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Merge branch 'master' into RP2350

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This commit is contained in:
blckmn 2025-06-12 04:52:17 +10:00
commit ab65694b57
29 changed files with 249 additions and 194 deletions
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2
src/config

@ -1 +1 @@
Subproject commit 737c3460fa621696af079367c86ca2be28194631
Subproject commit ec429513a68b3362647ead039719f12f156edcf4

2
src/main/cli/settings.c
View file

@ -164,6 +164,7 @@ const char * const lookupTableAccHardware[] = {
"ICM45605",
"ICM45686",
"ICM40609D",
"IIM42652",
"VIRTUAL"
};
@ -191,6 +192,7 @@ const char * const lookupTableGyroHardware[] = {
"ICM45605",
"ICM45686",
"ICM40609D",
"IIM42652",
"VIRTUAL"
};

1
src/main/drivers/accgyro/accgyro.h
View file

@ -65,6 +65,7 @@ typedef enum {
GYRO_ICM45605,
GYRO_ICM45686,
GYRO_ICM40609D,
GYRO_IIM42652,
GYRO_VIRTUAL
} gyroHardware_e;

2
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -47,6 +47,7 @@
#define ICM42688P_WHO_AM_I_CONST (0x47)
#define ICM45686_WHO_AM_I_CONST (0xE9)
#define ICM45605_WHO_AM_I_CONST (0xE5)
#define IIM42652_WHO_AM_I_CONST (0x6F)
#define IIM42653_WHO_AM_I_CONST (0x56)
#define LSM6DSV16X_WHO_AM_I_CONST (0x70)
#define ICM40609_WHO_AM_I_CONST (0x3B)
@ -207,6 +208,7 @@ typedef enum {
ICM_20689_SPI,
ICM_42605_SPI,
ICM_42688P_SPI,
IIM_42652_SPI,
IIM_42653_SPI,
BMI_160_SPI,
BMI_270_SPI,

13
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -28,7 +28,7 @@
#include "platform.h"
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
#include "common/axis.h"
#include "common/utils.h"
@ -284,6 +284,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
case ICM42688P_WHO_AM_I_CONST:
icmDetected = ICM_42688P_SPI;
break;
case IIM42652_WHO_AM_I_CONST:
icmDetected = IIM_42652_SPI;
break;
case IIM42653_WHO_AM_I_CONST:
icmDetected = IIM_42653_SPI;
break;
@ -306,6 +309,7 @@ void icm426xxAccInit(accDev_t *acc)
{
switch (acc->mpuDetectionResult.sensor) {
case IIM_42653_SPI:
case IIM_42652_SPI:
acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
break;
default:
@ -319,6 +323,7 @@ bool icm426xxSpiAccDetect(accDev_t *acc)
switch (acc->mpuDetectionResult.sensor) {
case ICM_42605_SPI:
case ICM_42688P_SPI:
case IIM_42652_SPI:
case IIM_42653_SPI:
break;
default:
@ -427,6 +432,7 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
case ICM_42688P_SPI:
gyro->scale = GYRO_SCALE_2000DPS;
break;
case IIM_42652_SPI:
case IIM_42653_SPI:
gyro->scale = GYRO_SCALE_4000DPS;
break;
@ -444,6 +450,8 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
{
switch (gyroModel){
case ICM_42605_SPI:
case IIM_42652_SPI:
case IIM_42653_SPI:
switch (config) {
case GYRO_HARDWARE_LPF_NORMAL:
return aafLUT42605[AAF_CONFIG_258HZ];
@ -456,7 +464,6 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
}
case ICM_42688P_SPI:
case IIM_42653_SPI:
default:
switch (config) {
case GYRO_HARDWARE_LPF_NORMAL:
@ -475,4 +482,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
}
}
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42652 || USE_ACCGYRO_IIM42653

2
src/main/drivers/bus_i2c.h
View file

@ -51,7 +51,7 @@ typedef enum I2CDevice {
#define I2C_ADDR7_MAX 119
struct i2cConfig_s;
void i2cHardwareConfigure(const struct i2cConfig_s *i2cConfig);
void i2cPinConfigure(const struct i2cConfig_s *i2cConfig);
void i2cInit(I2CDevice device);
bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data);
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data);

2
src/main/fc/init.c
View file

@ -624,7 +624,7 @@ void init(void)
#endif
#ifdef USE_I2C
i2cHardwareConfigure(i2cConfig(0));
i2cPinConfigure(i2cConfig(0));
// Note: Unlike UARTs which are configured when client is present,
// I2C buses are initialized unconditionally if they are configured.

1
src/main/sensors/acceleration.h
View file

@ -54,6 +54,7 @@ typedef enum {
ACC_ICM45605,
ACC_ICM45686,
ACC_ICM40609D,
ACC_IIM42652,
ACC_VIRTUAL
} accelerationSensor_e;

6
src/main/sensors/acceleration_init.c
View file

@ -218,9 +218,10 @@ retry:
FALLTHROUGH;
#endif
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
case ACC_ICM42605:
case ACC_ICM42688P:
case ACC_IIM42652:
case ACC_IIM42653:
if (icm426xxSpiAccDetect(dev)) {
switch (dev->mpuDetectionResult.sensor) {
@ -230,6 +231,9 @@ retry:
case ICM_42688P_SPI:
accHardware = ACC_ICM42688P;
break;
case IIM_42652_SPI:
accHardware = ACC_IIM42652;
break;
case IIM_42653_SPI:
accHardware = ACC_IIM42653;
break;

7
src/main/sensors/gyro_init.c
View file

@ -318,6 +318,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_LSM6DSO:
case GYRO_LSM6DSV16X:
case GYRO_ICM42688P:
case GYRO_IIM42652:
case GYRO_IIM42653:
case GYRO_ICM42605:
case GYRO_ICM45686:
@ -434,9 +435,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
case GYRO_ICM42605:
case GYRO_ICM42688P:
case GYRO_IIM42652:
case GYRO_IIM42653:
if (icm426xxSpiGyroDetect(dev)) {
switch (dev->mpuDetectionResult.sensor) {
@ -446,6 +448,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case ICM_42688P_SPI:
gyroHardware = GYRO_ICM42688P;
break;
case IIM_42652_SPI:
gyroHardware = GYRO_IIM42652;
break;
case IIM_42653_SPI:
gyroHardware = GYRO_IIM42653;
break;

16
src/main/target/common_post.h
View file

@ -114,8 +114,9 @@
&& !defined(USE_ACC_SPI_MPU6000) \
&& !defined(USE_ACC_SPI_MPU6500) \
&& !defined(USE_ACC_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_ACC) \
&& !defined(USE_ACCGYRO_IIM42653)
&& !defined(USE_ACCGYRO_IIM42652) \
&& !defined(USE_ACCGYRO_IIM42653) \
&& !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required
#endif
@ -137,8 +138,9 @@
&& !defined(USE_GYRO_SPI_MPU6000) \
&& !defined(USE_GYRO_SPI_MPU6500) \
&& !defined(USE_GYRO_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_GYRO) \
&& !defined(USE_ACCGYRO_IIM42653)
&& !defined(USE_ACCGYRO_IIM42652) \
&& !defined(USE_ACCGYRO_IIM42653) \
&& !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
@ -476,11 +478,11 @@
#define USE_GYRO_SPI_MPU6500
#endif
// Generate USE_SPI_GYRO or USE_I2C_GYRO
// Generate USE_SPI_GYRO
#if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
|| defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_ICM45686) \
|| defined(USE_ACCGYRO_ICM45605) || defined(USE_ACCGYRO_IIM42653) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
|| defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_ACCGYRO_ICM40609D)
|| defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_ACCGYRO_ICM40609D) || defined(USE_ACCGYRO_IIM42652)
#ifndef USE_SPI_GYRO
#define USE_SPI_GYRO
#endif
@ -602,7 +604,7 @@
#endif
#endif // USE_OPTICALFLOW_MT
#if defined(USE_RANGEFINDER_HCSR04) || defined(USE_RANGEFINDER_SRF10) || defined(USE_RANGEFINDER_HCSR04_I2C) || defined(USE_RANGEFINDER_VL53L0X) || defined(USE_RANGEFINDER_UIB) || defined(USE_RANGEFINDER_TF) || defined(USE_RANGEFINDER_MT)
#if defined(USE_RANGEFINDER_HCSR04) || defined(USE_RANGEFINDER_TF) || defined(USE_RANGEFINDER_MT)
#ifndef USE_RANGEFINDER
#define USE_RANGEFINDER
#endif

1
src/main/target/common_pre.h
View file

@ -116,6 +116,7 @@
#define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_ICM45686
#define USE_ACCGYRO_ICM45605
#define USE_ACCGYRO_IIM42652
#define USE_ACCGYRO_IIM42653
#define USE_ACC_SPI_ICM42605
#define USE_ACC_SPI_ICM42688P

3
src/platform/APM32/adc_apm32f4xx.c
View file

@ -270,8 +270,7 @@ void adcInit(const adcConfig_t *config)
adcInitDevice(&adcInternal, 2);
DDL_ADC_Enable(adcInternal.ADCx);
adcInitInternalInjected(&adcInternal);
}
else {
} else {
// Initialize for injected conversion
adcInitInternalInjected(&adc);
}

9
src/platform/APM32/apm32f4xx_ddl_ex.h
View file

@ -31,10 +31,12 @@ __STATIC_INLINE void DDL_EX_TMR_DisableIT(TMR_TypeDef *TMRx, uint32_t Sources)
{
CLEAR_BIT(TMRx->DIEN, Sources);
}
__STATIC_INLINE void DDL_EX_TMR_EnableIT(TMR_TypeDef *TMRx, uint32_t Sources)
{
SET_BIT(TMRx->DIEN, Sources);
}
__STATIC_INLINE uint32_t DDL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_Streamy)
{
STATIC_ASSERT(DMA1_Stream0_BASE - DMA1_BASE == sizeof(DMA_TypeDef), DMA_TypeDef_has_padding);
@ -45,11 +47,13 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_St
return (((uint32_t) DMAx_Streamy & 0XFF) - firstStreamOffset) / streamSize;
}
__STATIC_INLINE DMA_TypeDef *DDL_EX_DMA_Stream_to_DMA(DMA_Stream_TypeDef *DMAx_Streamy)
{
// clear stream address
return (DMA_TypeDef *) (((uint32_t) DMAx_Streamy) & ((uint32_t) ~0XFF));
}
__STATIC_INLINE uint32_t DDL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
{
DMA_TypeDef *DMA = DDL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
@ -57,6 +61,7 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy)
return DDL_DMA_DeInit(DMA, Stream);
}
__STATIC_INLINE uint32_t DDL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, DDL_DMA_InitTypeDef *DMA_InitStruct)
{
DMA_TypeDef *DMA = DDL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
@ -64,6 +69,7 @@ __STATIC_INLINE uint32_t DDL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, DDL_D
return DDL_DMA_Init(DMA, Stream, DMA_InitStruct);
}
__STATIC_INLINE void DDL_EX_DMA_SetDataLength(DMA_Stream_TypeDef* DMAx_Streamy, uint32_t NbData)
{
MODIFY_REG(DMAx_Streamy->NDATA, DMA_NDATAx, NbData);
@ -81,6 +87,7 @@ __STATIC_INLINE void DDL_EX_DMA_EnableResource(DMA_Stream_TypeDef *DMAx_Streamy)
{
SET_BIT(DMAx_Streamy->SCFG, DMA_SCFGx_EN);
}
__STATIC_INLINE void DDL_EX_DMA_DisableResource(DMA_Stream_TypeDef *DMAx_Streamy)
{
CLEAR_BIT(DMAx_Streamy->SCFG, DMA_SCFGx_EN);
@ -94,4 +101,4 @@ __STATIC_INLINE void DDL_EX_DMA_EnableIT_TC(DMA_Stream_TypeDef *DMAx_Streamy)
__STATIC_INLINE void DDL_EX_TMR_CC_EnableNChannel(TMR_TypeDef *TMRx, uint32_t Channel)
{
DDL_TMR_CC_EnableChannel(TMRx, 4 * Channel);
}
}

22
src/platform/APM32/bus_i2c_apm32.c
View file

@ -76,7 +76,7 @@ static volatile uint16_t i2cErrorCount = 0;
static bool i2cHandleHardwareFailure(I2CDevice device)
{
(void)device;
UNUSED(device);
i2cErrorCount++;
// reinit peripheral + clock out garbage
//i2cInit(device);
@ -103,13 +103,15 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
HAL_StatusTypeDef status;
if (reg_ == 0xFF)
if (reg_ == 0xFF) {
status = DAL_I2C_Master_Transmit(pHandle ,addr_ << 1, &data, 1, I2C_TIMEOUT_SYS_TICKS);
else
} else {
status = DAL_I2C_Mem_Write(pHandle ,addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT, &data, 1, I2C_TIMEOUT_SYS_TICKS);
}
if (status != DAL_OK)
if (status != DAL_OK) {
return i2cHandleHardwareFailure(device);
}
return true;
}
@ -135,8 +137,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
return false;
}
if (status != DAL_OK)
{
if (status != DAL_OK) {
return i2cHandleHardwareFailure(device);
}
@ -158,10 +159,11 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
DAL_StatusTypeDef status;
if (reg_ == 0xFF)
if (reg_ == 0xFF) {
status = DAL_I2C_Master_Receive(pHandle ,addr_ << 1, buf, len, I2C_TIMEOUT_SYS_TICKS);
else
} else {
status = DAL_I2C_Mem_Read(pHandle, addr_ << 1, reg_, I2C_MEMADD_SIZE_8BIT,buf, len, I2C_TIMEOUT_SYS_TICKS);
}
if (status != DAL_OK) {
return i2cHandleHardwareFailure(device);
@ -206,8 +208,7 @@ bool i2cBusy(I2CDevice device, bool *error)
*error = pHandle->ErrorCode;
}
if (pHandle->State == DAL_I2C_STATE_READY)
{
if (pHandle->State == DAL_I2C_STATE_READY) {
if (__DAL_I2C_GET_FLAG(pHandle, I2C_FLAG_BUSY) == SET)
{
return true;
@ -218,5 +219,4 @@ bool i2cBusy(I2CDevice device, bool *error)
return true;
}
#endif

3
src/platform/APM32/bus_spi_apm32.c
View file

@ -347,8 +347,7 @@ FAST_CODE void spiSequenceStart(const extDevice_t *dev)
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->sckAF);
DDL_SPI_SetClockPhase(instance, DDL_SPI_PHASE_1EDGE);
DDL_SPI_SetClockPolarity(instance, DDL_SPI_POLARITY_LOW);
}
else {
} else {
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->sckAF);
DDL_SPI_SetClockPhase(instance, DDL_SPI_PHASE_2EDGE);
DDL_SPI_SetClockPolarity(instance, DDL_SPI_POLARITY_HIGH);

25
src/platform/APM32/dshot_bitbang.c
View file

@ -450,14 +450,15 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorProtocolTypes_e pwmP
bbGpioSetup(&bbMotors[motorIndex]);
do {
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_INVERTED);
} else
#endif
{
bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_NONINVERTED);
break;
}
#endif
bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_NONINVERTED);
} while (false);
bbSwitchToOutput(bbPort);
@ -577,14 +578,15 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
bbPort_t *bbPort = bbmotor->bbPort;
do {
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_INVERTED);
} else
if (useDshotTelemetry) {
bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_INVERTED);
break;
}
#endif
{
bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_NONINVERTED);
}
} while (false);
}
static void bbWrite(uint8_t motorIndex, float value)
@ -614,11 +616,8 @@ static void bbUpdateComplete(void)
bbPort->inputActive = false;
bbSwitchToOutput(bbPort);
}
} else
#endif
{
// Nothing to do
}
#endif
bbDMA_Cmd(bbPort, ENABLE);
}

19
src/platform/APM32/dshot_bitbang_ddl.c
View file

@ -56,23 +56,12 @@ void bbGpioSetup(bbMotor_t *bbMotor)
bbPort->gpioModeInput |= (DDL_GPIO_MODE_INPUT << (pinIndex * 2));
bbPort->gpioModeOutput |= (DDL_GPIO_MODE_OUTPUT << (pinIndex * 2));
bool inverted = false;
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
bbPort->gpioIdleBSRR |= (1 << pinIndex); // BS (lower half)
} else
inverted = true;
#endif
{
bbPort->gpioIdleBSRR |= (1 << (pinIndex + 16)); // BR (higher half)
}
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
IOWrite(bbMotor->io, 1);
} else
#endif
{
IOWrite(bbMotor->io, 0);
}
bbPort->gpioIdleBSRR |= (1 << pinIndex) + (inverted ? 0 : 16); // write BITSET or BITRESET half of BSRR
IOWrite(bbMotor->io, inverted);
}
void bbTimerChannelInit(bbPort_t *bbPort)

4
src/platform/APM32/mk/APM32F4.mk
View file

@ -180,7 +180,7 @@ MCU_COMMON_SRC = \
APM32/serial_uart_apm32f4xx.c \
drivers/adc.c \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/bus_spi_hw.c \
common/stm32/bus_spi_pinconfig.c \
common/stm32/serial_uart_hw.c \
@ -218,7 +218,7 @@ SIZE_OPTIMISED_SRC += \
APM32/usb/vcp/serial_usb_vcp.c \
drivers/inverter.c \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/bus_spi_pinconfig.c \
drivers/serial_escserial.c \
drivers/serial_pinconfig.c \

98
src/platform/APM32/pwm_output_dshot_apm32.c
View file

@ -133,18 +133,19 @@ FAST_CODE void pwmCompleteDshotMotorUpdate(void)
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
xDDL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
xDDL_EX_DMA_EnableResource(dmaMotorTimers[i].dmaBurstRef);
if (useBurstDshot) {
xDDL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
xDDL_EX_DMA_EnableResource(dmaMotorTimers[i].dmaBurstRef);
/* configure the DMA Burst Mode */
DDL_TMR_ConfigDMABurst(dmaMotorTimers[i].timer, DDL_TMR_DMABURST_BASEADDR_CC1, DDL_TMR_DMABURST_LENGTH_4TRANSFERS);
/* Enable the TIM DMA Request */
DDL_TMR_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
} else
/* configure the DMA Burst Mode */
DDL_TMR_ConfigDMABurst(dmaMotorTimers[i].timer, DDL_TMR_DMABURST_BASEADDR_CC1, DDL_TMR_DMABURST_LENGTH_4TRANSFERS);
/* Enable the TIM DMA Request */
DDL_TMR_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
break;
}
#endif
{
DDL_TMR_DisableARRPreload(dmaMotorTimers[i].timer);
dmaMotorTimers[i].timer->AUTORLD = dmaMotorTimers[i].outputPeriod;
@ -153,7 +154,7 @@ FAST_CODE void pwmCompleteDshotMotorUpdate(void)
/* Enable channel DMA requests */
DDL_EX_TMR_EnableIT(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources);
dmaMotorTimers[i].timerDmaSources = 0;
}
} while (false);
}
}
@ -164,16 +165,17 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
#ifdef USE_DSHOT_TELEMETRY
dshotDMAHandlerCycleCounters.irqAt = getCycleCounter();
#endif
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
xDDL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
DDL_TMR_DisableDMAReq_UPDATE(motor->timerHardware->tim);
} else
if (useBurstDshot) {
xDDL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
DDL_TMR_DisableDMAReq_UPDATE(motor->timerHardware->tim);
break;
}
#endif
{
xDDL_EX_DMA_DisableResource(motor->dmaRef);
DDL_EX_TMR_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
}
} while (false);
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
@ -228,21 +230,22 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
bool dmaIsConfigured = false;
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
dmaIsConfigured = true;
} else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
return false;
if (useBurstDshot) {
const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
dmaIsConfigured = true;
} else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
return false;
}
break;
}
} else
#endif
{
if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex))) {
return false;
}
}
} while (false);
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->dmaRef = dmaRef;
@ -312,18 +315,19 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
}
motor->llChannel = channel;
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
motor->timer->dmaBurstRef = dmaRef;
if (useBurstDshot) {
motor->timer->dmaBurstRef = dmaRef;
#ifdef USE_DSHOT_TELEMETRY
motor->dmaRef = dmaRef;
motor->dmaRef = dmaRef;
#endif
} else
break;
}
#endif
{
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
motor->timer->timerDmaSources &= ~motor->timerDmaSource;
}
} while (false);
if (!dmaIsConfigured) {
xDDL_EX_DMA_DisableResource(dmaRef);
@ -333,24 +337,25 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
}
DDL_DMA_StructInit(&DMAINIT);
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
if (useBurstDshot) {
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
DMAINIT.Channel = dmaChannel;
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_FULL;
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
} else
DMAINIT.Channel = dmaChannel;
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_FULL;
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
break;
}
#endif
{
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
DMAINIT.Channel = dmaChannel;
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
DMAINIT.FIFOThreshold = DDL_DMA_FIFOTHRESHOLD_1_4;
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);
}
} while (false);
DMAINIT.Direction = DDL_DMA_DIRECTION_MEMORY_TO_PERIPH;
DMAINIT.FIFOMode = DDL_DMA_FIFOMODE_ENABLE;
@ -380,16 +385,17 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
#endif
do {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
if (!dmaIsConfigured) {
dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
if (useBurstDshot) {
if (!dmaIsConfigured) {
dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
}
break;
}
} else
#endif
{
dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
}
} while (false);
DDL_TMR_OC_Init(timer, channel, &OCINIT);
DDL_TMR_OC_EnablePreload(timer, channel);

100
src/platform/APM32/serial_uart_apm32.c
View file

@ -82,35 +82,37 @@ void uartReconfigure(uartPort_t *uartPort)
// Receive DMA or IRQ
if (uartPort->port.mode & MODE_RX) {
do {
#ifdef USE_DMA
if (uartPort->rxDMAResource) {
uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
if (uartPort->rxDMAResource) {
uartPort->rxDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->rxDMAResource;
uartPort->txDMAHandle.Init.Channel = uartPort->rxDMAChannel;
uartPort->rxDMAHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
uartPort->rxDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
uartPort->rxDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
uartPort->rxDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
uartPort->rxDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
uartPort->rxDMAHandle.Init.Mode = DMA_CIRCULAR;
#if defined(APM32F4)
uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
uartPort->rxDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
uartPort->rxDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
uartPort->rxDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
uartPort->rxDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
#endif
uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
uartPort->rxDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
DAL_DMA_DeInit(&uartPort->rxDMAHandle);
DAL_DMA_Init(&uartPort->rxDMAHandle);
/* Associate the initialized DMA handle to the UART handle */
__DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
DAL_DMA_DeInit(&uartPort->rxDMAHandle);
DAL_DMA_Init(&uartPort->rxDMAHandle);
/* Associate the initialized DMA handle to the UART handle */
__DAL_LINKDMA(&uartPort->Handle, hdmarx, uartPort->rxDMAHandle);
DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
DAL_UART_Receive_DMA(&uartPort->Handle, (uint8_t*)uartPort->port.rxBuffer, uartPort->port.rxBufferSize);
uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
} else
uartPort->rxDMAPos = __DAL_DMA_GET_COUNTER(&uartPort->rxDMAHandle);
break;
}
#endif
{
/* Enable the UART Parity Error Interrupt */
SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_PEIEN);
@ -122,44 +124,44 @@ void uartReconfigure(uartPort_t *uartPort)
/* Enable Idle Line detection */
SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_IDLEIEN);
}
} while(false);
}
// Transmit DMA or IRQ
if (uartPort->port.mode & MODE_TX) {
do {
#ifdef USE_DMA
if (uartPort->txDMAResource) {
uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
if (uartPort->txDMAResource) {
uartPort->txDMAHandle.Instance = (DMA_ARCH_TYPE *)uartPort->txDMAResource;
uartPort->txDMAHandle.Init.Channel = uartPort->txDMAChannel;
uartPort->txDMAHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
uartPort->txDMAHandle.Init.PeriphInc = DMA_PINC_DISABLE;
uartPort->txDMAHandle.Init.MemInc = DMA_MINC_ENABLE;
uartPort->txDMAHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
uartPort->txDMAHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
uartPort->txDMAHandle.Init.Mode = DMA_NORMAL;
uartPort->txDMAHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
uartPort->txDMAHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_1QUARTERFULL;
uartPort->txDMAHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
uartPort->txDMAHandle.Init.MemBurst = DMA_MBURST_SINGLE;
uartPort->txDMAHandle.Init.Priority = DMA_PRIORITY_MEDIUM;
DAL_DMA_DeInit(&uartPort->txDMAHandle);
DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
if (status != DAL_OK) {
while (1);
DAL_DMA_DeInit(&uartPort->txDMAHandle);
DAL_StatusTypeDef status = DAL_DMA_Init(&uartPort->txDMAHandle);
if (status != DAL_OK) {
while (1);
}
/* Associate the initialized DMA handle to the UART handle */
__DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
__DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
break;
}
/* Associate the initialized DMA handle to the UART handle */
__DAL_LINKDMA(&uartPort->Handle, hdmatx, uartPort->txDMAHandle);
__DAL_DMA_SET_COUNTER(&uartPort->txDMAHandle, 0);
} else
#endif
{
/* Enable the UART Transmit Data Register Empty Interrupt */
SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXBEIEN);
SET_BIT(uartPort->USARTx->CTRL1, USART_CTRL1_TXCIEN);
}
} while(false);
}
}

2
src/platform/APM32/serial_uart_apm32f4xx.c
View file

@ -269,10 +269,12 @@ void uartDmaIrqHandler(dmaChannelDescriptor_t* descriptor)
}
handleUsartTxDma(s);
}
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TEIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_TEIF);
}
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_DMEIF))
{
DMA_CLEAR_FLAG(descriptor, DMA_IT_DMEIF);

5
src/platform/APM32/system_apm32f4xx.c
View file

@ -121,10 +121,11 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
bool isMPUSoftReset(void)
{
if (cachedRccCsrValue & RCM_CSTS_SWRSTFLG)
if (cachedRccCsrValue & RCM_CSTS_SWRSTFLG) {
return true;
else
} else {
return false;
}
}
void systemInit(void)

81
src/platform/APM32/timer_apm32.c
View file

@ -340,7 +340,9 @@ TMR_HandleTypeDef* timerFindTimerHandle(TMR_TypeDef *tim)
void timerReconfigureTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
{
TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
if (handle == NULL) return;
if (handle == NULL) {
return;
}
handle->Init.Period = (period - 1) & 0xffff; // AKA TIMx_ARR
handle->Init.Prescaler = (timerClock(tim) / hz) - 1;
@ -351,7 +353,9 @@ void timerReconfigureTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
void configTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
{
TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
if (handle == NULL) return;
if (handle == NULL) {
return;
}
if (handle->Instance == tim) {
// already configured
@ -368,8 +372,7 @@ void configTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
handle->Init.RepetitionCounter = 0x0000;
DAL_TMR_Base_Init(handle);
if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9)
{
if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9) {
TMR_ClockConfigTypeDef sClockSourceConfig;
memset(&sClockSourceConfig, 0, sizeof(sClockSourceConfig));
sClockSourceConfig.ClockSource = TMR_CLOCKSOURCE_INTERNAL;
@ -402,7 +405,6 @@ void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, ui
timerNVICConfigure(irq);
// HACK - enable second IRQ on timers that need it
switch (irq) {
case TMR1_CC_IRQn:
timerNVICConfigure(TMR1_UP_TMR10_IRQn);
break;
@ -421,13 +423,16 @@ void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriori
return;
}
unsigned channel = timHw - TIMER_HARDWARE;
if (channel >= TIMER_CHANNEL_COUNT)
if (channel >= TIMER_CHANNEL_COUNT) {
return;
}
timerChannelInfo[channel].type = type;
unsigned timer = lookupTimerIndex(timHw->tim);
if (timer >= USED_TIMER_COUNT)
if (timer >= USED_TIMER_COUNT) {
return;
}
if (irqPriority < timerInfo[timer].priority) {
// it would be better to set priority in the end, but current startup sequence is not ready
configTimeBase(usedTimers[timer], 0, 1);
@ -476,10 +481,11 @@ static void timerChConfig_UpdateOverflow(timerConfig_t *cfg, const TMR_TypeDef *
*chain = NULL;
}
// enable or disable IRQ
if (cfg->overflowCallbackActive)
if (cfg->overflowCallbackActive) {
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TMR_IT_UPDATE);
else
} else {
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TMR_IT_UPDATE);
}
}
// config edge and overflow callback for channel. Try to avoid overflowCallback, it is a bit expensive
@ -490,14 +496,17 @@ void timerChConfigCallbacks(const timerHardware_t *timHw, timerCCHandlerRec_t *e
return;
}
uint8_t channelIndex = lookupChannelIndex(timHw->channel);
if (edgeCallback == NULL) // disable irq before changing callback to NULL
if (edgeCallback == NULL) { // disable irq before changing callback to NULL
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
}
// setup callback info
timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallback;
timerConfig[timerIndex].overflowCallback[channelIndex] = overflowCallback;
// enable channel IRQ
if (edgeCallback)
if (edgeCallback) {
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
}
timerChConfig_UpdateOverflow(&timerConfig[timerIndex], timHw->tim);
}
@ -525,10 +534,13 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_
uint16_t chHi = timHw->channel | TMR_CHANNEL_2; // upper channel
uint8_t channelIndex = lookupChannelIndex(chLo); // get index of lower channel
if (edgeCallbackLo == NULL) // disable irq before changing setting callback to NULL
if (edgeCallbackLo == NULL) { // disable irq before changing setting callback to NULL
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
if (edgeCallbackHi == NULL) // disable irq before changing setting callback to NULL
}
if (edgeCallbackHi == NULL) { // disable irq before changing setting callback to NULL
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
}
// setup callback info
timerConfig[timerIndex].edgeCallback[channelIndex] = edgeCallbackLo;
@ -541,6 +553,7 @@ void timerChConfigCallbacksDual(const timerHardware_t *timHw, timerCCHandlerRec_
__DAL_TMR_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chLo));
}
if (edgeCallbackHi) {
__DAL_TMR_CLEAR_FLAG(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(chHi));
@ -561,10 +574,11 @@ void timerChITConfigDualLo(const timerHardware_t *timHw, FunctionalState newStat
return;
}
if (newState)
if (newState) {
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel & ~TMR_CHANNEL_2));
else
} else {
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel & ~TMR_CHANNEL_2));
}
}
//// enable or disable IRQ
@ -580,10 +594,11 @@ void timerChITConfig(const timerHardware_t *timHw, FunctionalState newState)
return;
}
if (newState)
if (newState) {
__DAL_TMR_ENABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
else
} else {
__DAL_TMR_DISABLE_IT(&timerHandle[timerIndex].Handle, TIM_IT_CCx(timHw->channel));
}
}
// clear Compare/Capture flag for channel
@ -623,9 +638,11 @@ static unsigned getFilter(unsigned ticks)
16*5, 16*6, 16*8,
32*5, 32*6, 32*8
};
for (unsigned i = 1; i < ARRAYLEN(ftab); i++)
if (ftab[i] > ticks)
for (unsigned i = 1; i < ARRAYLEN(ftab); i++) {
if (ftab[i] > ticks) {
return i - 1;
}
}
return 0x0f;
}
@ -633,8 +650,9 @@ static unsigned getFilter(unsigned ticks)
void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks)
{
unsigned timer = lookupTimerIndex(timHw->tim);
if (timer >= USED_TIMER_COUNT)
if (timer >= USED_TIMER_COUNT) {
return;
}
TMR_IC_InitTypeDef TIM_ICInitStructure;
@ -650,8 +668,9 @@ void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned
void timerChConfigICDual(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterTicks)
{
unsigned timer = lookupTimerIndex(timHw->tim);
if (timer >= USED_TIMER_COUNT)
if (timer >= USED_TIMER_COUNT) {
return;
}
TMR_IC_InitTypeDef TIM_ICInitStructure;
bool directRising = (timHw->channel & TMR_CHANNEL_2) ? !polarityRising : polarityRising;
@ -695,8 +714,9 @@ volatile timCCR_t* timerChCCR(const timerHardware_t *timHw)
void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh)
{
unsigned timer = lookupTimerIndex(timHw->tim);
if (timer >= USED_TIMER_COUNT)
if (timer >= USED_TIMER_COUNT) {
return;
}
TMR_OC_InitTypeDef TIM_OCInitStructure;
@ -1000,7 +1020,9 @@ void timerInit(void)
void timerStart(TMR_TypeDef *tim)
{
TMR_HandleTypeDef* handle = timerFindTimerHandle(tim);
if (handle == NULL) return;
if (handle == NULL) {
return;
}
__DAL_TMR_ENABLE(handle);
}
@ -1135,13 +1157,16 @@ DAL_StatusTypeDef DMA_SetCurrDataCounter(TMR_HandleTypeDef *htim, uint32_t Chann
{
if ((htim->State == DAL_TMR_STATE_BUSY)) {
return DAL_BUSY;
} else if ((htim->State == DAL_TMR_STATE_READY)) {
if (((uint32_t) pData == 0) && (Length > 0)) {
return DAL_ERROR;
} else {
htim->State = DAL_TMR_STATE_BUSY;
} else {
if ((htim->State == DAL_TMR_STATE_READY)) {
if (((uint32_t) pData == 0) && (Length > 0)) {
return DAL_ERROR;
} else {
htim->State = DAL_TMR_STATE_BUSY;
}
}
}
switch (Channel) {
case TMR_CHANNEL_1: {
/* Set the DMA Period elapsed callback */

1
src/platform/APM32/transponder_ir_io_apm32.c
View file

@ -165,6 +165,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
/* Configuration Error */
return;
}
if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
if (DAL_TMREx_PWMN_Start(&TmrHandle, timerChannel) != DAL_OK) {
/* Starting PWM generation Error */

4
src/platform/AT32/mk/AT32F4.mk
View file

@ -122,7 +122,7 @@ MCU_COMMON_SRC = \
drivers/usb_msc_common.c \
drivers/adc.c \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/bus_spi_pinconfig.c \
common/stm32/bus_spi_hw.c \
common/stm32/serial_uart_hw.c \
@ -145,7 +145,7 @@ SIZE_OPTIMISED_SRC += \
drivers/bus_i2c_timing.c \
drivers/inverter.c \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/bus_spi_pinconfig.c \
drivers/serial_escserial.c \
drivers/serial_pinconfig.c \

4
src/platform/STM32/mk/STM32_COMMON.mk
View file

@ -6,7 +6,7 @@ MCU_COMMON_SRC += \
common/stm32/config_flash.c \
common/stm32/bus_spi_pinconfig.c \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/bus_spi_hw.c \
common/stm32/io_impl.c \
common/stm32/serial_uart_hw.c \
@ -17,7 +17,7 @@ MCU_COMMON_SRC += \
SIZE_OPTIMISED_SRC += \
drivers/bus_spi_config.c \
common/stm32/bus_i2c_config.c \
common/stm32/bus_i2c_pinconfig.c \
common/stm32/config_flash.c \
common/stm32/bus_spi_pinconfig.c

6
src/platform/common/stm32/bus_i2c_config.c → src/platform/common/stm32/bus_i2c_pinconfig.c
View file

@ -39,7 +39,7 @@
#include "pg/bus_i2c.h"
void i2cHardwareConfigure(const i2cConfig_t *i2cConfig)
void i2cPinConfigure(const i2cConfig_t *i2cConfig)
{
for (int index = 0 ; index < I2CDEV_COUNT ; index++) {
const i2cHardware_t *hardware = &i2cHardware[index];
@ -56,13 +56,13 @@ void i2cHardwareConfigure(const i2cConfig_t *i2cConfig)
for (int pindex = 0 ; pindex < I2C_PIN_SEL_MAX ; pindex++) {
if (i2cConfig[device].ioTagScl == hardware->sclPins[pindex].ioTag) {
pDev->scl = IOGetByTag(i2cConfig[device].ioTagScl);
#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
#if I2C_TRAIT_AF_PIN
pDev->sclAF = hardware->sclPins[pindex].af;
#endif
}
if (i2cConfig[device].ioTagSda == hardware->sdaPins[pindex].ioTag) {
pDev->sda = IOGetByTag(i2cConfig[device].ioTagSda);
#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
#if I2C_TRAIT_AF_PIN
pDev->sdaAF = hardware->sdaPins[pindex].af;
#endif
}

2
src/test/unit/timer_definition_unittest.include/pg/bus_i2c.h
View file

@ -1,5 +1,5 @@
#define I2CDEV_2 (1)
int i2cConfig(int);
void i2cHardwareConfigure(int);
void i2cPinConfigure(int);
void i2cInit(int);