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synced code with multiwii 2.0 release

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split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite
added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab
configurable acc lpf and gyro lpf via cli
configurable (build-time) temperature lpf on baro. seems mostly useless.
fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data.
fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor.
pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case)
cleaned up double math in gps.c to use sinf/cosf etc
removed TRUSTED_ACCZ since its useless anyway
whitespace cleanup

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-26 15:28:36 +00:00
parent fd9d986169
commit 96829b7306
23 changed files with 2884 additions and 2931 deletions
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126
src/drv_pwm.c
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@ -154,67 +154,14 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
}
}
bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
static void pwmInitializeInput(bool usePPM)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
uint8_t i;
uint8_t i, val;
uint16_t c;
bool throttleCal = false;
// Inputs
// RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
// RX2 TIM2_CH2 PA1
// RX3 TIM2_CH3 PA2 [also UART2_TX]
// RX4 TIM2_CH4 PA3 [also UART2_RX]
// RX5 TIM3_CH1 PA6 [also ADC_IN6]
// RX6 TIM3_CH2 PA7 [also ADC_IN7]
// RX7 TIM3_CH3 PB0 [also ADC_IN8]
// RX8 TIM3_CH4 PB1 [also ADC_IN9]
// Outputs
// PWM1 TIM1_CH1 PA8
// PWM2 TIM1_CH4 PA11
// PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
// PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
// PWM5 TIM4_CH3 PB8
// PWM6 TIM4_CH4 PB9
// automatic throttle calibration detection: PA0 to ground via bindplug
// Configure TIM2_CH1 for input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#if 0
// wait a while
delay(100);
for (c = 0; c < 50000; c++) {
val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
if (val) {
throttleCal = false;
break;
}
}
#endif
// use PPM or PWM input
usePPMFlag = usePPM;
// preset channels to center
for (i = 0; i < 8; i++)
Inputs[i].capture = 1500;
// Timers run at 1mhz.
// TODO: clean this shit up. Make it all dynamic etc.
// Input pins
// Input pins
if (usePPM) {
// Configure TIM2_CH1 for PPM input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
@ -295,7 +242,69 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
// In PWM input mode, all 8 channels are wasted
numOutputChannels = 6;
}
}
bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint8_t i, val;
uint16_t c;
bool throttleCal = false;
// Inputs
// RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
// RX2 TIM2_CH2 PA1
// RX3 TIM2_CH3 PA2 [also UART2_TX]
// RX4 TIM2_CH4 PA3 [also UART2_RX]
// RX5 TIM3_CH1 PA6 [also ADC_IN6]
// RX6 TIM3_CH2 PA7 [also ADC_IN7]
// RX7 TIM3_CH3 PB0 [also ADC_IN8]
// RX8 TIM3_CH4 PB1 [also ADC_IN9]
// Outputs
// PWM1 TIM1_CH1 PA8
// PWM2 TIM1_CH4 PA11
// PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
// PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
// PWM5 TIM4_CH3 PB8
// PWM6 TIM4_CH4 PB9
// automatic throttle calibration detection: PA0 to ground via bindplug
// Configure TIM2_CH1 for input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#if 0
// wait a while
delay(100);
for (c = 0; c < 50000; c++) {
val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
if (val) {
throttleCal = false;
break;
}
}
#endif
// use PPM or PWM input
usePPMFlag = usePPM;
// preset channels to center
for (i = 0; i < 8; i++)
Inputs[i].capture = 1500;
// Timers run at 1mhz.
// TODO: clean this shit up. Make it all dynamic etc.
if (pwmppmInput)
pwmInitializeInput(usePPMFlag);
// Output pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@ -327,7 +336,7 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
// PWM1,2
// PWM1,2
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
// PWM3,4,5,6
@ -341,7 +350,8 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
if (usePPM) {
// turn on more motor outputs if we're using ppm / not using pwm input
if (!pwmppmInput || usePPM) {
// PWM 7,8,9,10
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);