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Tidy up SPI sequence indexing

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Advance fdevice->currentWriteAddress in m25p16_callbackWriteComplete()
This commit is contained in:
Steve Evans 2021-07-31 23:32:22 +01:00 • committed by Michael Keller
parent 6010b41670
commit fb97b44a33
4 changed files with 32 additions and 25 deletions
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0
lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc.c Executable file → Normal file
View file

37
src/main/drivers/flash_m25p16.c
View file

@ -52,6 +52,9 @@
#define W25Q256_INSTRUCTION_ENTER_4BYTE_ADDRESS_MODE 0xB7
// SPI transaction segment indicies for m25p16_pageProgramContinue()
enum {READ_STATUS, WRITE_ENABLE, PAGE_PROGRAM, DATA1, DATA2};
static uint32_t maxClkSPIHz;
static uint32_t maxReadClkSPIHz;
@ -234,6 +237,8 @@ busStatus_e m25p16_callbackWriteComplete(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
fdevice->currentWriteAddress += fdevice->callbackArg;
// Call transfer completion callback
if (fdevice->callback) {
fdevice->callback(fdevice->callbackArg);
@ -271,6 +276,7 @@ static void m25p16_eraseSector(flashDevice_t *fdevice, uint32_t address)
STATIC_DMA_DATA_AUTO uint8_t readStatus[2] = { M25P16_INSTRUCTION_READ_STATUS_REG, 0 };
STATIC_DMA_DATA_AUTO uint8_t readyStatus[2];
STATIC_DMA_DATA_AUTO uint8_t writeEnable[] = { M25P16_INSTRUCTION_WRITE_ENABLE };
busSegment_t segments[] = {
{readStatus, readyStatus, sizeof (readStatus), true, m25p16_callbackReady},
{writeEnable, NULL, sizeof (writeEnable), true, m25p16_callbackWriteEnable},
@ -283,7 +289,7 @@ static void m25p16_eraseSector(flashDevice_t *fdevice, uint32_t address)
m25p16_setCommandAddress(&sectorErase[1], address, fdevice->isLargeFlash);
spiSequence(fdevice->io.handle.dev, &segments[0]);
spiSequence(fdevice->io.handle.dev, segments);
// Block pending completion of SPI access, but the erase will be ongoing
spiWait(fdevice->io.handle.dev);
@ -295,6 +301,7 @@ static void m25p16_eraseCompletely(flashDevice_t *fdevice)
STATIC_DMA_DATA_AUTO uint8_t readyStatus[2];
STATIC_DMA_DATA_AUTO uint8_t writeEnable[] = { M25P16_INSTRUCTION_WRITE_ENABLE };
STATIC_DMA_DATA_AUTO uint8_t bulkErase[] = { M25P16_INSTRUCTION_BULK_ERASE };
busSegment_t segments[] = {
{readStatus, readyStatus, sizeof (readStatus), true, m25p16_callbackReady},
{writeEnable, NULL, sizeof (writeEnable), true, m25p16_callbackWriteEnable},
@ -305,7 +312,7 @@ static void m25p16_eraseCompletely(flashDevice_t *fdevice)
// Ensure any prior DMA has completed before continuing
spiWaitClaim(fdevice->io.handle.dev);
spiSequence(fdevice->io.handle.dev, &segments[0]);
spiSequence(fdevice->io.handle.dev, segments);
// Block pending completion of SPI access, but the erase will be ongoing
spiWait(fdevice->io.handle.dev);
@ -339,32 +346,32 @@ static uint32_t m25p16_pageProgramContinue(flashDevice_t *fdevice, uint8_t const
spiWaitClaim(fdevice->io.handle.dev);
// Patch the pageProgram segment
segments[2].len = fdevice->isLargeFlash ? 5 : 4;
segments[PAGE_PROGRAM].len = fdevice->isLargeFlash ? 5 : 4;
m25p16_setCommandAddress(&pageProgram[1], fdevice->currentWriteAddress, fdevice->isLargeFlash);
// Patch the data segments
segments[3].txData = (uint8_t *)buffers[0];
segments[3].len = bufferSizes[0];
segments[DATA1].txData = (uint8_t *)buffers[0];
segments[DATA1].len = bufferSizes[0];
fdevice->callbackArg = bufferSizes[0];
if (bufferCount == 1) {
segments[3].negateCS = true;
segments[3].callback = m25p16_callbackWriteComplete;
segments[DATA1].negateCS = true;
segments[DATA1].callback = m25p16_callbackWriteComplete;
// Mark segment following data as being of zero length
segments[4].len = 0;
segments[DATA2].len = 0;
} else if (bufferCount == 2) {
segments[3].negateCS = false;
segments[3].callback = NULL;
segments[4].txData = (uint8_t *)buffers[1];
segments[4].len = bufferSizes[1];
segments[DATA1].negateCS = false;
segments[DATA1].callback = NULL;
segments[DATA2].txData = (uint8_t *)buffers[1];
segments[DATA2].len = bufferSizes[1];
fdevice->callbackArg += bufferSizes[1];
segments[4].negateCS = true;
segments[4].callback = m25p16_callbackWriteComplete;
segments[DATA2].negateCS = true;
segments[DATA2].callback = m25p16_callbackWriteComplete;
} else {
return 0;
}
spiSequence(fdevice->io.handle.dev, fdevice->couldBeBusy ? &segments[0] : &segments[1]);
spiSequence(fdevice->io.handle.dev, fdevice->couldBeBusy ? &segments[READ_STATUS] : &segments[WRITE_ENABLE]);
if (fdevice->callback == NULL) {
// No callback was provided so block

4
src/main/fc/rc_controls.h
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@ -75,8 +75,8 @@ typedef enum {
#define CONTROL_RATE_CONFIG_RC_RATES_MAX 255
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN 200
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX 1998
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN 200
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX 1998
// (Super) rates are constrained to [0, 100] for Betaflight rates, so values higher than 100 won't make a difference. Range extended for RaceFlight rates.
#define CONTROL_RATE_CONFIG_RATE_MAX 255

16
src/main/target/ALIENWHOOP/config.c
View file

@ -109,8 +109,8 @@ void targetConfiguration(void)
for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pidSumLimit = 1000;
pidProfile->pidSumLimitYaw = 1000;
pidProfile->pidSumLimit = 1000;
pidProfile->pidSumLimitYaw = 1000;
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
pidProfile->pid[PID_PITCH].P = 115;
@ -133,11 +133,11 @@ void targetConfiguration(void)
pidProfile->pid[PID_ROLL].F = 100;
pidProfile->feedforward_transition = 0;
/* Anti-Gravity */
pidProfile->itermThrottleThreshold = 500;
pidProfile->itermAcceleratorGain = 5000;
/* Anti-Gravity */
pidProfile->itermThrottleThreshold = 500;
pidProfile->itermAcceleratorGain = 5000;
pidProfile->levelAngleLimit = 65;
pidProfile->levelAngleLimit = 65;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
@ -148,7 +148,7 @@ void targetConfiguration(void)
controlRateConfig->rcRates[FD_PITCH] = 218;
controlRateConfig->rcRates[FD_YAW] = 218;
/* Classic Expo */
/* Classic Expo */
controlRateConfig->rcExpo[FD_ROLL] = 45;
controlRateConfig->rcExpo[FD_PITCH] = 45;
controlRateConfig->rcExpo[FD_YAW] = 45;
@ -162,7 +162,7 @@ void targetConfiguration(void)
controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateConfig->tpa_breakpoint = 1600;
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
//controlRateConfig->throttle_limit_percent = 100;