/main/target/COLIBRI_RACE/target.h corrections
This commit is contained in:
Larry
borisbstyle
parent
6f8e9014f5
commit
8e2b485eac
6 changed files with 103 additions and 45 deletions
4
Makefile
4
Makefile
|
|
@ -577,8 +577,8 @@ CHEBUZZF3_SRC = \
|
|||
|
||||
COLIBRI_RACE_SRC = \
|
||||
$(STM32F30x_COMMON_SRC) \
|
||||
io/i2c_bst.c \
|
||||
drivers/bus_bst_stm32f30x.c \
|
||||
io/i2c_bst.c \
|
||||
drivers/bus_bst_stm32f30x.c \
|
||||
drivers/display_ug2864hsweg01.c \
|
||||
drivers/accgyro_mpu.c \
|
||||
drivers/accgyro_mpu6500.c \
|
||||
|
|
|
|||
|
|
@ -17,19 +17,20 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define TBS_CORE_PNP_PRO 0x80
|
||||
#define TBS_CORE_PNP_PRO 0x80
|
||||
#define RESERVED 0x8A
|
||||
#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
|
||||
#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
|
||||
#define PNP_PRO_GPS 0xC2
|
||||
#define TSB_BLACKBOX 0xC4
|
||||
#define CLEANFLIGHT_FC 0xC8
|
||||
#define CROSSFIRE_UHF_RECEIVER 0xEC
|
||||
|
||||
#define GPS_POSITION_FRAME_ID 0x02
|
||||
#define GPS_POSITION_FRAME_ID 0x02
|
||||
#define GPS_TIME_FRAME_ID 0x03
|
||||
#define FC_ATTITUDE_FRAME_ID 0x1E
|
||||
#define FC_ATTITUDE_FRAME_ID 0x1E
|
||||
#define RC_CHANNEL_FRAME_ID 0x15
|
||||
#define CROSSFIRE_RSSI_FRAME_ID 0x14
|
||||
#define CLEANFLIGHT_MODE_FRAME_ID 0x20
|
||||
|
||||
typedef enum BSTDevice {
|
||||
BSTDEV_1,
|
||||
|
|
@ -52,3 +53,4 @@ void crc8Cal(uint8_t data_in);
|
|||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -302,6 +302,13 @@ bool bstSlaveWrite(uint8_t* data) {
|
|||
/* Decrement the read bytes counter */
|
||||
len--;
|
||||
}
|
||||
/* Wait until TXIS flag is set */
|
||||
bstTimeout = BST_LONG_TIMEOUT;
|
||||
while (I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS) == RESET) {
|
||||
if ((bstTimeout--) == 0) {
|
||||
return bstTimeoutUserCallback(BSTx);
|
||||
}
|
||||
}
|
||||
/* If all operations OK */
|
||||
return true;
|
||||
}
|
||||
|
|
@ -379,7 +386,7 @@ void crc8Cal(uint8_t data_in)
|
|||
if (CRC8 & 0x80) {
|
||||
MSB_Flag = true;
|
||||
}
|
||||
|
||||
|
||||
CRC8 <<= 1;
|
||||
|
||||
/* MSB_Set = 80; */
|
||||
|
|
@ -387,7 +394,7 @@ void crc8Cal(uint8_t data_in)
|
|||
CRC8++;
|
||||
}
|
||||
data_in <<= 1;
|
||||
|
||||
|
||||
if (MSB_Flag == true) {
|
||||
CRC8 ^= Polynom;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -275,9 +275,6 @@ static uint8_t activeBoxIdCount = 0;
|
|||
// from mixer.c
|
||||
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
|
||||
|
||||
extern float anglerad[2];
|
||||
extern int16_t heading;
|
||||
|
||||
// cause reboot after BST processing complete
|
||||
static bool isRebootScheduled = false;
|
||||
|
||||
|
|
@ -651,7 +648,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
|
|||
case BST_ATTITUDE:
|
||||
for (i = 0; i < 2; i++)
|
||||
bstWrite16(attitude.raw[i]);
|
||||
//bstWrite16(heading); //FIXME
|
||||
//bstWrite16(heading);
|
||||
break;
|
||||
case BST_ALTITUDE:
|
||||
#if defined(BARO) || defined(SONAR)
|
||||
|
|
@ -682,6 +679,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
|
|||
bstWrite8(masterConfig.disarm_kill_switch);
|
||||
break;
|
||||
case BST_LOOP_TIME:
|
||||
//bstWrite16(masterConfig.looptime);
|
||||
bstWrite16(cycleTime);
|
||||
break;
|
||||
case BST_RC_TUNING:
|
||||
|
|
@ -995,7 +993,10 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
|
|||
bstWrite8(masterConfig.profile[0].rcControlsConfig.yaw_deadband);
|
||||
break;
|
||||
case BST_FC_FILTERS:
|
||||
bstWrite16(masterConfig.gyro_lpf);
|
||||
bstWrite8(0);//masterConfig.profile[0].pidProfile.gyro_cut_hz);
|
||||
bstWrite8(masterConfig.profile[0].pidProfile.dterm_cut_hz);
|
||||
bstWrite8(masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz);
|
||||
break;
|
||||
default:
|
||||
// we do not know how to handle the (valid) message, indicate error BST
|
||||
|
|
@ -1045,7 +1046,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
|
||||
rxMspFrameReceive(frame, channelCount);
|
||||
}
|
||||
}
|
||||
}
|
||||
case BST_SET_ACC_TRIM:
|
||||
currentProfile->accelerometerTrims.values.pitch = bstRead16();
|
||||
currentProfile->accelerometerTrims.values.roll = bstRead16();
|
||||
|
|
@ -1056,6 +1057,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
break;
|
||||
case BST_SET_LOOP_TIME:
|
||||
//masterConfig.looptime = bstRead16();
|
||||
cycleTime = bstRead16();
|
||||
break;
|
||||
case BST_SET_PID_CONTROLLER:
|
||||
currentProfile->pidProfile.pidController = bstRead8();
|
||||
|
|
@ -1456,6 +1458,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
masterConfig.profile[0].rcControlsConfig.yaw_deadband = bstRead8();
|
||||
break;
|
||||
case BST_SET_FC_FILTERS:
|
||||
masterConfig.gyro_lpf = bstRead16();
|
||||
bstRead8();//masterConfig.profile[0].pidProfile.gyro_cut_hz = bstRead8();
|
||||
masterConfig.profile[0].pidProfile.dterm_cut_hz = bstRead8();
|
||||
masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz = bstRead8();
|
||||
break;
|
||||
|
|
@ -1521,30 +1525,35 @@ static void bstSlaveProcessInCommand(void)
|
|||
}
|
||||
|
||||
/*************************************************************************************************/
|
||||
#define UPDATE_AT_20HZ ((1000 * 1000) / 20)
|
||||
static uint32_t next20hzUpdateAt = 0;
|
||||
#define UPDATE_AT_02HZ ((1000 * 1000) / 2)
|
||||
static uint32_t next02hzUpdateAt_1 = 0;
|
||||
|
||||
#define UPDATE_AT_10HZ ((1000 * 1000) / 10)
|
||||
static uint32_t next10hzUpdateAt_1 = 0;
|
||||
static uint32_t next10hzUpdateAt_2 = 0;
|
||||
|
||||
void bstProcess(void)
|
||||
{
|
||||
if(coreProReady) {
|
||||
uint32_t now = micros();
|
||||
if(now >= next20hzUpdateAt && !bstWriteBusy()) {
|
||||
writeRCChannelToBST();
|
||||
next20hzUpdateAt = now + UPDATE_AT_20HZ;
|
||||
if(now >= next02hzUpdateAt_1 && !bstWriteBusy()) {
|
||||
writeFCModeToBST();
|
||||
next02hzUpdateAt_1 = now + UPDATE_AT_02HZ;
|
||||
}
|
||||
if(now >= next10hzUpdateAt_1 && !bstWriteBusy()) {
|
||||
//writeRollPitchYawToBST(); FIXME
|
||||
writeRCChannelToBST();
|
||||
next10hzUpdateAt_1 = now + UPDATE_AT_10HZ;
|
||||
}
|
||||
if(now >= next10hzUpdateAt_2 && !bstWriteBusy()) {
|
||||
writeRollPitchYawToBST();
|
||||
next10hzUpdateAt_2 = now + UPDATE_AT_10HZ;
|
||||
}
|
||||
if(sensors(SENSOR_GPS) && !bstWriteBusy())
|
||||
writeGpsPositionPrameToBST();
|
||||
}
|
||||
//Check if the BST input command available to out address
|
||||
bstSlaveProcessInCommand();
|
||||
|
||||
|
||||
if (isRebootScheduled) {
|
||||
stopMotors();
|
||||
handleOneshotFeatureChangeOnRestart();
|
||||
|
|
@ -1614,11 +1623,10 @@ bool writeGpsPositionPrameToBST(void)
|
|||
return false;
|
||||
}
|
||||
|
||||
/* FIXME
|
||||
bool writeRollPitchYawToBST(void)
|
||||
{
|
||||
int16_t X = -anglerad[1]*10000;
|
||||
int16_t Y = anglerad[0]*10000;
|
||||
int16_t X = -attitude.values.pitch * (M_PIf / 1800.0f) * 10000;
|
||||
int16_t Y = attitude.values.roll * (M_PIf / 1800.0f) * 10000;
|
||||
int16_t Z = 0;//radiusHeading * 10000;
|
||||
|
||||
bstMasterStartBuffer(PUBLIC_ADDRESS);
|
||||
|
|
@ -1629,29 +1637,68 @@ bool writeRollPitchYawToBST(void)
|
|||
|
||||
return bstMasterWrite(masterWriteData);
|
||||
}
|
||||
*/
|
||||
|
||||
bool writeRCChannelToBST(void)
|
||||
{
|
||||
uint8_t i = 0, tmp = 0;
|
||||
|
||||
tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
|
||||
IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
|
||||
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << 2 |
|
||||
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << 3 |
|
||||
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << 4 |
|
||||
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << 5 |
|
||||
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << 6 |
|
||||
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << 7;
|
||||
|
||||
uint8_t i = 0;
|
||||
bstMasterStartBuffer(PUBLIC_ADDRESS);
|
||||
bstMasterWrite8(RC_CHANNEL_FRAME_ID);
|
||||
for(i = 0; i < (USABLE_TIMER_CHANNEL_COUNT-1); i++) {
|
||||
bstMasterWrite16(rcData[i]);
|
||||
}
|
||||
bstMasterWrite8(tmp);
|
||||
|
||||
return bstMasterWrite(masterWriteData);
|
||||
}
|
||||
|
||||
bool writeFCModeToBST(void)
|
||||
{
|
||||
#ifdef CLEANFLIGHT_FULL_STATUS_SET
|
||||
uint32_t tmp = 0;
|
||||
tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
|
||||
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
|
||||
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
|
||||
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
|
||||
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMTRIG)) << BOXCAMTRIG |
|
||||
IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
|
||||
IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
|
||||
IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDMAX)) << BOXLEDMAX |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)) << BOXLLIGHTS |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCALIB)) << BOXCALIB |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
|
||||
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
|
||||
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
|
||||
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
|
||||
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE;
|
||||
bstMasterStartBuffer(PUBLIC_ADDRESS);
|
||||
bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
|
||||
bstMasterWrite32(tmp);
|
||||
bstMasterWrite16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
|
||||
#else
|
||||
uint8_t tmp = 0;
|
||||
tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
|
||||
IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
|
||||
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << 2 |
|
||||
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << 3 |
|
||||
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << 4 |
|
||||
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << 5 |
|
||||
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << 6 |
|
||||
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << 7;
|
||||
|
||||
bstMasterStartBuffer(PUBLIC_ADDRESS);
|
||||
bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
|
||||
bstMasterWrite8(tmp);
|
||||
bstMasterWrite8(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
|
||||
#endif
|
||||
|
||||
return bstMasterWrite(masterWriteData);
|
||||
}
|
||||
/*************************************************************************************************/
|
||||
|
|
|
|||
|
|
@ -27,4 +27,5 @@ void bstProcess(void);
|
|||
bool writeGpsPositionPrameToBST(void);
|
||||
bool writeRollPitchYawToBST(void);
|
||||
bool writeRCChannelToBST(void);
|
||||
bool writeFCModeToBST(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -57,12 +57,9 @@
|
|||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 11
|
||||
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
|
|
@ -70,6 +67,12 @@
|
|||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
// MPU6500 interrupt
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
// External I2C BARO
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
|
||||
|
|
@ -77,6 +80,7 @@
|
|||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
#define USE_MAG_AK8975
|
||||
//#define MAG_AK8975_ALIGN CW0_DEG_FLIP
|
||||
|
||||
#define BEEPER
|
||||
#define LED0
|
||||
|
|
@ -110,6 +114,9 @@
|
|||
#define UART3_TX_PINSOURCE GPIO_PinSource10
|
||||
#define UART3_RX_PINSOURCE GPIO_PinSource11
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
|
|
@ -129,7 +136,6 @@
|
|||
/* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
|
||||
#define BST_CRC_POLYNOM 0xD5
|
||||
|
||||
|
||||
#define USE_ADC
|
||||
|
||||
#define ADC_INSTANCE ADC1
|
||||
|
|
@ -152,11 +158,6 @@
|
|||
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_3
|
||||
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_9
|
||||
|
||||
// MPU6500 interrupt
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define BLACKBOX
|
||||
#define GPS
|
||||
#define GTUNE
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue