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Merge branch 'master' into msp-on-multiple-ports

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This commit is contained in:
Dominic Clifton 2014-08-22 19:19:42 +01:00
commit f7b6ed901e
6 changed files with 305 additions and 125 deletions
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6
Makefile
View file

@ -100,7 +100,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(CMSIS_DIR)/CM3/CoreSupport \ $(CMSIS_DIR)/CM3/CoreSupport \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
LD_SCRIPT = $(ROOT)/stm32_flash_f103.ld LD_SCRIPT = $(ROOT)/stm32_flash_f103_128k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic TARGET_FLAGS = -D$(TARGET) -pedantic
@ -227,6 +227,10 @@ OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
$(HIGHEND_SRC) \ $(HIGHEND_SRC) \
$(COMMON_SRC) $(COMMON_SRC)
ifeq ($(TARGET),CJMCU)
LD_SCRIPT = $(ROOT)/stm32_flash_f103_64k.ld
endif
CJMCU_SRC = startup_stm32f10x_md_gcc.S \ CJMCU_SRC = startup_stm32f10x_md_gcc.S \
drivers/adc.c \ drivers/adc.c \
drivers/adc_stm32f10x.c \ drivers/adc_stm32f10x.c \

249
src/main/drivers/pwm_mapping.c
View file

@ -63,161 +63,166 @@
*/ */
enum { enum {
TYPE_IP = 1, MAP_TO_PPM_INPUT = 1,
TYPE_IW, MAP_TO_PWM_INPUT,
TYPE_M, MAP_TO_MOTOR_OUTPUT,
TYPE_S, MAP_TO_SERVO_OUTPUT,
}; };
#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) #if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY)
static const uint16_t multiPPM[] = { static const uint16_t multiPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (TYPE_M << 8), // Swap to servo if needed PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (TYPE_M << 8), // Swap to servo if needed PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (TYPE_M << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (TYPE_M << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (TYPE_M << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (TYPE_M << 8), PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (TYPE_M << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (TYPE_M << 8), // Swap to servo if needed PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (TYPE_M << 8), // Swap to servo if needed PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (TYPE_M << 8), // Swap to servo if needed PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF 0xFFFF
}; };
static const uint16_t multiPWM[] = { static const uint16_t multiPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1 PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (TYPE_IW << 8), PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (TYPE_IW << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (TYPE_IW << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (TYPE_IW << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (TYPE_IW << 8), PWM6 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (TYPE_IW << 8), PWM7 | (MAP_TO_PWM_INPUT << 8),
PWM8 | (TYPE_IW << 8), // input #8 PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
PWM9 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed) PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM10 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed) PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM11 | (TYPE_M << 8), // motor #1 or #3 PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM12 | (TYPE_M << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (TYPE_M << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (TYPE_M << 8), // motor #4 or #6 PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
0xFFFF 0xFFFF
}; };
static const uint16_t airPPM[] = { static const uint16_t airPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (TYPE_M << 8), // motor #1 PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (TYPE_M << 8), // motor #2 PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (TYPE_S << 8), // servo #1 PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM12 | (TYPE_S << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (TYPE_S << 8), PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (TYPE_S << 8), // servo #4 PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
PWM5 | (TYPE_S << 8), // servo #5 PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
PWM6 | (TYPE_S << 8), PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
PWM7 | (TYPE_S << 8), PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
PWM8 | (TYPE_S << 8), // servo #8 PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
0xFFFF 0xFFFF
}; };
static const uint16_t airPWM[] = { static const uint16_t airPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1 PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (TYPE_IW << 8), PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (TYPE_IW << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (TYPE_IW << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (TYPE_IW << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (TYPE_IW << 8), PWM6 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (TYPE_IW << 8), PWM7 | (MAP_TO_PWM_INPUT << 8),
PWM8 | (TYPE_IW << 8), // input #8 PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
PWM9 | (TYPE_M << 8), // motor #1 PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM10 | (TYPE_M << 8), // motor #2 PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM11 | (TYPE_S << 8), // servo #1 PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM12 | (TYPE_S << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM13 | (TYPE_S << 8), PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
PWM14 | (TYPE_S << 8), // servo #4 PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
0xFFFF 0xFFFF
}; };
#endif #endif
#ifdef CC3D #ifdef CC3D
static const uint16_t multiPPM[] = { static const uint16_t multiPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (TYPE_M << 8), // Swap to servo if needed PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (TYPE_M << 8), // Swap to servo if needed PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (TYPE_M << 8), PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (TYPE_M << 8), PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (TYPE_M << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (TYPE_M << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (TYPE_M << 8), // Swap to servo if needed PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (TYPE_M << 8), // Swap to servo if needed PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (TYPE_M << 8), // Swap to servo if needed PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (TYPE_M << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (TYPE_M << 8), // Swap to servo if needed PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF 0xFFFF
}; };
static const uint16_t multiPWM[] = { static const uint16_t multiPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1 PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (TYPE_IW << 8), PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (TYPE_IW << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (TYPE_IW << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (TYPE_IW << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (TYPE_IW << 8), // input #6 PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
PWM7 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed) PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM8 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed) PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM9 | (TYPE_M << 8), // motor #1 or #3 PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM10 | (TYPE_M << 8), PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (TYPE_M << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (TYPE_M << 8), // motor #4 or #6 PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
0xFFFF 0xFFFF
}; };
static const uint16_t airPPM[] = { static const uint16_t airPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (TYPE_M << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (TYPE_M << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (TYPE_S << 8), PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
PWM10 | (TYPE_S << 8), PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
PWM11 | (TYPE_S << 8), PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
PWM12 | (TYPE_S << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
PWM2 | (TYPE_S << 8), PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
PWM3 | (TYPE_S << 8), PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (TYPE_S << 8), PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (TYPE_S << 8), PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (TYPE_S << 8), PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
0xFFFF 0xFFFF
}; };
static const uint16_t airPWM[] = { static const uint16_t airPWM[] = {
PWM1 | (TYPE_IW << 8), // input #1 PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (TYPE_IW << 8), PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (TYPE_IW << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (TYPE_IW << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (TYPE_IW << 8), PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (TYPE_IW << 8), // input #6 PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
PWM7 | (TYPE_M << 8), // motor #1 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (TYPE_M << 8), // motor #2 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (TYPE_S << 8), // servo #1 PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM10 | (TYPE_S << 8), // servo #2 PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM11 | (TYPE_S << 8), // servo #3 PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
PWM12 | (TYPE_S << 8), // servo #4 PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
0xFFFF 0xFFFF
}; };
#endif #endif
#ifdef CJMCU #ifdef CJMCU
static const uint16_t multiPPM[] = { static const uint16_t multiPPM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM2 | (TYPE_M << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (TYPE_M << 8), PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (TYPE_M << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (TYPE_M << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFF 0xFF
}; };
static const uint16_t multiPWM[] = { static const uint16_t multiPWM[] = {
PWM1 | (TYPE_IP << 8), // PPM input PWM1 | (MAP_TO_PWM_INPUT << 8),
PWM2 | (TYPE_M << 8), PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (TYPE_M << 8), PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (TYPE_M << 8), PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (TYPE_M << 8), PWM9 | (MAP_TO_PWM_INPUT << 8),
PWM10 | (MAP_TO_PWM_INPUT << 8),
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFF 0xFF
}; };
@ -322,27 +327,27 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif #endif
// hacks to allow current functionality // hacks to allow current functionality
if (type == TYPE_IW && !init->useParallelPWM) if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
type = 0; type = 0;
if (type == TYPE_IP && !init->usePPM) if (type == MAP_TO_PPM_INPUT && !init->usePPM)
type = 0; type = 0;
if (init->useServos && !init->airplane) { if (init->useServos && !init->airplane) {
#if defined(STM32F10X_MD) || defined(CHEBUZZF3) #if defined(STM32F10X_MD) || defined(CHEBUZZF3)
// remap PWM9+10 as servos // remap PWM9+10 as servos
if (timerIndex == PWM9 || timerIndex == PWM10) if (timerIndex == PWM9 || timerIndex == PWM10)
type = TYPE_S; type = MAP_TO_SERVO_OUTPUT;
#endif #endif
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3) #if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer // remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
if (init->useSoftSerial) { if (init->useSoftSerial) {
if (timerIndex == PWM5 || timerIndex == PWM6) if (timerIndex == PWM5 || timerIndex == PWM6)
type = TYPE_S; type = MAP_TO_SERVO_OUTPUT;
} else { } else {
if (timerIndex == PWM9 || timerIndex == PWM10) if (timerIndex == PWM9 || timerIndex == PWM10)
type = TYPE_S; type = MAP_TO_SERVO_OUTPUT;
} }
#endif #endif
} }
@ -350,22 +355,22 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
if (init->extraServos && !init->airplane) { if (init->extraServos && !init->airplane) {
// remap PWM5..8 as servos when used in extended servo mode // remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8) if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = TYPE_S; type = MAP_TO_SERVO_OUTPUT;
} }
if (type == TYPE_IP) { if (type == MAP_TO_PPM_INPUT) {
ppmInConfig(timerHardwarePtr); ppmInConfig(timerHardwarePtr);
} else if (type == TYPE_IW) { } else if (type == MAP_TO_PWM_INPUT) {
pwmInConfig(timerHardwarePtr, channelIndex); pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++; channelIndex++;
} else if (type == TYPE_M) { } else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->motorPwmRate > 500) { if (init->motorPwmRate > 500) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse); pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else { } else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse); pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} }
pwmOutputConfiguration.motorCount++; pwmOutputConfiguration.motorCount++;
} else if (type == TYPE_S) { } else if (type == MAP_TO_SERVO_OUTPUT) {
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse); pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmOutputConfiguration.servoCount++; pwmOutputConfiguration.servoCount++;
} }

23
src/main/drivers/pwm_rx.c
View file

@ -59,6 +59,8 @@ typedef struct {
captureCompare_t fall; captureCompare_t fall;
captureCompare_t capture; captureCompare_t capture;
uint8_t missedEvents;
const timerHardware_t *timerHardware; const timerHardware_t *timerHardware;
} pwmInputPort_t; } pwmInputPort_t;
@ -212,6 +214,22 @@ static void ppmEdgeCallback(uint8_t port, captureCompare_t capture)
} }
} }
#define MAX_MISSED_PWM_EVENTS 10
extern uint16_t debug[4];
static void pwmOverflowCallback(uint8_t port, captureCompare_t capture)
{
UNUSED(capture);
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
if (++pwmInputPort->missedEvents > MAX_MISSED_PWM_EVENTS) {
if (pwmInputPort->state == 0) {
captures[pwmInputPort->channel] = PPM_RCVR_TIMEOUT;
}
pwmInputPort->missedEvents = 0;
}
}
static void pwmEdgeCallback(uint8_t port, captureCompare_t capture) static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
{ {
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port]; pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
@ -231,6 +249,7 @@ static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
// switch state // switch state
pwmInputPort->state = 0; pwmInputPort->state = 0;
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
pwmInputPort->missedEvents = 0;
} }
} }
@ -267,6 +286,8 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
{ {
pwmInputPort_t *p = &pwmInputPorts[channel]; pwmInputPort_t *p = &pwmInputPorts[channel];
p->state = 0;
p->missedEvents = 0;
p->channel = channel; p->channel = channel;
p->mode = INPUT_MODE_PWM; p->mode = INPUT_MODE_PWM;
p->timerHardware = timerHardwarePtr; p->timerHardware = timerHardwarePtr;
@ -275,7 +296,7 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ); timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, NULL); configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, pwmOverflowCallback);
} }
#define UNUSED_PPM_TIMER_REFERENCE 0 #define UNUSED_PPM_TIMER_REFERENCE 0

2
src/main/rx/rx.c
View file

@ -242,7 +242,7 @@ void processRxChannels(void)
bool shouldCheckPulse = true; bool shouldCheckPulse = true;
if (feature(FEATURE_FAILSAFE | FEATURE_RX_PPM)) { if (feature(FEATURE_FAILSAFE) && feature(FEATURE_RX_PPM)) {
shouldCheckPulse = isPPMDataBeingReceived(); shouldCheckPulse = isPPMDataBeingReceived();
resetPPMDataReceivedState(); resetPPMDataReceivedState();
} }

0
stm32_flash_f103.ld → stm32_flash_f103_128k.ld
View file

150
stm32_flash_f103_64k.ld Normal file
View file

@ -0,0 +1,150 @@
/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F103C8 Device with
** 64KByte FLASH, 20KByte RAM
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = 0x20005000; /* end of 20K RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas. Flash is limited for last 2K for configuration storage */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 62K /* last 2kb used for config storage */
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}