mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 12:55:19 +03:00
Merge remote-tracking branch 'multiwii/master'
Conflicts: src/board.h src/drivers/adc_common.c src/drivers/pwm_common.c src/drivers/pwm_common.h src/main.c src/mw.c src/mw.h src/sensors.c src/utils.h
This commit is contained in:
Dominic Clifton
commit
ee2140d324
10 changed files with 179 additions and 85 deletions
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@ -125,3 +125,24 @@ void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
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if (!standardBoardAlignment)
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alignBoard(dest);
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}
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#ifdef PROD_DEBUG
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void productionDebug(void)
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{
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gpio_config_t gpio;
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// remap PB6 to USART1_TX
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gpio.pin = Pin_6;
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gpio.mode = Mode_AF_PP;
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gpio.speed = Speed_2MHz;
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gpioInit(GPIOB, &gpio);
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gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, true);
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serialInit(mcfg.serial_baudrate);
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delay(25);
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serialPrint(core.mainport, "DBG ");
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printf("%08x%08x%08x OK\n", U_ID_0, U_ID_1, U_ID_2);
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serialPrint(core.mainport, "EOF");
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delay(25);
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gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, false);
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}
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#endif
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@ -2,6 +2,7 @@
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#include <stdint.h>
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#include "platform.h"
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#include "system_common.h"
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#include "sensors_common.h" // FIXME dependency into the main code
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@ -9,45 +10,73 @@
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#include "adc_common.h"
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// static volatile uint16_t adc1Ch4Value = 0;
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static volatile uint16_t adcValues[2];
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// Driver for STM32F103CB onboard ADC
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// VBAT is connected to PA4 (ADC1_IN4) with 10k:1k divider
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// rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
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// Additional channel can be stolen from RC_CH2 (PA1, ADC1_IN1) or
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// RC_CH8 (PB1, ADC1_IN9) by using set power_adc_channel=1|9
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typedef struct adc_config_t {
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uint8_t adcChannel; // ADC1_INxx channel number
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uint8_t dmaIndex; // index into DMA buffer in case of sparse channels
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} adc_config_t;
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static adc_config_t adcConfig[ADC_CHANNEL_MAX];
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static volatile uint16_t adcValues[ADC_CHANNEL_MAX];
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void adcInit(drv_adc_config_t *init)
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{
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#ifndef STM32F3DISCOVERY
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ADC_InitTypeDef adc;
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DMA_InitTypeDef dma;
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int numChannels = 1, i;
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ADC_InitTypeDef ADC_InitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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bool multiChannel = init->powerAdcChannel > 0;
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// configure always-present battery index (ADC4)
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adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_4;
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adcConfig[ADC_BATTERY].dmaIndex = numChannels - 1;
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// ADC assumes all the GPIO was already placed in 'AIN' mode
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// optional ADC5 input on rev.5 hardware
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if (hse_value == 12000000) {
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numChannels++;
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adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_5;
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adcConfig[ADC_EXTERNAL1].dmaIndex = numChannels - 1;
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}
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// another channel can be stolen from PWM for current measurement or other things
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if (init->powerAdcChannel > 0) {
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numChannels++;
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adcConfig[ADC_EXTERNAL2].adcChannel = init->powerAdcChannel;
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adcConfig[ADC_EXTERNAL2].dmaIndex = numChannels - 1;
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}
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// ADC driver assumes all the GPIO was already placed in 'AIN' mode
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DMA_DeInit(DMA1_Channel1);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)adcValues;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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DMA_InitStructure.DMA_BufferSize = multiChannel ? 2 : 1;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = multiChannel ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel1, &DMA_InitStructure);
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/* Enable DMA1 channel1 */
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dma.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
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dma.DMA_MemoryBaseAddr = (uint32_t)adcValues;
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dma.DMA_DIR = DMA_DIR_PeripheralSRC;
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dma.DMA_BufferSize = numChannels;
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dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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dma.DMA_MemoryInc = numChannels > 1 ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
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dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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dma.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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dma.DMA_Mode = DMA_Mode_Circular;
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dma.DMA_Priority = DMA_Priority_High;
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dma.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel1, &dma);
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DMA_Cmd(DMA1_Channel1, ENABLE);
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ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_InitStructure.ADC_ScanConvMode = multiChannel ? ENABLE : DISABLE;
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfChannel = multiChannel ? 2 : 1;
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ADC_Init(ADC1, &ADC_InitStructure);
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adc.ADC_Mode = ADC_Mode_Independent;
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adc.ADC_ScanConvMode = numChannels > 1 ? ENABLE : DISABLE;
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adc.ADC_ContinuousConvMode = ENABLE;
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adc.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
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adc.ADC_DataAlign = ADC_DataAlign_Right;
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adc.ADC_NbrOfChannel = numChannels;
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ADC_Init(ADC1, &adc);
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// fixed ADC4
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ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 1, ADC_SampleTime_28Cycles5);
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if (multiChannel)
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ADC_RegularChannelConfig(ADC1, init->powerAdcChannel, 2, ADC_SampleTime_28Cycles5);
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// configure any additional ADC channels (2 + n)
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for (i = 1; i < numChannels; i++)
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ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, i + 1, ADC_SampleTime_28Cycles5);
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ADC_DMACmd(ADC1, ENABLE);
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ADC_Cmd(ADC1, ENABLE);
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@ -65,5 +94,5 @@ void adcInit(drv_adc_config_t *init)
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uint16_t adcGetChannel(uint8_t channel)
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{
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return adcValues[channel];
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return adcValues[adcConfig[channel].dmaIndex];
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}
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@ -1,12 +1,15 @@
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#pragma once
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#define ADC_BATTERY 0
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#define ADC_CURRENT 1
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typedef enum {
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ADC_BATTERY = 0,
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ADC_EXTERNAL1 = 1,
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ADC_EXTERNAL2 = 2,
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ADC_CHANNEL_MAX = 3
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} AdcChannel;
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typedef struct drv_adc_config_t {
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uint8_t powerAdcChannel; // which channel used for current monitor, allowed PA1, PB1 (ADC_Channel_1, ADC_Channel_9)
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} drv_adc_config_t;
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void adcInit(drv_adc_config_t *init);
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uint16_t adcGetChannel(uint8_t channel);
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@ -261,6 +261,18 @@ static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uin
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return p;
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}
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static void failsafeCheck(uint8_t channel, uint16_t pulse)
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{
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static uint8_t goodPulses;
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if (channel < 4 && pulse > failsafeThreshold)
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goodPulses |= (1 << channel); // if signal is valid - mark channel as OK
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if (goodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter
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goodPulses = 0;
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failsafe->vTable->validDataReceived();
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}
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}
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static void ppmCallback(uint8_t port, captureCompare_t capture)
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{
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captureCompare_t diff;
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@ -268,7 +280,6 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
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static captureCompare_t last = 0;
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static uint8_t chan = 0;
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static uint8_t GoodPulses;
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last = now;
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now = capture;
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@ -277,17 +288,11 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
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if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
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chan = 0;
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} else {
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if (diff > 750 && diff < 2250 && chan < MAX_PPM_AND_PWM_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
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if (diff > PULSE_MIN && diff < PULSE_MAX && chan < MAX_PPM_AND_PWM_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
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captures[chan] = diff;
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if (chan < 4 && diff > failsafeThreshold)
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GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
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if (GoodPulses == 0x0F) { // If first four channels have good pulses, clear FailSafe counter
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GoodPulses = 0;
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failsafe->vTable->validDataReceived();
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}
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failsafeCheck(chan, diff);
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}
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chan++;
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failsafe->vTable->reset();
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}
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}
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@ -301,12 +306,13 @@ static void pwmCallback(uint8_t port, captureCompare_t capture)
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pwmPorts[port].fall = capture;
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// compute capture
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pwmPorts[port].capture = pwmPorts[port].fall - pwmPorts[port].rise;
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if (pwmPorts[port].capture > PULSE_MIN && pwmPorts[port].capture < PULSE_MAX) { // valid pulse width
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captures[pwmPorts[port].channel] = pwmPorts[port].capture;
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failsafeCheck(pwmPorts[port].channel, pwmPorts[port].capture);
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}
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// switch state
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pwmPorts[port].state = 0;
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pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
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// reset failsafe
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failsafe->vTable->reset();
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}
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}
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@ -5,6 +5,12 @@
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#define MAX_PPM_AND_PWM_INPUTS 8
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#define PULSE_1MS (1000) // 1ms pulse width
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#define PULSE_MIN (750) // minimum PWM pulse width which is considered valid
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#define PULSE_MAX (2250) // maximum PWM pulse width which is considered valid
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#define MAX_MOTORS 12
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#define MAX_SERVOS 8
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#define MAX_INPUTS 8
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typedef struct drv_pwm_config_t {
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bool enableInput;
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@ -93,7 +93,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
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if (diff > 4000) {
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chan = 0;
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} else {
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if (diff > 750 && diff < 2250 && chan < 8) { // 750 to 2250 ms is our 'valid' channel range
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if (diff > PULSE_MIN && diff < PULSE_MAX && chan < 8) { // 750 to 2250 ms is our 'valid' channel range
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Inputs[chan].capture = diff;
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if (chan < 4 && diff > failsafeThreshold)
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GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
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88
src/main.c
88
src/main.c
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@ -60,26 +60,51 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
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void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
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void buzzerInit(failsafe_t *initialFailsafe);
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void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
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void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
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bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
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void imuInit(void);
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void loop(void);
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// FIXME bad naming - this appears to be for some new board that hasn't been made available yet.
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#ifdef PROD_DEBUG
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void productionDebug(void)
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{
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gpio_config_t gpio;
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// remap PB6 to USART1_TX
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gpio.pin = Pin_6;
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gpio.mode = Mode_AF_PP;
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gpio.speed = Speed_2MHz;
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gpioInit(GPIOB, &gpio);
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gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, true);
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serialInit(mcfg.serial_baudrate);
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delay(25);
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serialPrint(core.mainport, "DBG ");
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printf("%08x%08x%08x OK\n", U_ID_0, U_ID_1, U_ID_2);
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serialPrint(core.mainport, "EOF");
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delay(25);
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gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, false);
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}
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#endif
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int main(void)
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{
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uint8_t i;
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drv_pwm_config_t pwm_params;
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drv_adc_config_t adc_params;
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bool sensorsOK = false;
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#ifdef SOFTSERIAL_LOOPBACK
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serialPort_t* loopbackPort1 = NULL;
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serialPort_t* loopbackPort2 = NULL;
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#endif
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systemInit(masterConfig.emf_avoidance);
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initPrintfSupport();
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ensureEEPROMContainsValidData();
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readEEPROM();
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systemInit(masterConfig.emf_avoidance);
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initPrintfSupport();
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// configure power ADC
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if (masterConfig.power_adc_channel > 0 && (masterConfig.power_adc_channel == 1 || masterConfig.power_adc_channel == 9))
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adc_params.powerAdcChannel = masterConfig.power_adc_channel;
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@ -89,12 +114,45 @@ int main(void)
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}
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adcInit(&adc_params);
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// Check battery type/voltage
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if (feature(FEATURE_VBAT))
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batteryInit(&masterConfig.batteryConfig);
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initBoardAlignment(&masterConfig.boardAlignment);
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// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
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sensorsSet(SENSORS_SET);
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// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
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sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
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// production debug output
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#ifdef PROD_DEBUG
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productionDebug();
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#endif
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// if gyro was not detected due to whatever reason, we give up now.
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if (!sensorsOK)
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failureMode(3);
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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imuInit(); // Mag is initialized inside imuInit
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mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer);
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serialInit(&masterConfig.serialConfig);
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// when using airplane/wing mixer, servo/motor outputs are remapped
|
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if (masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE || masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING)
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pwm_params.airplane = true;
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@ -154,32 +212,8 @@ int main(void)
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}
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#endif
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
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sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
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imuInit(); // Mag is initialized inside imuInit
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// Check battery type/voltage
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if (feature(FEATURE_VBAT))
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batteryInit(&masterConfig.batteryConfig);
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serialInit(&masterConfig.serialConfig);
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#ifndef FY90Q
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if (canSoftwareSerialBeUsed()) {
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#if defined(USE_SOFTSERIAL_FOR_MAIN_PORT) || (0)
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masterConfig.serialConfig.softserial_baudrate = 19200;
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#endif
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1
src/mw.c
1
src/mw.c
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@ -206,7 +206,6 @@ void annexCode(void)
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}
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}
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static void mwArm(void)
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{
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||||
if (isGyroCalibrationComplete() && f.ACC_CALIBRATED) {
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|
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@ -17,13 +17,7 @@
|
|||
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static uint16_t pwmReadRawRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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{
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uint16_t data;
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||||
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data = pwmRead(rxConfig->rcmap[chan]);
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if (data < 750 || data > 2250)
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data = rxConfig->midrc;
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return data;
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return pwmRead(rxConfig->rcmap[chan]);
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}
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||||
void pwmRxInit(rxRuntimeConfig_t *rxRuntimeConfig, failsafe_t *initialFailsafe, rcReadRawDataPtr *callback)
|
||||
|
|
|
|||
|
|
@ -80,14 +80,15 @@ bool fakeAccDetect(acc_t *acc)
|
|||
|
||||
#ifdef FY90Q
|
||||
// FY90Q analog gyro/acc
|
||||
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
|
||||
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
|
||||
{
|
||||
memset(&acc, sizeof(acc), 0);
|
||||
memset(&gyro, sizeof(gyro), 0);
|
||||
adcSensorInit(&acc, &gyro);
|
||||
return true;
|
||||
}
|
||||
#else
|
||||
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
|
||||
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
|
||||
{
|
||||
int16_t deg, min;
|
||||
drv_adxl345_config_t acc_params;
|
||||
|
|
@ -115,8 +116,7 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
|
|||
#endif
|
||||
#endif
|
||||
} else {
|
||||
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
|
||||
failureMode(3);
|
||||
return false;
|
||||
}
|
||||
|
||||
// Accelerometer. Fuck it. Let user break shit.
|
||||
|
|
@ -242,6 +242,8 @@ retry:
|
|||
} else {
|
||||
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue