AT32F435 BlackBox FLASH support (#12431)

Add FLASH support to AT32

src/config/REVO_AT/config.h

@@ -48,6 +48,8 @@
 #define  SPI3_MOSI_PIN          PC12
 
 #define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PB3
+#define FLASH_SPI_INSTANCE      SPI3
 
 #define I2C1_SCL_PIN            PB8
 #define I2C1_SDA_PIN            PB9
@@ -55,6 +57,8 @@
 #define I2C2_SCL_PIN            PB10
 #define I2C2_SDA_PIN            PB11
 
-#define BARO_I2C_INSTANCE I2C2
+#define MAG_I2C_INSTANCE        I2C1
+#define USE_MAG
+
+#define BARO_I2C_INSTANCE       I2C1
 #define USE_BARO
-#define USE_BARO_MS5611

src/main/drivers/at32/bus_spi_at32bsp.c

@@ -36,6 +36,9 @@
 #include "drivers/io.h"
 #include "drivers/rcc.h"
 
+// Use DMA if possible if this many bytes are to be transferred
+#define SPI_DMA_THRESHOLD 8
+
 static spi_init_type defaultInit = {
     .master_slave_mode = SPI_MODE_MASTER,
     .transmission_mode = SPI_TRANSMIT_FULL_DUPLEX,
@@ -143,7 +146,7 @@ static bool spiInternalReadWriteBufPolled(spi_type *instance, const uint8_t *txD
 
 
         while (spi_i2s_flag_get(instance, SPI_I2S_RDBF_FLAG) == RESET);
-        b=spi_i2s_data_receive(instance);
+        b = (uint8_t)spi_i2s_data_receive(instance);
 
         if (rxData) {
             *(rxData++) = b;
@@ -326,65 +329,70 @@ void spiSequenceStart(const extDevice_t *dev)
 
     spi_enable(instance, TRUE);
 
-    // Check that any there are no attempts to DMA to/from CCD SRAM
+    // Count segments
     for (busSegment_t *checkSegment = (busSegment_t *)bus->curSegment; checkSegment->len; checkSegment++) {
-        // Check there is no receive data as only transmit DMA is available
-        if (((checkSegment->u.buffers.rxData) && (IS_CCM(checkSegment->u.buffers.rxData) || 
-             (bus->dmaRx == (dmaChannelDescriptor_t *)NULL))) ||
-            ((checkSegment->u.buffers.txData) && IS_CCM(checkSegment->u.buffers.txData))) {
-            dmaSafe = false;
-            break;
-        }
         // Note that these counts are only valid if dmaSafe is true
         segmentCount++;
         xferLen += checkSegment->len;
     }
+
     // Use DMA if possible
-    // If there are more than one segments, or a single segment with negateCS negated then force DMA irrespective of length
+    // If there are more than one segments, or a single segment with negateCS negated in the list terminator then force DMA irrespective of length
-    if (bus->useDMA && dmaSafe && ((segmentCount > 1) || (xferLen >= 8) || !bus->curSegment->negateCS)) {
+    if (bus->useDMA && dmaSafe && ((segmentCount > 1) ||
+                                   (xferLen >= SPI_DMA_THRESHOLD) ||
+                                   !bus->curSegment[segmentCount].negateCS)) {
+        // Intialise the init structures for the first transfer
         spiInternalInitStream(dev, false);
+
+        // Assert Chip Select
         IOLo(dev->busType_u.spi.csnPin);
+
+        // Start the transfers
         spiInternalStartDMA(dev);
     } else {
         busSegment_t *lastSegment = NULL;
+        bool segmentComplete;
 
+        // Manually work through the segment list performing a transfer for each
         while (bus->curSegment->len) {
             if (!lastSegment || lastSegment->negateCS) {
+                // Assert Chip Select if necessary - it's costly so only do so if necessary
                 IOLo(dev->busType_u.spi.csnPin);
             }
 
-            spiInternalReadWriteBufPolled(
+            spiInternalReadWriteBufPolled(bus->busType_u.spi.instance,
-                    bus->busType_u.spi.instance,
                                           bus->curSegment->u.buffers.txData,
                                           bus->curSegment->u.buffers.rxData,
-                    bus->curSegment->len
+                                          bus->curSegment->len);
-                );
 
             if (bus->curSegment->negateCS) {
+                // Negate Chip Select
                 IOHi(dev->busType_u.spi.csnPin);
             }
 
+            segmentComplete = true;
             if (bus->curSegment->callback) {
                 switch(bus->curSegment->callback(dev->callbackArg)) {
                 case BUS_BUSY:
-                    bus->curSegment--;
+                    // Repeat the last DMA segment
+                    segmentComplete = false;
                     break;
 
                 case BUS_ABORT:
                     bus->curSegment = (busSegment_t *)BUS_SPI_FREE;
+                    segmentComplete = false;
                     return;
 
                 case BUS_READY:
                 default:
+                    // Advance to the next DMA segment
                     break;
                 }
             }
+            if (segmentComplete) {
                 lastSegment = (busSegment_t *)bus->curSegment;
                 bus->curSegment++;
             }
-
-        if (lastSegment && !lastSegment->negateCS) {
-            IOHi(dev->busType_u.spi.csnPin);
         }
 
         // If a following transaction has been linked, start it

src/main/drivers/at32/platform_mcu.h

@@ -82,9 +82,9 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define DEFAULT_CPU_OVERCLOCK 0
 #define FAST_IRQ_HANDLER
 
-#define DMA_DATA_ZERO_INIT          __attribute__ ((section(".dmaram_bss"), aligned(32)))
+#define DMA_DATA_ZERO_INIT
-#define DMA_DATA                    __attribute__ ((section(".dmaram_data"), aligned(32)))
+#define DMA_DATA
-#define STATIC_DMA_DATA_AUTO        static DMA_DATA
+#define STATIC_DMA_DATA_AUTO        static
 
 #define DMA_RAM
 #define DMA_RW_AXI

src/main/drivers/stm32/bus_spi_stdperiph.c

@@ -381,6 +381,7 @@ void spiSequenceStart(const extDevice_t *dev)
         spiInternalStartDMA(dev);
     } else {
         busSegment_t *lastSegment = NULL;
+        bool segmentComplete;
 
         // Manually work through the segment list performing a transfer for each
         while (bus->curSegment->len) {
@@ -400,15 +401,17 @@ void spiSequenceStart(const extDevice_t *dev)
                 IOHi(dev->busType_u.spi.csnPin);
             }
 
+            segmentComplete = true;
             if (bus->curSegment->callback) {
                 switch(bus->curSegment->callback(dev->callbackArg)) {
                 case BUS_BUSY:
                     // Repeat the last DMA segment
-                    bus->curSegment--;
+                    segmentComplete = false;
                     break;
 
                 case BUS_ABORT:
                     bus->curSegment = (busSegment_t *)BUS_SPI_FREE;
+                    segmentComplete = false;
                     return;
 
                 case BUS_READY:
@@ -417,9 +420,11 @@ void spiSequenceStart(const extDevice_t *dev)
                     break;
                 }
             }
+            if (segmentComplete) {
                 lastSegment = (busSegment_t *)bus->curSegment;
                 bus->curSegment++;
             }
+        }
 
         // If a following transaction has been linked, start it
         if (bus->curSegment->u.link.dev) {

src/main/target/AT32F435/target.h

@@ -72,18 +72,7 @@
 #undef USE_RX_SPI
 #undef USE_RX_CC2500
 #undef USE_RX_EXPRESSLRS
-//#undef USE_CMS
-//#undef USE_OSD
-#undef USE_BLACKBOX
-//#undef USE_SDCARD
-//#undef USE_BARO
-//#undef USE_MAG
 #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 
-// remove all flash
-#undef USE_FLASH
-#undef USE_FLASHFS
-#undef USE_FLASH_CHIP
-
 #define FLASH_PAGE_SIZE ((uint32_t)0x1000) // 4K sectors