Merge pull request #580 from blckmn/development

Fix for needing to slow down serial in the CLI for F4 targets.

src/main/config/config.c

@@ -1046,7 +1046,8 @@ void changeProfile(uint8_t profileIndex)
     beeperConfirmationBeeps(profileIndex + 1);
 }
 
-void changeControlRateProfile(uint8_t profileIndex) {    
+void changeControlRateProfile(uint8_t profileIndex)
+{    
     if (profileIndex > MAX_RATEPROFILES) {    
         profileIndex = MAX_RATEPROFILES - 1;    
     }        
@@ -1054,17 +1055,6 @@ void changeControlRateProfile(uint8_t profileIndex) {
     activateControlRateConfig();    
 }
 
-void handleOneshotFeatureChangeOnRestart(void)
-{
-    // Shutdown PWM on all motors prior to soft restart
-    StopPwmAllMotors();
-    delay(50);
-    // Apply additional delay when OneShot125 feature changed from on to off state
-    if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
-        delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
-    }
-}
-
 void latchActiveFeatures()
 {
     activeFeaturesLatch = masterConfig.enabledFeatures;

src/main/config/config.h

@@ -50,7 +50,6 @@ typedef enum {
     FEATURE_VTX = 1 << 25,
 } features_e;
 
-void handleOneshotFeatureChangeOnRestart(void);
 void latchActiveFeatures(void);
 bool featureConfigured(uint32_t mask);
 bool feature(uint32_t mask);

src/main/drivers/bus_i2c_stm32f10x.c

@@ -82,10 +82,10 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #endif
 
 static i2cDevice_t i2cHardwareMap[] = {
-    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = false, .ev_irq = I2C1_EV_IRQn, .er_irq = I2C1_ER_IRQn },
+    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = I2C1_OVERCLOCK, .ev_irq = I2C1_EV_IRQn, .er_irq = I2C1_ER_IRQn },
-    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = false, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn },
+    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn },
 #ifdef STM32F4
-    { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .overClock = false, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn }
+    { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn }
 #endif
 };
 
@@ -396,7 +396,7 @@ void i2cInit(I2CDevice device)
     i2cUnstick(scl, sda);
      
     // Init pins
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
     IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_I2C);
     IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_I2C);
 #else
@@ -416,8 +416,7 @@ void i2cInit(I2CDevice device)
 
     if (i2c->overClock) {
         i2cInit.I2C_ClockSpeed = 800000; // 800khz Maximum speed tested on various boards without issues
-    }
+    } else {
-    else {
         i2cInit.I2C_ClockSpeed = 400000; // 400khz Operation according specs
     }
 

src/main/drivers/bus_i2c_stm32f30x.c

@@ -54,8 +54,8 @@ static volatile uint16_t i2cErrorCount = 0;
 //static volatile uint16_t i2c2ErrorCount = 0;
 
 static i2cDevice_t i2cHardwareMap[] = {
-	{ .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = false },
+    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = I2C1_OVERCLOCK },
-	{ .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = false }
+    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = I2C2_OVERCLOCK }
 };
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -93,13 +93,12 @@ void i2cInit(I2CDevice device)
         .I2C_OwnAddress1 = 0x00,
         .I2C_Ack = I2C_Ack_Enable,
         .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-		.I2C_Timing = 0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
+        .I2C_Timing = i2c->overClock ?
+            0x00500E30 : // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
+            0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
         //.I2C_Timing              = 0x8000050B;
     };
     
-	if (i2c->overClock) {
-		i2cInit.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
-	}
     I2C_Init(I2Cx, &i2cInit);
 
     I2C_Cmd(I2Cx, ENABLE);

src/main/drivers/serial_usb_vcp.c

@@ -117,6 +117,7 @@ static bool usbVcpFlush(vcpPort_t *port)
     if (count == 0) {
         return true;
     }
+    
     if (!usbIsConnected() || !usbIsConfigured()) {
         return false;
     }

src/main/io/serial_cli.c

@@ -1903,9 +1903,10 @@ static void dumpValues(uint16_t valueSection)
         cliPrintVar(value, 0);
         cliPrint("\r\n");
 
-#ifdef STM32F4
+#ifdef USE_SLOW_SERIAL_CLI
         delay(2);
 #endif
+
     }
 }
 
@@ -1979,6 +1980,9 @@ static void cliDump(char *cmdline)
             if (yaw < 0)
                 cliWrite(' ');
             cliPrintf("%s\r\n", ftoa(yaw, buf));
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
         }
 
 #ifdef USE_SERVOS
@@ -2000,6 +2004,10 @@ static void cliDump(char *cmdline)
                 masterConfig.customServoMixer[i].max,
                 masterConfig.customServoMixer[i].box
             );
+
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
         }
 
 #endif
@@ -2012,12 +2020,18 @@ static void cliDump(char *cmdline)
             if (featureNames[i] == NULL)
                 break;
             cliPrintf("feature -%s\r\n", featureNames[i]);
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
         }
         for (i = 0; ; i++) {  // reenable what we want.
             if (featureNames[i] == NULL)
                 break;
             if (mask & (1 << i))
                 cliPrintf("feature %s\r\n", featureNames[i]);
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
         }
 
 
@@ -2077,6 +2091,9 @@ static void cliDump(char *cmdline)
             for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
                 if (servoDirection(i, channel) < 0) {
                     cliPrintf("smix reverse %d %d r\r\n", i , channel);
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
                 }
             }
         }
@@ -2109,6 +2126,9 @@ static void cliDump(char *cmdline)
 
                 changeControlRateProfile(currentRateIndex);
                 cliRateProfile("");
+#ifdef USE_SLOW_SERIAL_CLI
+            delay(2);
+#endif            
             }
 
             cliPrint("\r\n# restore original profile selection\r\n");
@@ -2133,7 +2153,8 @@ static void cliDump(char *cmdline)
     }
 }
 
-void cliDumpProfile(uint8_t profileIndex) {
+void cliDumpProfile(uint8_t profileIndex)
+{
         if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
             return;
         
@@ -2148,7 +2169,8 @@ void cliDumpProfile(uint8_t profileIndex) {
         cliRateProfile("");
 }
 
-void cliDumpRateProfile(uint8_t rateProfileIndex) {
+void cliDumpRateProfile(uint8_t rateProfileIndex)
+{
     if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values
             return;
     
@@ -2541,12 +2563,12 @@ static void cliRateProfile(char *cmdline) {
     }
 }
 
-static void cliReboot(void) {
+static void cliReboot(void)
+{
     cliPrint("\r\nRebooting");
     bufWriterFlush(cliWriter);
     waitForSerialPortToFinishTransmitting(cliPort);
     stopMotors();
-    handleOneshotFeatureChangeOnRestart();
     systemReset();
 }
 
@@ -2718,7 +2740,7 @@ static void cliSet(char *cmdline)
             cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             cliPrint("\r\n");
             
-#ifdef STM32F4
+#ifdef USE_SLOW_SERIAL_CLI
             delay(2);
 #endif            
         }

src/main/io/serial_msp.c

@@ -1969,7 +1969,6 @@ void mspProcess(void)
         if (isRebootScheduled) {
             waitForSerialPortToFinishTransmitting(candidatePort->port);
             stopMotors();
-            handleOneshotFeatureChangeOnRestart();
             // On real flight controllers, systemReset() will do a soft reset of the device,
             // reloading the program.  But to support offline testing this flag needs to be
             // cleared so that the software doesn't continuously attempt to reboot itself.

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -1545,7 +1545,6 @@ void taskBstMasterProcess(void)
     bstMasterWriteLoop();
     if (isRebootScheduled) {
         stopMotors();
-        handleOneshotFeatureChangeOnRestart();
         systemReset();
     }
     resetBstChecker();
@@ -1555,12 +1554,14 @@ void taskBstMasterProcess(void)
 static uint8_t masterWriteBufferPointer;
 static uint8_t masterWriteData[DATA_BUFFER_SIZE];
 
-static void bstMasterStartBuffer(uint8_t address) {
+static void bstMasterStartBuffer(uint8_t address)
+{
     masterWriteData[0] = address;
     masterWriteBufferPointer = 2;
 }
 
-static void bstMasterWrite8(uint8_t data) {
+static void bstMasterWrite8(uint8_t data)
+{
     masterWriteData[masterWriteBufferPointer++] = data;
     masterWriteData[1] = masterWriteBufferPointer;
 }

src/main/target/SIRINFPV/target.h

@@ -135,7 +135,7 @@
 
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
-#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)
+
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
@@ -150,7 +150,7 @@
 
 #define USE_SERVOS
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/common.h

@@ -17,12 +17,23 @@
  
 #pragma once
 
+#define I2C1_OVERCLOCK true
+#define I2C2_OVERCLOCK true
+
+
+/* STM32F4 specific settings that apply to all F4 targets */
 #ifdef STM32F4
+
 #define TASK_GYROPID_DESIRED_PERIOD 125
 #define SCHEDULER_DELAY_LIMIT 10
-#else
+#define USE_SLOW_SERIAL_CLI
+#define I2C3_OVERCLOCK true
+
+#else /* when not an F4 */
+
 #define TASK_GYROPID_DESIRED_PERIOD 1000
 #define SCHEDULER_DELAY_LIMIT 100
+
 #endif
 
 #define SERIAL_RX

src/main/vcpf4/usbd_cdc_vcp.c

@@ -153,13 +153,12 @@ static uint16_t VCP_Ctrl(uint32_t Cmd, uint8_t* Buf, uint32_t Len)
  *******************************************************************************/
 uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
 {
-    if(USB_Tx_State!=1)
+    if (USB_Tx_State) 
-    {
+        return 0;
+
     VCP_DataTx(ptrBuffer, sendLength);
     return sendLength;
 }
-    return 0;
-}
 
 /**
  * @brief  VCP_DataTx
@@ -171,7 +170,6 @@ uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
  */
 static uint16_t VCP_DataTx(uint8_t* Buf, uint32_t Len)
 {
-
     uint16_t ptr = APP_Rx_ptr_in;
     uint32_t i;