Merge remote-tracking branch 'multiwii/master'

Conflicts:
	obj/baseflight.hex
	src/config.c
	src/drivers/system_common.c
	src/main.c
	src/mw.h
	src/serial_cli.c

lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c

@@ -1,3 +1,4 @@
+#include <stdbool.h>
 #include "stm32f10x.h"
 
 #define SYSCLK_FREQ_72MHz  72000000
@@ -86,7 +87,7 @@ enum {
 };
 
 // Set system clock to 72 (HSE) or 64 (HSI) MHz
-void SetSysClock(void)
+void SetSysClock(bool overclock)
 {
     __IO uint32_t StartUpCounter = 0, status = 0, clocksrc = SRC_NONE;
     __IO uint32_t *RCC_CRH = &GPIOC->CRH;
@@ -140,10 +141,18 @@ void SetSysClock(void)
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
     *RCC_CRH |= (uint32_t)0x8 << (RCC_CFGR_PLLMULL9 >> 16);
     GPIOC->ODR &= (uint32_t)~(CAN_MCR_RESET);
+	
     RCC_CFGR_PLLMUL = GPIOC->IDR & CAN_MCR_RESET ? hse_value = 12000000, RCC_CFGR_PLLMULL6 : RCC_CFGR_PLLMULL9;
     switch (clocksrc) {
         case SRC_HSE:
-            // PLL configuration: PLLCLK = HSE * 9 = 72 MHz
+            if (overclock) {
+                if (RCC_CFGR_PLLMUL == RCC_CFGR_PLLMULL6)
+                    RCC_CFGR_PLLMUL = RCC_CFGR_PLLMULL7;
+                else if (RCC_CFGR_PLLMUL == RCC_CFGR_PLLMULL9)
+                    RCC_CFGR_PLLMUL = RCC_CFGR_PLLMULL10;
+            }
+            // overclock=false : PLL configuration: PLLCLK = HSE * 9 = 72 MHz || HSE * 6 = 72 MHz
+            // overclock=true  : PLL configuration: PLLCLK = HSE * 10 = 80 MHz || HSE * 7 = 84 MHz
             RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMUL);
             break;
         case SRC_HSI:

src/config.c

@@ -79,6 +79,16 @@ static bool isEEPROMContentValid(void)
     return true;
 }
 
+void activateConfig(void)
+{
+    generatePitchCurve(&cfg.controlRateConfig);
+    generateThrottleCurve(&cfg.controlRateConfig, mcfg.minthrottle, mcfg.maxthrottle);
+
+    setPIDController(cfg.pidController);
+    gpsSetPIDs();
+    useFailsafeConfig(&cfg.failsafeConfig);
+}
+
 void readEEPROM(void)
 {
     // Sanity check
@@ -92,12 +102,7 @@ void readEEPROM(void)
         mcfg.current_profile = 0;
     memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t)); 
 
-    generatePitchCurve(&cfg.controlRateConfig);
+    activateConfig();
-    generateThrottleCurve(&cfg.controlRateConfig, mcfg.minthrottle, mcfg.maxthrottle);
-
-    setPIDController(cfg.pidController);
-    gpsSetPIDs();
-    useFailsafeConfig(&cfg.failsafeConfig);
 }
 
 void readEEPROMAndNotify(void)
@@ -232,6 +237,7 @@ static void resetConf(void)
     mcfg.serialConfig.reboot_character = 'R';
 
     mcfg.looptime = 3500;
+    mcfg.emfAvoidance = 0;
     mcfg.rssi_aux_channel = 0;
 
     cfg.pidController = 0;

src/config_storage.h

@@ -66,6 +66,7 @@ typedef struct master_t {
     uint8_t mixerConfiguration;
     uint32_t enabledFeatures;
     uint16_t looptime;                      // imu loop time in us
+    uint8_t emfAvoidance;                   // change pll settings to avoid noise in the uhf band
     motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
 
     // motor/esc/servo related stuff

src/drivers/system_common.c

@@ -18,7 +18,7 @@ static volatile uint32_t usTicks = 0;
 // current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
 static volatile uint32_t sysTickUptime = 0;
 // from system_stm32f10x.c
-void SetSysClock(void);
+void SetSysClock(bool overclock);
 
 static void cycleCounterInit(void)
 {
@@ -50,7 +50,7 @@ uint32_t millis(void)
     return sysTickUptime;
 }
 
-void systemInit(void)
+void systemInit(bool overclock)
 {
     struct {
         GPIO_TypeDef *gpio;
@@ -82,7 +82,7 @@ void systemInit(void)
 
     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
     // Configure the Flash Latency cycles and enable prefetch buffer
-    SetSysClock();
+    SetSysClock(overclock);
 
     // Turn on clocks for stuff we use
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);

src/drivers/system_common.h

@@ -1,6 +1,6 @@
 #pragma once
 
-void systemInit(void);
+void systemInit(bool overclock);
 void delayMicroseconds(uint32_t us);
 void delay(uint32_t ms);
 

src/main.c

@@ -37,7 +37,7 @@ int main(void)
     serialPort_t* loopbackPort1 = NULL;
     serialPort_t* loopbackPort2 = NULL;
 #endif
-    systemInit();
+    systemInit(mcfg.emfAvoidance);
     initPrintfSupport();
 
     ensureEEPROMContainsValidData();

src/serial_cli.c

@@ -123,6 +123,7 @@ typedef struct {
 
 const clivalue_t valueTable[] = {
     { "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 },
+    { "emf_avoidance", VAR_UINT8, &mcfg.emfAvoidance, 0, 1 },
     { "midrc", VAR_UINT16, &mcfg.rxConfig.midrc, 1200, 1700 },
     { "minthrottle", VAR_UINT16, &mcfg.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
     { "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },