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https://github.com/betaflight/betaflight.git
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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
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@ -30,6 +30,7 @@
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#define FC_ATTITUDE_FRAME_ID 0x1E
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#define RC_CHANNEL_FRAME_ID 0x15
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#define CROSSFIRE_RSSI_FRAME_ID 0x14
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#define CLEANFLIGHT_MODE_FRAME_ID 0x20
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typedef enum BSTDevice {
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BSTDEV_1,
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@ -52,3 +53,4 @@ void crc8Cal(uint8_t data_in);
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@ -302,6 +302,13 @@ bool bstSlaveWrite(uint8_t* data) {
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/* Decrement the read bytes counter */
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len--;
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}
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/* Wait until TXIS flag is set */
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bstTimeout = BST_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(BSTx, I2C_ISR_TXIS) == RESET) {
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if ((bstTimeout--) == 0) {
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return bstTimeoutUserCallback(BSTx);
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}
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}
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/* If all operations OK */
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return true;
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}
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@ -275,9 +275,6 @@ static uint8_t activeBoxIdCount = 0;
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// from mixer.c
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extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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extern float anglerad[2];
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extern int16_t heading;
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// cause reboot after BST processing complete
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static bool isRebootScheduled = false;
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@ -651,7 +648,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
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case BST_ATTITUDE:
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for (i = 0; i < 2; i++)
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bstWrite16(attitude.raw[i]);
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//bstWrite16(heading); //FIXME
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//bstWrite16(heading);
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break;
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case BST_ALTITUDE:
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#if defined(BARO) || defined(SONAR)
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@ -682,6 +679,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
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bstWrite8(masterConfig.disarm_kill_switch);
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break;
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case BST_LOOP_TIME:
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//bstWrite16(masterConfig.looptime);
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bstWrite16(cycleTime);
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break;
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case BST_RC_TUNING:
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@ -995,7 +993,10 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
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bstWrite8(masterConfig.profile[0].rcControlsConfig.yaw_deadband);
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break;
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case BST_FC_FILTERS:
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bstWrite16(masterConfig.gyro_lpf);
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bstWrite8(0);//masterConfig.profile[0].pidProfile.gyro_cut_hz);
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bstWrite8(masterConfig.profile[0].pidProfile.dterm_cut_hz);
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bstWrite8(masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz);
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break;
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default:
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// we do not know how to handle the (valid) message, indicate error BST
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@ -1056,6 +1057,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
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break;
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case BST_SET_LOOP_TIME:
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//masterConfig.looptime = bstRead16();
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cycleTime = bstRead16();
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break;
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case BST_SET_PID_CONTROLLER:
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currentProfile->pidProfile.pidController = bstRead8();
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@ -1456,6 +1458,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
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masterConfig.profile[0].rcControlsConfig.yaw_deadband = bstRead8();
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break;
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case BST_SET_FC_FILTERS:
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masterConfig.gyro_lpf = bstRead16();
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bstRead8();//masterConfig.profile[0].pidProfile.gyro_cut_hz = bstRead8();
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masterConfig.profile[0].pidProfile.dterm_cut_hz = bstRead8();
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masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz = bstRead8();
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break;
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@ -1521,24 +1525,29 @@ static void bstSlaveProcessInCommand(void)
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}
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/*************************************************************************************************/
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#define UPDATE_AT_20HZ ((1000 * 1000) / 20)
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static uint32_t next20hzUpdateAt = 0;
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#define UPDATE_AT_02HZ ((1000 * 1000) / 2)
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static uint32_t next02hzUpdateAt_1 = 0;
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#define UPDATE_AT_10HZ ((1000 * 1000) / 10)
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static uint32_t next10hzUpdateAt_1 = 0;
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static uint32_t next10hzUpdateAt_2 = 0;
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void bstProcess(void)
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{
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if(coreProReady) {
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uint32_t now = micros();
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if(now >= next20hzUpdateAt && !bstWriteBusy()) {
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writeRCChannelToBST();
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next20hzUpdateAt = now + UPDATE_AT_20HZ;
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if(now >= next02hzUpdateAt_1 && !bstWriteBusy()) {
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writeFCModeToBST();
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next02hzUpdateAt_1 = now + UPDATE_AT_02HZ;
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}
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if(now >= next10hzUpdateAt_1 && !bstWriteBusy()) {
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//writeRollPitchYawToBST(); FIXME
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writeRCChannelToBST();
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next10hzUpdateAt_1 = now + UPDATE_AT_10HZ;
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}
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if(now >= next10hzUpdateAt_2 && !bstWriteBusy()) {
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writeRollPitchYawToBST();
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next10hzUpdateAt_2 = now + UPDATE_AT_10HZ;
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}
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if(sensors(SENSOR_GPS) && !bstWriteBusy())
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writeGpsPositionPrameToBST();
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}
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@ -1614,11 +1623,10 @@ bool writeGpsPositionPrameToBST(void)
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return false;
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}
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/* FIXME
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bool writeRollPitchYawToBST(void)
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{
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int16_t X = -anglerad[1]*10000;
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int16_t Y = anglerad[0]*10000;
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int16_t X = -attitude.values.pitch * (M_PIf / 1800.0f) * 10000;
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int16_t Y = attitude.values.roll * (M_PIf / 1800.0f) * 10000;
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int16_t Z = 0;//radiusHeading * 10000;
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bstMasterStartBuffer(PUBLIC_ADDRESS);
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@ -1629,12 +1637,53 @@ bool writeRollPitchYawToBST(void)
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return bstMasterWrite(masterWriteData);
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}
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*/
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bool writeRCChannelToBST(void)
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{
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uint8_t i = 0, tmp = 0;
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uint8_t i = 0;
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bstMasterStartBuffer(PUBLIC_ADDRESS);
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bstMasterWrite8(RC_CHANNEL_FRAME_ID);
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for(i = 0; i < (USABLE_TIMER_CHANNEL_COUNT-1); i++) {
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bstMasterWrite16(rcData[i]);
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}
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return bstMasterWrite(masterWriteData);
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}
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bool writeFCModeToBST(void)
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{
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#ifdef CLEANFLIGHT_FULL_STATUS_SET
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uint32_t tmp = 0;
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tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
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IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
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IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
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IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMTRIG)) << BOXCAMTRIG |
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IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
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IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
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IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDMAX)) << BOXLEDMAX |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)) << BOXLLIGHTS |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCALIB)) << BOXCALIB |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
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IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
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IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
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IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE;
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bstMasterStartBuffer(PUBLIC_ADDRESS);
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bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
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bstMasterWrite32(tmp);
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bstMasterWrite16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
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#else
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uint8_t tmp = 0;
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tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
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IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << 2 |
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@ -1645,13 +1694,11 @@ bool writeRCChannelToBST(void)
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IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << 7;
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bstMasterStartBuffer(PUBLIC_ADDRESS);
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bstMasterWrite8(RC_CHANNEL_FRAME_ID);
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for(i = 0; i < (USABLE_TIMER_CHANNEL_COUNT-1); i++) {
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bstMasterWrite16(rcData[i]);
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}
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bstMasterWrite8(CLEANFLIGHT_MODE_FRAME_ID);
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bstMasterWrite8(tmp);
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bstMasterWrite8(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
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#endif
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return bstMasterWrite(masterWriteData);
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}
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/*************************************************************************************************/
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@ -27,4 +27,5 @@ void bstProcess(void);
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bool writeGpsPositionPrameToBST(void);
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bool writeRollPitchYawToBST(void);
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bool writeRCChannelToBST(void);
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bool writeFCModeToBST(void);
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@ -57,12 +57,9 @@
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#define USABLE_TIMER_CHANNEL_COUNT 11
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#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
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#define GYRO
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#define USE_GYRO_MPU6500
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#define USE_GYRO_SPI_MPU6500
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#define GYRO_MPU6500_ALIGN CW270_DEG
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#define ACC
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@ -70,6 +67,12 @@
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#define USE_ACC_SPI_MPU6500
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#define ACC_MPU6500_ALIGN CW270_DEG
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// MPU6500 interrupt
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//#define DEBUG_MPU_DATA_READY_INTERRUPT
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#define USE_MPU_DATA_READY_SIGNAL
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#define ENSURE_MPU_DATA_READY_IS_LOW
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// External I2C BARO
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#define BARO
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#define USE_BARO_MS5611
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@ -77,6 +80,7 @@
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#define MAG
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#define USE_MAG_HMC5883
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#define USE_MAG_AK8975
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//#define MAG_AK8975_ALIGN CW0_DEG_FLIP
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#define BEEPER
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#define LED0
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@ -110,6 +114,9 @@
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#define UART3_TX_PINSOURCE GPIO_PinSource10
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#define UART3_RX_PINSOURCE GPIO_PinSource11
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#define USE_ESCSERIAL
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#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_2)
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@ -129,7 +136,6 @@
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/* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
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#define BST_CRC_POLYNOM 0xD5
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#define USE_ADC
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#define ADC_INSTANCE ADC1
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@ -152,11 +158,6 @@
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#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_3
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#define EXTERNAL1_ADC_CHANNEL ADC_Channel_9
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// MPU6500 interrupt
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//#define DEBUG_MPU_DATA_READY_INTERRUPT
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#define USE_MPU_DATA_READY_SIGNAL
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#define ENSURE_MPU_DATA_READY_IS_LOW
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#define BLACKBOX
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#define GPS
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#define GTUNE
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