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Deprecate gyro_sync_denom, gyro driver will make a decision about sampling rate at init

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-03-20 00:38:47 +10:00
parent f393ecc651
commit 6ce5940e75
78 changed files with 885 additions and 306 deletions
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24
Makefile
View file

@ -104,7 +104,7 @@ endif
# silently ignore if the file is not present. Allows for target specific.
-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS)
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS) $(F446_TARGETS)
F7_TARGETS = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
@ -117,7 +117,7 @@ endif
128K_TARGETS = $(F1_TARGETS)
256K_TARGETS = $(F3_TARGETS)
512K_TARGETS = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
512K_TARGETS = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
2048K_TARGETS = $(F427_TARGETS) $(F7X5XI_TARGETS)
@ -253,6 +253,10 @@ ifeq ($(TARGET),$(filter $(TARGET), $(F427_TARGETS)))
EXCLUDES += stm32f4xx_fsmc.c
endif
ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
EXCLUDES += stm32f4xx_fsmc.c
endif
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
#USB
@ -309,6 +313,10 @@ else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
DEVICE_FLAGS = -DSTM32F40_41xxx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
STARTUP_SRC = startup_stm32f40xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
DEVICE_FLAGS = -DSTM32F446xx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f446.ld
STARTUP_SRC = startup_stm32f446xx.s
else ifeq ($(TARGET),$(filter $(TARGET),$(F427_TARGETS)))
DEVICE_FLAGS = -DSTM32F427_437xx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f427.ld
@ -316,6 +324,7 @@ STARTUP_SRC = startup_stm32f427xx.s
else
$(error Unknown MCU for F4 target)
endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
TARGET_FLAGS = -D$(TARGET)
@ -575,7 +584,6 @@ COMMON_SRC = \
drivers/display.c \
drivers/exti.c \
drivers/gps_i2cnav.c \
drivers/gyro_sync.c \
drivers/io.c \
drivers/io_pca9685.c \
drivers/light_led.c \
@ -758,6 +766,7 @@ endif
STM32F10x_COMMON_SRC = \
startup_stm32f10x_md_gcc.S \
drivers/accgyro/accgyro.c \
drivers/adc_stm32f10x.c \
drivers/bus_i2c_stm32f10x.c \
drivers/dma.c \
@ -771,6 +780,7 @@ STM32F10x_COMMON_SRC = \
STM32F30x_COMMON_SRC = \
startup_stm32f30x_md_gcc.S \
target/system_stm32f30x.c \
drivers/accgyro/accgyro.c \
drivers/adc_stm32f30x.c \
drivers/bus_i2c_stm32f30x.c \
drivers/dma.c \
@ -781,6 +791,7 @@ STM32F30x_COMMON_SRC = \
STM32F4xx_COMMON_SRC = \
target/system_stm32f4xx.c \
drivers/accgyro/accgyro.c \
drivers/accgyro/accgyro_mpu.c \
drivers/adc_stm32f4xx.c \
drivers/adc_stm32f4xx.c \
@ -795,6 +806,7 @@ STM32F4xx_COMMON_SRC = \
STM32F7xx_COMMON_SRC = \
target/system_stm32f7xx.c \
drivers/accgyro/accgyro.c \
drivers/accgyro/accgyro_mpu.c \
drivers/adc_stm32f7xx.c \
drivers/bus_i2c_hal.c \
@ -1034,7 +1046,7 @@ targets-group-rest: $(GROUP_OTHER_TARGETS)
$(VALID_TARGETS):
$(V0) echo "" && \
echo "Building $@" && \
$(MAKE) -j 4 TARGET=$@ && \
$(MAKE) -j 8 TARGET=$@ && \
echo "Building $@ succeeded."
## clean : clean up all temporary / machine-generated files
@ -1051,11 +1063,11 @@ clean_test:
## clean_<TARGET> : clean up one specific target
$(CLEAN_TARGETS) :
$(V0) $(MAKE) -j 4 TARGET=$(subst clean_,,$@) clean
$(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
## <TARGET>_clean : clean up one specific target (alias for above)
$(TARGETS_CLEAN) :
$(V0) $(MAKE) -j 4 TARGET=$(subst _clean,,$@) clean
$(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
## clean_all : clean all valid targets
clean_all:$(CLEAN_TARGETS)

1
src/main/blackbox/blackbox.c
View file

@ -1381,7 +1381,6 @@ static bool blackboxWriteSysinfo(void)
);
BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", getPidUpdateRate());
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", gyroConfig()->gyroSyncDenominator);
BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d", 100); //For compatibility reasons write rc_rate 100
BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d", currentControlRateProfile->stabilized.rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d", currentControlRateProfile->stabilized.rcYawExpo8);

1
src/main/cms/cms_menu_imu.c
View file

@ -423,7 +423,6 @@ static const OSD_Entry cmsx_menuGyroEntries[] =
OSD_LABEL_DATA_ENTRY("-- GYRO GLB --", profileIndexString),
OSD_SETTING_ENTRY("GYRO SYNC", SETTING_GYRO_SYNC),
OSD_SETTING_ENTRY("GYRO DENOM", SETTING_GYRO_SYNC_DENOM),
OSD_SETTING_ENTRY("GYRO LPF", SETTING_GYRO_HARDWARE_LPF),
OSD_BACK_ENTRY,

8
src/main/config/config_streamer.c
View file

@ -37,11 +37,13 @@ extern uint8_t __config_end;
# define FLASH_PAGE_SIZE (0x800)
// F4
# elif defined(STM32F40_41xxx)
# define FLASH_PAGE_SIZE ((uint32_t)0x20000)
# define FLASH_PAGE_SIZE ((uint32_t)0x4000)
# elif defined (STM32F411xE)
# define FLASH_PAGE_SIZE ((uint32_t)0x20000)
# define FLASH_PAGE_SIZE ((uint32_t)0x4000)
# elif defined(STM32F446xx)
# define FLASH_PAGE_SIZE ((uint32_t)0x4000)
# elif defined(STM32F427_437xx)
# define FLASH_PAGE_SIZE ((uint32_t)0x20000) // 128K sectors
# define FLASH_PAGE_SIZE ((uint32_t)0x4000)
// F7
#elif defined(STM32F722xx)
# define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors

127
src/main/drivers/accgyro/accgyro.c Normal file
View file

@ -0,0 +1,127 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#include "build/atomic.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/bus.h"
#include "drivers/exti.h"
#include "drivers/io.h"
#include "drivers/exti.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
const gyroFilterAndRateConfig_t * chooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz, const gyroFilterAndRateConfig_t * configs, int count)
{
int i;
int8_t selectedLpf = configs[0].gyroLpf;
const gyroFilterAndRateConfig_t * candidate = &configs[0];
// Choose closest supported LPF value
for (i = 1; i < count; i++) {
if (ABS(desiredLpf - configs[i].gyroLpf) < ABS(desiredLpf - selectedLpf)) {
selectedLpf = configs[i].gyroLpf;
candidate = &configs[i];
}
}
// Now find the closest update rate
for (i = 0; i < count; i++) {
if ((configs[i].gyroLpf == selectedLpf) && (ABS(desiredRateHz - candidate->gyroRateHz) > ABS(desiredRateHz - configs[i].gyroRateHz))) {
candidate = &configs[i];
}
}
DEBUG_TRACE("GYRO CONFIG { %d, %d } -> { %d, %d}; regs 0x%02X, 0x%02X",
desiredLpf, desiredRateHz,
candidate->gyroLpf, candidate->gyroRateHz,
candidate->gyroConfigValues[0], candidate->gyroConfigValues[1]);
return candidate;
}
/*
* Gyro interrupt service routine
*/
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
static void gyroIntExtiHandler(extiCallbackRec_t *cb)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
if (gyro->updateFn) {
gyro->updateFn(gyro);
}
}
#endif
void gyroIntExtiInit(gyroDev_t *gyro)
{
if (!gyro->busDev->irqPin) {
return;
}
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
#ifdef ENSURE_MPU_DATA_READY_IS_LOW
uint8_t status = IORead(gyro->busDev->irqPin);
if (status) {
return;
}
#endif
#if defined (STM32F7)
IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler);
EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_GYRO_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
#else
IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
IOConfigGPIO(gyro->busDev->irqPin, IOCFG_IN_FLOATING);
EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler);
EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_GYRO_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(gyro->busDev->irqPin, true);
#endif
#endif
}
bool gyroCheckDataReady(gyroDev_t* gyro)
{
bool ret;
if (gyro->dataReady) {
ret = true;
gyro->dataReady = false;
} else {
ret = false;
}
return ret;
}

21
src/main/drivers/accgyro/accgyro.h
View file

@ -21,7 +21,6 @@
#include "common/axis.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro_mpu.h"
#define GYRO_LPF_256HZ 0
#define GYRO_LPF_188HZ 1
@ -32,11 +31,11 @@
#define GYRO_LPF_5HZ 6
#define GYRO_LPF_NONE 7
typedef enum {
GYRO_RATE_1_kHz,
GYRO_RATE_8_kHz,
GYRO_RATE_32_kHz,
} gyroRateKHz_e;
typedef struct {
uint8_t gyroLpf;
uint16_t gyroRateHz;
uint8_t gyroConfigValues[2];
} gyroFilterAndRateConfig_t;
typedef struct gyroDev_s {
busDevice_t * busDev;
@ -49,11 +48,11 @@ typedef struct gyroDev_s {
float scale; // scalefactor
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int16_t gyroZero[XYZ_AXIS_COUNT];
uint8_t lpf;
uint8_t imuSensorToUse;
gyroRateKHz_e gyroRateKHz;
uint8_t mpuDividerDrops;
uint8_t lpf; // Configuration value: Hardware LPF setting
uint32_t requestedSampleIntervalUs; // Requested sample interval
volatile bool dataReady;
uint32_t sampleRateIntervalUs; // Gyro driver should set this to actual sampling rate as signaled by IRQ
sensor_align_e gyroAlign;
} gyroDev_t;
@ -66,3 +65,7 @@ typedef struct accDev_s {
uint8_t imuSensorToUse;
sensor_align_e accAlign;
} accDev_t;
const gyroFilterAndRateConfig_t * chooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz, const gyroFilterAndRateConfig_t * configs, int count);
void gyroIntExtiInit(struct gyroDev_s *gyro);
bool gyroCheckDataReady(struct gyroDev_s *gyro);

79
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -45,48 +45,33 @@
// Check busDevice scratchpad memory size
STATIC_ASSERT(sizeof(mpuContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
/*
* Gyro interrupt service routine
*/
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = {
{ GYRO_LPF_256HZ, 8000, { MPU_DLPF_256HZ, 0 } },
{ GYRO_LPF_256HZ, 4000, { MPU_DLPF_256HZ, 1 } },
{ GYRO_LPF_256HZ, 2000, { MPU_DLPF_256HZ, 3 } },
{ GYRO_LPF_256HZ, 1000, { MPU_DLPF_256HZ, 7 } },
{ GYRO_LPF_256HZ, 666, { MPU_DLPF_256HZ, 11 } },
{ GYRO_LPF_256HZ, 500, { MPU_DLPF_256HZ, 15 } },
{ GYRO_LPF_188HZ, 1000, { MPU_DLPF_188HZ, 0 } },
{ GYRO_LPF_188HZ, 500, { MPU_DLPF_188HZ, 1 } },
{ GYRO_LPF_98HZ, 1000, { MPU_DLPF_98HZ, 0 } },
{ GYRO_LPF_98HZ, 500, { MPU_DLPF_98HZ, 1 } },
{ GYRO_LPF_42HZ, 1000, { MPU_DLPF_42HZ, 0 } },
{ GYRO_LPF_42HZ, 500, { MPU_DLPF_42HZ, 1 } },
{ GYRO_LPF_20HZ, 1000, { MPU_DLPF_20HZ, 0 } },
{ GYRO_LPF_20HZ, 500, { MPU_DLPF_20HZ, 1 } },
{ GYRO_LPF_10HZ, 1000, { MPU_DLPF_10HZ, 0 } },
{ GYRO_LPF_10HZ, 500, { MPU_DLPF_10HZ, 1 } }
};
const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
if (gyro->updateFn) {
gyro->updateFn(gyro);
}
}
#endif
void mpuIntExtiInit(gyroDev_t *gyro)
{
if (!gyro->busDev->irqPin) {
return;
}
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
#ifdef ENSURE_MPU_DATA_READY_IS_LOW
uint8_t status = IORead(gyro->busDev->irqPin);
if (status) {
return;
}
#endif
#if defined (STM32F7)
IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
#else
IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
IOConfigGPIO(gyro->busDev->irqPin, IOCFG_IN_FLOATING);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(gyro->busDev->irqPin, true);
#endif
#endif
return chooseGyroConfig(desiredLpf, desiredRateHz, &mpuGyroConfigs[0], ARRAYLEN(mpuGyroConfigs));
}
bool mpuGyroRead(gyroDev_t *gyro)
@ -105,18 +90,6 @@ bool mpuGyroRead(gyroDev_t *gyro)
return true;
}
bool mpuCheckDataReady(gyroDev_t* gyro)
{
bool ret;
if (gyro->dataReady) {
ret = true;
gyro->dataReady = false;
} else {
ret = false;
}
return ret;
}
static bool mpuUpdateSensorContext(busDevice_t * busDev, mpuContextData_t * ctx)
{
ctx->lastReadStatus = busReadBuf(busDev, MPU_RA_ACCEL_XOUT_H, ctx->accRaw, 6 + 2 + 6);

12
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -19,6 +19,7 @@
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#define MPU_I2C_ADDRESS 0x68
@ -130,6 +131,13 @@
// RF = Register Flag
#define MPU_RF_DATA_RDY_EN (1 << 0)
#define MPU_DLPF_10HZ 0x05
#define MPU_DLPF_20HZ 0x04
#define MPU_DLPF_42HZ 0x03
#define MPU_DLPF_98HZ 0x02
#define MPU_DLPF_188HZ 0x01
#define MPU_DLPF_256HZ 0x00
typedef struct mpuConfiguration_s {
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
} mpuConfiguration_t;
@ -173,11 +181,9 @@ enum accel_fsr_e {
struct gyroDev_s;
struct accDev_s;
void mpuIntExtiInit(struct gyroDev_s *gyro);
const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz);
bool mpuGyroRead(struct gyroDev_s *gyro);
bool mpuGyroReadScratchpad(struct gyroDev_s *gyro);
bool mpuAccReadScratchpad(struct accDev_s *acc);
bool mpuTemperatureReadScratchpad(struct gyroDev_s *gyro, int16_t * data);
bool mpuCheckDataReady(struct gyroDev_s *gyro);

24
src/main/drivers/accgyro/accgyro_mpu3050.c
View file

@ -64,34 +64,22 @@ static void mpu3050Init(gyroDev_t *gyro)
{
bool ack;
busDevice_t * busDev = gyro->busDev;
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
ack = busWrite(busDev, MPU3050_SMPLRT_DIV, 0);
ack = busWrite(busDev, MPU3050_SMPLRT_DIV, config->gyroConfigValues[1]);
if (!ack) {
failureMode(FAILURE_ACC_INIT);
}
busWrite(busDev, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
busWrite(busDev, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | config->gyroConfigValues[0]);
busWrite(busDev, MPU3050_INT_CFG, 0);
busWrite(busDev, MPU3050_USER_CTRL, MPU3050_USER_RESET);
busWrite(busDev, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
/*
static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
{
uint8_t buf[2];
if (!gyro->mpuConfiguration.readFn(&gyro->bus, MPU3050_TEMP_OUT, 2, buf)) {
return false;
}
*tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
return true;
}
*/
static bool mpu3050GyroRead(gyroDev_t *gyro)
{
uint8_t data[6];
@ -129,7 +117,7 @@ static bool deviceDetect(busDevice_t * busDev)
bool mpu3050Detect(gyroDev_t *gyro)
{
gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MPU6000, gyro->imuSensorToUse, OWNER_MPU);
gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MPU3050, gyro->imuSensorToUse, OWNER_MPU);
if (gyro->busDev == NULL) {
return false;
}
@ -141,7 +129,7 @@ bool mpu3050Detect(gyroDev_t *gyro)
gyro->initFn = mpu3050Init;
gyro->readFn = mpu3050GyroRead;
gyro->intStatusFn = mpuCheckDataReady;
gyro->intStatusFn = gyroCheckDataReady;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor
return true;

13
src/main/drivers/accgyro/accgyro_mpu6000.c
View file

@ -37,8 +37,6 @@
#include "drivers/exti.h"
#include "drivers/bus.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
@ -74,7 +72,10 @@
static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
{
busDevice_t * busDev = gyro->busDev;
mpuIntExtiInit(gyro);
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
gyroIntExtiInit(gyro);
busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
@ -98,7 +99,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
busWrite(busDev, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
busWrite(busDev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
@ -118,7 +119,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
#endif
// Accel and Gyro DLPF Setting
busWrite(busDev, MPU_RA_CONFIG, gyro->lpf);
busWrite(busDev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
delayMicroseconds(1);
busSetSpeed(busDev, BUS_SPEED_FAST);
@ -214,7 +215,7 @@ bool mpu6000GyroDetect(gyroDev_t *gyro)
gyro->initFn = mpu6000AccAndGyroInit;
gyro->readFn = mpuGyroReadScratchpad;
gyro->intStatusFn = mpuCheckDataReady;
gyro->intStatusFn = gyroCheckDataReady;
gyro->temperatureFn = mpuTemperatureReadScratchpad;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor

13
src/main/drivers/accgyro/accgyro_mpu6050.c
View file

@ -37,8 +37,6 @@
#include "drivers/exti.h"
#include "drivers/bus.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
@ -60,7 +58,10 @@ static bool mpu6050InitDone = false;
static void mpu6050AccAndGyroInit(gyroDev_t *gyro)
{
mpuIntExtiInit(gyro);
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
gyroIntExtiInit(gyro);
busSetSpeed(gyro->busDev, BUS_SPEED_INITIALIZATION);
@ -75,11 +76,11 @@ static void mpu6050AccAndGyroInit(gyroDev_t *gyro)
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
busWrite(gyro->busDev, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
busWrite(gyro->busDev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
delayMicroseconds(15);
// Accel and Gyro DLPF Setting
busWrite(gyro->busDev, MPU_RA_CONFIG, gyro->lpf);
busWrite(gyro->busDev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
delayMicroseconds(1);
// Gyro +/- 2000 DPS Full Scale
@ -209,7 +210,7 @@ bool mpu6050GyroDetect(gyroDev_t *gyro)
gyro->initFn = mpu6050AccAndGyroInit;
gyro->readFn = mpuGyroReadScratchpad;
gyro->intStatusFn = mpuCheckDataReady;
gyro->intStatusFn = gyroCheckDataReady;
gyro->temperatureFn = mpuTemperatureReadScratchpad;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor

16
src/main/drivers/accgyro/accgyro_mpu6500.c
View file

@ -28,7 +28,6 @@
#include "drivers/time.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
@ -69,7 +68,10 @@ bool mpu6500AccDetect(accDev_t *acc)
static void mpu6500AccAndGyroInit(gyroDev_t *gyro)
{
busDevice_t * dev = gyro->busDev;
mpuIntExtiInit(gyro);
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
gyroIntExtiInit(gyro);
busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
@ -85,18 +87,16 @@ static void mpu6500AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
busWrite(dev, MPU_RA_GYRO_CONFIG, raGyroConfigData);
busWrite(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED);
delay(15);
busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
delay(15);
busWrite(dev, MPU_RA_CONFIG, gyro->lpf);
busWrite(dev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
delay(15);
busWrite(dev, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider
busWrite(dev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
delay(100);
// Data ready interrupt configuration
@ -164,7 +164,7 @@ bool mpu6500GyroDetect(gyroDev_t *gyro)
gyro->initFn = mpu6500AccAndGyroInit;
gyro->readFn = mpuGyroReadScratchpad;
gyro->intStatusFn = mpuCheckDataReady;
gyro->intStatusFn = gyroCheckDataReady;
gyro->temperatureFn = mpuTemperatureReadScratchpad;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor

16
src/main/drivers/accgyro/accgyro_mpu9250.c
View file

@ -28,7 +28,6 @@
#include "drivers/time.h"
#include "drivers/exti.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
@ -69,7 +68,10 @@ bool mpu9250AccDetect(accDev_t *acc)
static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
{
busDevice_t * dev = gyro->busDev;
mpuIntExtiInit(gyro);
const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
gyroIntExtiInit(gyro);
busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
@ -85,18 +87,16 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
busWrite(dev, MPU_RA_GYRO_CONFIG, raGyroConfigData);
busWrite(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED);
delay(15);
busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
delay(15);
busWrite(dev, MPU_RA_CONFIG, gyro->lpf);
busWrite(dev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
delay(15);
busWrite(dev, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider
busWrite(dev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
delay(100);
// Data ready interrupt configuration
@ -161,7 +161,7 @@ bool mpu9250GyroDetect(gyroDev_t *gyro)
gyro->initFn = mpu9250AccAndGyroInit;
gyro->readFn = mpuGyroReadScratchpad;
gyro->intStatusFn = mpuCheckDataReady;
gyro->intStatusFn = gyroCheckDataReady;
gyro->temperatureFn = mpuTemperatureReadScratchpad;
gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor

2
src/main/drivers/bus.h
View file

@ -78,9 +78,11 @@ typedef enum {
DEVHW_L3G4200,
/* Combined ACC/GYRO chips */
DEVHW_MPU3050,
DEVHW_MPU6000,
DEVHW_MPU6050,
DEVHW_MPU6500,
DEVHW_BMI160,
/* Combined ACC/GYRO/MAG chips */
DEVHW_MPU9250,

56
src/main/drivers/gyro_sync.c
View file

@ -1,56 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/gyro_sync.h"
bool gyroSyncCheckIntStatus(gyroDev_t *gyro)
{
if (!gyro->intStatusFn)
return false;
return gyro->intStatusFn(gyro);
}
uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint32_t looptime, uint8_t lpf, uint8_t gyroSync, uint8_t gyroSyncDenominator)
{
if (gyroSync) {
int gyroSamplePeriod;
if (lpf == 0) {
gyroSamplePeriod = 125;
} else {
gyroSamplePeriod = 1000;
}
gyro->mpuDividerDrops = gyroSyncDenominator - 1;
looptime = gyroSyncDenominator * gyroSamplePeriod;
} else {
gyro->mpuDividerDrops = 0;
}
return looptime;
}
uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro)
{
return gyro->mpuDividerDrops;
}

22
src/main/drivers/gyro_sync.h
View file

@ -1,22 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include "drivers/accgyro/accgyro.h"
bool gyroSyncCheckIntStatus(gyroDev_t *gyro);
uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro);
uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint32_t looptime, uint8_t lpf, uint8_t gyroSync, uint8_t gyroSyncDenominator);

2
src/main/drivers/nvic.h
View file

@ -8,7 +8,7 @@
#define NVIC_PRIO_BARO_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_SONAR_EXTI NVIC_BUILD_PRIORITY(2, 0) // maybe increate slightly
#define NVIC_PRIO_TRANSPONDER_DMA NVIC_BUILD_PRIORITY(3, 0)
#define NVIC_PRIO_MPU_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_GYRO_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAG_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_WS2811_DMA NVIC_BUILD_PRIORITY(1, 2) // TODO - is there some reason to use high priority? (or to use DMA IRQ at all?)
#define NVIC_PRIO_SERIALUART1_TXDMA NVIC_BUILD_PRIORITY(1, 1)

2
src/main/drivers/timer_stm32f4xx.c
View file

@ -75,7 +75,7 @@ uint8_t timerClockDivisor(TIM_TypeDef *tim)
#if defined (STM32F411xE)
UNUSED(tim);
return 1;
#elif defined (STM32F40_41xxx) || defined (STM32F427_437xx)
#elif defined (STM32F40_41xxx) || defined (STM32F427_437xx) || defined (STM32F446xx)
if (tim == TIM1 || tim == TIM8 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
return 1;
} else {

2
src/main/fc/cli.c
View file

@ -167,7 +167,7 @@ static const char * const featureNames[] = {
/* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
// sync with gyroSensor_e
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "FAKE"};
// sync this with sensors_e
static const char * const sensorTypeNames[] = {

1
src/main/fc/config.c
View file

@ -168,6 +168,7 @@ timeDelta_t getGyroUpdateRate(void)
{
return gyro.targetLooptime;
}
uint16_t getAccUpdateRate(void)
{
#ifdef USE_ASYNC_GYRO_PROCESSING

1
src/main/fc/fc_core.c
View file

@ -32,7 +32,6 @@
#include "common/filter.h"
#include "drivers/light_led.h"
#include "drivers/gyro_sync.h"
#include "drivers/serial.h"
#include "drivers/time.h"

2
src/main/fc/fc_init.c
View file

@ -49,7 +49,6 @@
#include "drivers/exti.h"
#include "drivers/flash_m25p16.h"
#include "drivers/gpio.h"
#include "drivers/gyro_sync.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/io_pca9685.h"
@ -72,7 +71,6 @@
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/vcd.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/exti.h"
#include "drivers/io_pca9685.h"

4
src/main/fc/fc_msp.c
View file

@ -1004,7 +1004,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_ADVANCED_CONFIG:
sbufWriteU8(dst, gyroConfig()->gyroSyncDenominator);
sbufWriteU8(dst, 1); // gyroConfig()->gyroSyncDenominator
sbufWriteU8(dst, 1); // BF: masterConfig.pid_process_denom
sbufWriteU8(dst, 1); // BF: motorConfig()->useUnsyncedPwm
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
@ -1737,7 +1737,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_ADVANCED_CONFIG:
if (dataSize >= 9) {
gyroConfigMutable()->gyroSyncDenominator = sbufReadU8(src);
sbufReadU8(src); // gyroConfig()->gyroSyncDenominator
sbufReadU8(src); // BF: masterConfig.pid_process_denom
sbufReadU8(src); // BF: motorConfig()->useUnsyncedPwm
motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);

6
src/main/fc/settings.yaml
View file

@ -4,7 +4,7 @@ tables:
- name: gyro_lpf
values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
- name: acc_hardware
values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"]
values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "FAKE"]
enum: accelerationSensor_e
- name: rangefinder_hardware
values: ["NONE", "HCSR04", "SRF10", "HCSR04I2C", "VL53L0X", "UIB"]
@ -101,10 +101,6 @@ groups:
- name: gyro_sync
field: gyroSync
type: bool
- name: gyro_sync_denom
field: gyroSyncDenominator
min: 1
max: 32
- name: align_gyro
field: gyro_align
type: uint8_t

2
src/main/platform.h
View file

@ -34,7 +34,7 @@
#define STM32F7
#elif defined(STM32F40_41xxx) || defined (STM32F411xE) || defined (STM32F427_437xx)
#elif defined(STM32F40_41xxx) || defined (STM32F411xE) || defined (STM32F427_437xx) || defined (STM32F446xx)
#include "stm32f4xx_conf.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"

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

@ -34,19 +34,19 @@
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6000.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_mpu9250.h"
#include "drivers/accgyro/accgyro_adxl345.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_l3g4200d.h"
#include "drivers/accgyro/accgyro_l3gd20.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_adxl345.h"
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/logging.h"
#include "drivers/sensor.h"

33
src/main/sensors/gyro.c
View file

@ -35,20 +35,19 @@
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6000.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_mpu9250.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_l3g4200d.h"
#include "drivers/accgyro/accgyro_l3gd20.h"
#include "drivers/accgyro/accgyro_adxl345.h"
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/accgyro/accgyro_l3g4200d.h"
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_l3gd20.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/logging.h"
@ -97,13 +96,12 @@ STATIC_FASTRAM void *notchFilter2[XYZ_AXIS_COUNT];
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 2);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_42HZ, // INV_FILTER_42HZ, In case of ST gyro, will default to 32Hz instead
.gyro_lpf = GYRO_LPF_42HZ, // 42HZ value is defined for Invensense/TDK gyros
.gyro_soft_lpf_hz = 60,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 32,
.looptime = 2000,
.looptime = 1000,
.gyroSync = 0,
.gyroSyncDenominator = 2,
.gyro_to_use = 0,
.gyro_soft_notch_hz_1 = 0,
.gyro_soft_notch_cutoff_1 = 1,
@ -241,17 +239,19 @@ bool gyroInit(void)
return false;
}
// After refactoring this function is always called after gyro sampling rate is known, so
// no additional condition is required
// Set gyro sample rate before driver initialisation
// Driver initialisation
gyroDev0.lpf = gyroConfig()->gyro_lpf;
gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->looptime, gyroConfig()->gyro_lpf, gyroConfig()->gyroSync, gyroConfig()->gyroSyncDenominator);
// driver initialisation
gyroDev0.requestedSampleIntervalUs = gyroConfig()->looptime;
gyroDev0.sampleRateIntervalUs = gyroConfig()->looptime;
gyroDev0.initFn(&gyroDev0);
// initFn will initialize sampleRateIntervalUs to actual gyro sampling rate (if driver supports it). Calculate target looptime using that value
gyro.targetLooptime = gyroConfig()->gyroSync ? gyroDev0.sampleRateIntervalUs : gyroConfig()->looptime;
if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
gyroDev0.gyroAlign = gyroConfig()->gyro_align;
}
gyroInitFilters();
return true;
}
@ -462,5 +462,8 @@ int16_t gyroRateDps(int axis)
bool gyroSyncCheckUpdate(void)
{
return gyroSyncCheckIntStatus(&gyroDev0);
if (!gyroDev0.intStatusFn)
return false;
return gyroDev0.intStatusFn(&gyroDev0);
}

2
src/main/sensors/gyro.h
View file

@ -47,7 +47,7 @@ extern gyro_t gyro;
typedef struct gyroConfig_s {
sensor_align_e gyro_align; // gyro alignment
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint8_t gyroSyncDenominator; // Gyro sync Denominator
uint8_t __deprecated_0; // Was: gyro sync denominator
uint8_t gyroSync; // Enable interrupt based loop
uint16_t looptime; // imu loop time in us
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.

506
src/main/startup/startup_stm32f446xx.s Normal file
View file

@ -0,0 +1,506 @@
/**
******************************************************************************
* @file startup_stm32f40_41xxx.s
* @author MCD Application Team
* @version V1.6.1
* @date 21-October-2015
* @brief STM32F40xxx/41xxx Devices vector table for Atollic TrueSTUDIO toolchain.
* Same as startup_stm32f40_41xxx.s and maintained for legacy purpose
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Configure the clock system and the external SRAM mounted on
* STM324xG-EVAL board to be used as data memory (optional,
* to be enabled by user)
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2015 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
// Enable CCM
// RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN;
ldr r0, =0x40023800 // RCC_BASE
ldr r1, [r0, #0x30] // AHB1ENR
orr r1, r1, 0x00100000 // RCC_AHB1ENR_CCMDATARAMEN
str r1, [r0, #0x30]
dsb
// Check for bootloader reboot
ldr r0, =0x2001FFFC // mj666
ldr r1, =0xDEADBEEF // mj666
ldr r2, [r0, #0] // mj666
str r0, [r0, #0] // mj666
cmp r2, r1 // mj666
beq Reboot_Loader // mj666
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Zero fill FASTRAM */
ldr r2, =__fastram_bss_start__
b LoopFillZeroFASTRAM
FillZeroFASTRAM:
movs r3, #0
str r3, [r2], #4
LoopFillZeroFASTRAM:
ldr r3, = __fastram_bss_end__
cmp r2, r3
bcc FillZeroFASTRAM
/* Mark the heap and stack */
ldr r2, =_heap_stack_begin
b LoopMarkHeapStack
MarkHeapStack:
movs r3, 0xa5a5a5a5
str r3, [r2], #4
LoopMarkHeapStack:
ldr r3, = _heap_stack_end
cmp r2, r3
bcc MarkHeapStack
/*FPU settings*/
ldr r0, =0xE000ED88 /* Enable CP10,CP11 */
ldr r1,[r0]
orr r1,r1,#(0xF << 20)
str r1,[r0]
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call the application entry point.*/
bl main
bx lr
LoopForever:
b LoopForever
Reboot_Loader: // mj666
// Reboot to ROM // mj666
ldr r0, =0x1FFF0000 // mj666
ldr sp,[r0, #0] // mj666
ldr r0,[r0, #4] // mj666
bx r0 // mj666
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M4. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word 0 /* CAN1 TX */
.word 0 /* CAN1 RX0 */
.word 0 /* CAN1 RX1 */
.word 0 /* CAN1 SCE */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word 0 /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
.word 0 /* TIM8 Break and TIM12 */
.word 0 /* TIM8 Update and TIM13 */
.word 0 /* TIM8 Trigger and Commutation and TIM14 */
.word 0 /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word 0 /* FSMC */
.word SDIO_IRQHandler /* SDIO */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word 0 /* UART4 */
.word 0 /* UART5 */
.word 0 /* TIM6 and DAC1&2 underrun errors */
.word 0 /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word 0 /* Ethernet */
.word 0 /* Ethernet Wakeup through EXTI line */
.word 0 /* CAN2 TX */
.word 0 /* CAN2 RX0 */
.word 0 /* CAN2 RX1 */
.word 0 /* CAN2 SCE */
.word OTG_FS_IRQHandler /* USB OTG FS */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word 0 /* USB OTG HS End Point 1 Out */
.word 0 /* USB OTG HS End Point 1 In */
.word 0 /* USB OTG HS Wakeup through EXTI */
.word 0 /* USB OTG HS */
.word 0 /* DCMI */
.word 0 /* CRYP crypto */
.word 0 /* Hash and Rng */
.word FPU_IRQHandler /* FPU */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word SPI4_IRQHandler /* SPI4 */
.word SPI5_IRQHandler /* SPI5 */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM9_IRQHandler
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
.weak TIM1_UP_TIM10_IRQHandler
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM11_IRQHandler
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak OTG_FS_WKUP_IRQHandler
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak OTG_FS_IRQHandler
.thumb_set OTG_FS_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
.weak SPI5_IRQHandler
.thumb_set SPI5_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

2
src/main/target/AIRBOTF4/target.h
View file

@ -33,7 +33,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/AIRHEROF3/target.h
View file

@ -26,7 +26,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU INT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -35,7 +35,7 @@
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC14
#define GYRO_INT_EXTI PC14
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -33,7 +33,7 @@
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC14
#define GYRO_INT_EXTI PC14
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/ANYFC/target.h
View file

@ -42,7 +42,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)

2
src/main/target/ANYFCF7/target.h
View file

@ -40,7 +40,7 @@
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_EXTI
#define USE_MAG

2
src/main/target/ANYFCM7/target.h
View file

@ -40,7 +40,7 @@
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_EXTI
#define USE_MAG

2
src/main/target/BEEROTORF4/target.h
View file

@ -27,7 +27,7 @@
// ICM20689 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA8
#define GYRO_INT_EXTI PA8
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL

2
src/main/target/BETAFLIGHTF3/target.h
View file

@ -42,7 +42,7 @@
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define EXTI_CALLBACK_HANDLER_COUNT 1
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_EXTI
//#define USE_ESC_SENSOR // XXX

2
src/main/target/BETAFLIGHTF4/target.h
View file

@ -45,7 +45,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

2
src/main/target/BLUEJAYF4/target.h
View file

@ -40,7 +40,7 @@
// MPU6500 interrupt
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC5
#define GYRO_INT_EXTI PC5
#define MPU6500_CS_PIN PC4
#define MPU6500_SPI_BUS BUS_SPI1

2
src/main/target/CC3D/target.h_
View file

@ -25,7 +25,7 @@
#define BEEPER_OPT PB2
#define USE_EXTI
#define MPU_INT_EXTI PA3
#define GYRO_INT_EXTI PA3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_SPI

2
src/main/target/CLRACINGF4AIR/target.h
View file

@ -51,7 +51,7 @@
// MPU6 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

2
src/main/target/COLIBRI/target.h
View file

@ -49,7 +49,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC0
#define GYRO_INT_EXTI PC0
#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG

2
src/main/target/COLIBRI_RACE/target.h
View file

@ -28,7 +28,7 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA5
#define GYRO_INT_EXTI PA5
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/F4BY/target.h
View file

@ -33,7 +33,7 @@
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PB0
#define GYRO_INT_EXTI PB0
#define USE_EXTI
#define MPU6000_CS_PIN PA4

1
src/main/target/FALCORE/config.c
View file

@ -61,7 +61,6 @@ void targetConfiguration(void)
gyroConfigMutable()->looptime = 1000;
gyroConfigMutable()->gyroSync = 1;
gyroConfigMutable()->gyroSyncDenominator = 8;
gyroConfigMutable()->gyro_lpf = 0; // 256 Hz
gyroConfigMutable()->gyro_soft_lpf_hz = 90;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 150;

2
src/main/target/FALCORE/target.h
View file

@ -34,7 +34,7 @@
#define MPU6500_SPI_BUS BUS_SPI1
#define USE_EXTI
#define MPU_INT_EXTI PB0
#define GYRO_INT_EXTI PB0
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/FF_F35_LIGHTNING/target.h
View file

@ -30,7 +30,7 @@
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define MPU9250_CS_PIN PC0

2
src/main/target/FF_FORTINIF4/target.h
View file

@ -38,7 +38,7 @@
/*------------SENSORS--------------*/
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/FF_PIKOF4/target.h
View file

@ -46,7 +46,7 @@
/*------------SENSORS--------------*/
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/FISHDRONEF4/target.h
View file

@ -55,7 +55,7 @@
// MPU6500 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/FRSKYF3/target.h
View file

@ -25,7 +25,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_ADDRESS 0x69

2
src/main/target/FRSKYF4/target.h
View file

@ -37,7 +37,7 @@
#define ACC_MPU6000_ALIGN CW270_DEG
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

2
src/main/target/FURYF3/target.h
View file

@ -25,7 +25,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/KAKUTEF4/target.h
View file

@ -43,7 +43,7 @@
#define INVERTER_PIN_UART3 PB15
#define USE_EXTI
#define MPU_INT_EXTI PC5
#define GYRO_INT_EXTI PC5
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6500_CS_PIN PC4

2
src/main/target/KFC32F3_INAV/target.h
View file

@ -30,7 +30,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC5
#define GYRO_INT_EXTI PC5
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/KROOZX/target.h
View file

@ -37,7 +37,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PA4
#define GYRO_INT_EXTI PA4
#define USE_GYRO
#define USE_GYRO_MPU6000

2
src/main/target/LUX_RACE/target.h
View file

@ -28,7 +28,7 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA5
#define GYRO_INT_EXTI PA5
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL

2
src/main/target/MATEKF405/target.h
View file

@ -42,7 +42,7 @@
#define MPU6000_SPI_BUS BUS_SPI1
#define USE_EXTI
#define MPU_INT_EXTI PC3
#define GYRO_INT_EXTI PC3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/MATEKF722/target.h
View file

@ -39,7 +39,7 @@
#define MPU6500_SPI_BUS BUS_SPI1
#define USE_EXTI
#define MPU_INT_EXTI PC3
#define GYRO_INT_EXTI PC3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/MOTOLAB/target.h
View file

@ -27,7 +27,7 @@
// MPU6050 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define GYRO_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/NAZE/target.h_
View file

@ -27,7 +27,7 @@
#define INVERTER_PIN_UART2 PB2 // PB2 (BOOT1) abused as inverter select GPIO
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define MAG_INT_EXTI PC14
#define USE_MAG_DATA_READY_SIGNAL

2
src/main/target/OMNIBUS/target.h
View file

@ -38,7 +38,7 @@
#define USE_GYRO_MPU6000
#define MPU6000_SPI_BUS BUS_SPI1
#define MPU6000_CS_PIN PA4
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define GYRO_MPU6000_ALIGN CW90_DEG

2
src/main/target/OMNIBUSF4/target.h
View file

@ -55,7 +55,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/PIKOBLX/target.h
View file

@ -30,7 +30,7 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define GYRO_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/RCEXPLORERF3/target.h
View file

@ -26,7 +26,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define GYRO_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO

2
src/main/target/SPARKY/target.h
View file

@ -27,7 +27,7 @@
// MPU6050 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define GYRO_INT_EXTI PA15
#define USE_MPU_DATA_READY_SIGNAL
// MPU 9150 INT connected to PA15, pulled up to VCC by 10K Resistor, contains MPU6050 and AK8975 in single component.

2
src/main/target/SPARKY2/target.h
View file

@ -45,7 +45,7 @@
#define MPU9250_SPI_BUS BUS_SPI1
#define MPU9250_CS_PIN PC4
#define MPU_INT_EXTI PC5
#define GYRO_INT_EXTI PC5
#define USE_MAG
#define USE_MAG_MPU9250

2
src/main/target/SPRACINGF3/target.h
View file

@ -25,7 +25,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/SPRACINGF3EVO/target.h
View file

@ -25,7 +25,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/SPRACINGF3MINI/target.h
View file

@ -29,7 +29,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/SPRACINGF3NEO/target.h
View file

@ -29,7 +29,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/SPRACINGF4EVO/target.h
View file

@ -34,7 +34,7 @@
#define INVERTER_PIN_UART2 PB2
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define GYRO_INT_EXTI PC13
#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG_DATA_READY_SIGNAL

2
src/main/target/YUPIF4/target.h
View file

@ -31,7 +31,7 @@
#define INVERTER_PIN_UART6 PB15
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

2
src/main/target/YUPIF7/target.h
View file

@ -32,7 +32,7 @@
// Gyro interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define GYRO_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

24
src/main/target/common_hardware.c
View file

@ -21,8 +21,8 @@
#if !defined(USE_TARGET_HARDWARE_DESCRIPTORS)
#if !defined(MPU_INT_EXTI)
#define MPU_INT_EXTI NONE
#if !defined(GYRO_INT_EXTI)
#define GYRO_INT_EXTI NONE
#endif
#if !defined(MPU_ADDRESS)
@ -38,26 +38,34 @@
#endif
#if defined(USE_GYRO_MPU6000)
BUSDEV_REGISTER_SPI(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_SPI(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE);
#endif
#if defined(USE_GYRO_MPU6050)
BUSDEV_REGISTER_I2C(busdev_mpu6050, DEVHW_MPU6050, MPU6050_I2C_BUS, MPU_ADDRESS, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_I2C(busdev_mpu6050, DEVHW_MPU6050, MPU6050_I2C_BUS, MPU_ADDRESS, GYRO_INT_EXTI, DEVFLAGS_NONE);
#endif
#if defined(USE_GYRO_MPU6500)
#if defined(MPU6500_SPI_BUS)
BUSDEV_REGISTER_SPI(busdev_mpu6500, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_SPI(busdev_mpu6500, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE);
#elif defined(MPU6500_I2C_BUS)
BUSDEV_REGISTER_I2C(busdev_mpu6500, DEVHW_MPU6500, MPU6500_I2C_BUS, MPU_ADDRESS, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_I2C(busdev_mpu6500, DEVHW_MPU6500, MPU6500_I2C_BUS, MPU_ADDRESS, GYRO_INT_EXTI, DEVFLAGS_NONE);
#endif
#endif
#if defined(USE_GYRO_MPU9250)
#if defined(MPU9250_SPI_BUS)
BUSDEV_REGISTER_SPI(busdev_mpu9250, DEVHW_MPU9250, MPU9250_SPI_BUS, MPU9250_CS_PIN, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_SPI(busdev_mpu9250, DEVHW_MPU9250, MPU9250_SPI_BUS, MPU9250_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE);
#elif defined(MPU9250_I2C_BUS)
BUSDEV_REGISTER_I2C(busdev_mpu9250, DEVHW_MPU9250, MPU9250_I2C_BUS, MPU_ADDRESS, MPU_INT_EXTI, DEVFLAGS_NONE);
BUSDEV_REGISTER_I2C(busdev_mpu9250, DEVHW_MPU9250, MPU9250_I2C_BUS, MPU_ADDRESS, GYRO_INT_EXTI, DEVFLAGS_NONE);
#endif
#endif
#if defined(USE_GYRO_BMI160)
#if defined(BMI160_SPI_BUS)
BUSDEV_REGISTER_SPI(busdev_bmi160, DEVHW_BMI160, BMI160_SPI_BUS, BMI160_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE);
#elif defined(BMI160_I2C_BUS)
BUSDEV_REGISTER_I2C(busdev_bmi160, DEVHW_BMI160, BMI160_I2C_BUS, 0x68, GYRO_INT_EXTI, DEVFLAGS_NONE);
#endif
#endif

40
src/main/target/link/stm32_flash_f446.ld Normal file
View file

@ -0,0 +1,40 @@
/*
*****************************************************************************
**
** File : stm32_flash_f411.ld
**
** Abstract : Linker script for STM32F11 Device with
** 512KByte FLASH, 128KByte RAM
**
*****************************************************************************
*/
/* Stack & Heap sizes */
_Min_Heap_Size = 0;
_Min_Stack_Size = 0x1800;
/* Entry Point */
ENTRY(Reset_Handler)
/*
0x08000000 to 0x0807FFFF 512K full flash,
0x08000000 to 0x08003FFF 16K isr vector, startup code,
0x08004000 to 0x08007FFF 16K config, // FLASH_Sector_1
0x08008000 to 0x0807FFFF 480K firmware,
*/
/* Specify the memory areas */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 16K
FLASH_CONFIG (r) : ORIGIN = 0x08004000, LENGTH = 16K
FLASH1 (rx) : ORIGIN = 0x08008000, LENGTH = 480K
RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
REGION_ALIAS("STACKRAM", RAM)
REGION_ALIAS("FASTRAM", RAM)
INCLUDE "stm32_flash_split.ld"

26
src/main/target/system_stm32f4xx.c
View file

@ -369,24 +369,18 @@ uint32_t hse_value = HSE_VALUE;
/******************************************************************************/
/************************* PLL Parameters *************************************/
#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#if defined(COLIBRI) || defined(KROOZX)
#define PLL_M 16
#elif defined(PIXRACER)
#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx) || defined (STM32F446xx) || defined (STM32F410xx) || defined (STM32F411xE)
#if HSE_VALUE == 24000000
#define PLL_M 24
#elif HSE_VALUE == 16000000
#define PLL_M 16
#elif HSE_VALUE == 8000000
#define PLL_M 8
#else
#error Invalid HSE_VALUE
#endif
#else
#define PLL_M 8
#endif
#elif defined (STM32F446xx)
#define PLL_M 8
#elif defined (STM32F410xx) || defined (STM32F411xE)
#if defined(USE_HSE_BYPASS)
#define PLL_M 8
#else /* !USE_HSE_BYPASS */
#define PLL_M 8
#endif /* USE_HSE_BYPASS */
#else
#error Undefined CPU
#endif /* STM32F40_41xxx || STM32F427_437xx || STM32F429_439xx || STM32F401xx || STM32F469_479xx */
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */