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Merge pull request #11 from ProDrone/betaflight_i2c_overclocked

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Betaflight i2c overclocked
This commit is contained in:
borisbstyle 2015-09-23 00:30:50 +02:00
commit f79e7dd6d6
12 changed files with 81 additions and 9 deletions
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3
src/main/config/config.c
View file

@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 108;
static const uint8_t EEPROM_CONF_VERSION = 109;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -453,6 +453,7 @@ static void resetConf(void)
resetSerialConfig(&masterConfig.serialConfig);
masterConfig.emf_avoidance = 0;
masterConfig.i2c_overclock = 0;
resetPidProfile(&currentProfile->pidProfile);

1
src/main/config/config_master.h
View file

@ -26,6 +26,7 @@ typedef struct master_t {
uint8_t mixerMode;
uint32_t enabledFeatures;
uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band
uint8_t i2c_overclock; // i2c clockspeed, 0 = 400kHz default (conform specs), 1 = 800kHz, 2 = 1200kHz
motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
#ifdef USE_SERVOS

4
src/main/drivers/accgyro_mpu6050.c
View file

@ -434,10 +434,8 @@ static void mpu6050GyroInit(void)
// Accel scale 8g (4096 LSB/g)
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
// ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
// 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
#ifdef USE_MPU_DATA_READY_SIGNAL
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);

1
src/main/drivers/bus_i2c.h
View file

@ -23,6 +23,7 @@ typedef enum I2CDevice {
I2CDEV_MAX = I2CDEV_2,
} I2CDevice;
void i2cSetClockSelect(uint8_t clockSelect);
void i2cInit(I2CDevice index);
bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data);
bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data);

25
src/main/drivers/bus_i2c_stm32f10x.c
View file

@ -61,6 +61,7 @@ static const i2cDevice_t i2cHardwareMap[] = {
static I2C_TypeDef *I2Cx = NULL;
// Copy of device index for reinit, etc purposes
static I2CDevice I2Cx_index;
static uint8_t i2cClockSelect = 0;
void I2C1_ER_IRQHandler(void)
{
@ -312,6 +313,11 @@ void i2c_ev_handler(void)
}
}
void i2cSetClockSelect(uint8_t clockSelect)
{
i2cClockSelect = clockSelect;
}
void i2cInit(I2CDevice index)
{
NVIC_InitTypeDef nvic;
@ -340,7 +346,24 @@ void i2cInit(I2CDevice index)
i2c.I2C_Mode = I2C_Mode_I2C;
i2c.I2C_DutyCycle = I2C_DutyCycle_2;
i2c.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
i2c.I2C_ClockSpeed = 400000;
// Overclocking i2c, test results
// Default speed, conform specs is 400000 (400 kHz)
// 2.0* : 800kHz - worked without errors
// 3.0* : 1200kHz - worked without errors
// 3.5* : 1400kHz - failed, hangup, bootpin recovery needed
// 4.0* : 1600kHz - failed, hangup, bootpin recovery needed
switch (i2cClockSelect) {
default:
case 0:
i2c.I2C_ClockSpeed = 400000;
break;
case 1:
i2c.I2C_ClockSpeed = 800000;
break;
case 2:
i2c.I2C_ClockSpeed = 1200000;
break;
}
I2C_Cmd(I2Cx, ENABLE);
I2C_Init(I2Cx, &i2c);

2
src/main/drivers/compass_ak8975.c
View file

@ -129,7 +129,7 @@ bool ak8975Read(int16_t *magData)
for (uint8_t i = 0; i < 6; i++) {
ack = i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL + i, 1, &buf[i]); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
if (!ack) {
break false
return false
}
}
#endif

2
src/main/drivers/compass_hmc5883l.c
View file

@ -310,7 +310,7 @@ bool hmc5883lRead(int16_t *magData)
uint8_t buf[6];
bool ack = i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
if (ack) {
if (!ack) {
return false;
}
// During calibration, magGain is 1.0, so the read returns normal non-calibrated values.

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

@ -52,4 +52,3 @@ typedef enum {
FAILURE_FLASH_WRITE_FAILED
} failureMode_e;
#define FAILURE_MODE_COUNT 4

39
src/main/flight/imu.c
View file

@ -48,6 +48,7 @@
#include "config/runtime_config.h"
//#define DEBUG_IMU
#define DEBUG_IMU_SPEED
int16_t accSmooth[XYZ_AXIS_COUNT];
int32_t accSum[XYZ_AXIS_COUNT];
@ -182,10 +183,17 @@ int16_t imuCalculateHeading(t_fp_vector *vec)
return head;
}
#if 0
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
gyroUpdate();
#ifdef DEBUG_IMU_SPEED
debug[0] = micros() - time;
time = micros();
#endif
if (sensors(SENSOR_ACC)) {
qAccProcessingStateMachine(accelerometerTrims);
} else {
@ -193,8 +201,37 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
accADC[Y] = 0;
accADC[Z] = 0;
}
#ifdef DEBUG_IMU_SPEED
debug[2] = debug[0] + debug[1];
#endif
}
#else
void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
gyroUpdate();
#ifdef DEBUG_IMU_SPEED
debug[0] = micros() - time;
time = micros();
#endif
if (sensors(SENSOR_ACC)) {
qAccProcessingStateMachine(accelerometerTrims);
} else {
accADC[X] = 0;
accADC[Y] = 0;
accADC[Z] = 0;
}
#ifdef DEBUG_IMU_SPEED
debug[2] = debug[0] + debug[1];
#endif
}
#endif
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
{
float cosZ = EstG.V.Z / sqrtf(EstG.V.X * EstG.V.X + EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z);

1
src/main/io/serial_cli.c
View file

@ -325,6 +325,7 @@ typedef struct {
const clivalue_t valueTable[] = {
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE, &masterConfig.emf_avoidance, 0, 1 },
{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE, &masterConfig.i2c_overclock, 0, 2 },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, 1200, 1700 },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },

1
src/main/main.c
View file

@ -168,6 +168,7 @@ void init(void)
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
i2cSetClockSelect(masterConfig.i2c_overclock);
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION

10
src/main/sensors/acceleration.c
View file

@ -19,11 +19,13 @@
#include <stdint.h>
#include "platform.h"
#include "debug.h"
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
@ -34,6 +36,8 @@
#include "sensors/acceleration.h"
#define DEBUG_IMU_SPEED
int16_t accADC[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
@ -171,9 +175,15 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
if (!acc.read(accADC)) {
return;
}
#ifdef DEBUG_IMU_SPEED
debug[1] = micros() - time;
#endif
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {