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Code Issues Wiki Activity

Merge branch 'borisbstyle-i2c_overclock'

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This commit is contained in:
Dominic Clifton 2015-11-13 19:02:14 +00:00
commit a8b91b8fc1
16 changed files with 93 additions and 32 deletions
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2
docs/Board - RMDO.md
View file

@ -4,7 +4,7 @@ The DoDo board is a clone of the SPRacingF3 board in terms of CPU pin mappings.
Hardware differences compared to SPRacingF3 are as follows:
* The CPU is the cheaper version of the F3 with only 128KB FLASH.
* Rev 1 and Rev 2: the CPU is the cheaper version of the F3 with only 128KB FLASH. Rev 3: the CPU is a F3 version with 256KB FLASH.
* The external flash rom is the same size as found on the Naze32 (2MBit)
* The barometer is the cheaper BMP280.
* It does not have any compass sensor.

1
docs/Cli.md
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@ -105,6 +105,7 @@ Re-apply any new defaults as desired.
|---------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------|--------|---------------|--------------|----------|
| `looptime` | This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). Default of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible. | 0 | 9000 | 3500 | Master | UINT16 |
| `emf_avoidance` | Default value is 0 for 72MHz processor speed. Setting this to 1 increases the processor speed, to move the 6th harmonic away from 432MHz. | 0 | 1 | 0 | Master | UINT8 |
| `i2c_overclock` | Default value is 0 for disabled. Enabling this feature speeds up IMU speed significantly and faster looptimes are possible. | 0 | 1 | 0 | Master | UINT8 |
| `mid_rc` | This is an important number to set in order to avoid trimming receiver/transmitter. Most standard receivers will have this at 1500, however Futaba transmitters will need this set to 1520. A way to find out if this needs to be changed, is to clear all trim/subtrim on transmitter, and connect to GUI. Note the value most channels idle at - this should be the number to choose. Once midrc is set, use subtrim on transmitter to make sure all channels (except throttle of course) are centered at midrc value. | 1200 | 1700 | 1500 | Master | UINT16 |
| `min_check` | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. | 0 | 2000 | 1100 | Master | UINT16 |
| `max_check` | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. | 0 | 2000 | 1900 | Master | UINT16 |

2
docs/Gps.md
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@ -66,6 +66,8 @@ UBlox GPS units can either be configured using the FC or manually.
Use UBox U-Center and connect your GPS to your computer. The CLI `gpspassthrough` command may be of use if you do not have a spare USART to USB adapter.
Note that many boards will not provide +5V from USB to the GPS module, such as the SPRacingF3; if you are using `gpspassthrough` you may need to connect a BEC to the controller if your board permits it, or use a standalone UART adapter. Check your board documentation to see if your GPS port is powered from USB.
Display the Packet Console (so you can see what messages your receiver is sending to your computer).
Display the Configation View.

3
src/main/config/config.c
View file

@ -132,7 +132,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 106;
static const uint8_t EEPROM_CONF_VERSION = 107;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -476,6 +476,7 @@ static void resetConf(void)
masterConfig.looptime = 3500;
masterConfig.emf_avoidance = 0;
masterConfig.i2c_overclock = 0;
resetPidProfile(&currentProfile->pidProfile);

1
src/main/config/config_master.h
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@ -27,6 +27,7 @@ typedef struct master_t {
uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us
uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band
uint8_t i2c_overclock; // Overclock i2c Bus for faster IMU readings
motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
#ifdef USE_SERVOS

1
src/main/drivers/bus_i2c.h
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@ -28,3 +28,4 @@ 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);
bool i2cRead(uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf);
uint16_t i2cGetErrorCounter(void);
void i2cSetOverclock(uint8_t OverClock);

13
src/main/drivers/bus_i2c_stm32f10x.c
View file

@ -61,6 +61,11 @@ static const i2cDevice_t i2cHardwareMap[] = {
static I2C_TypeDef *I2Cx = NULL;
// Copy of device index for reinit, etc purposes
static I2CDevice I2Cx_index;
static bool i2cOverClock;
void i2cSetOverclock(uint8_t OverClock) {
i2cOverClock = (OverClock) ? true : false;
}
void I2C1_ER_IRQHandler(void)
{
@ -340,7 +345,13 @@ 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;
if (i2cOverClock) {
i2c.I2C_ClockSpeed = 800000; // 800khz Maximum speed tested on various boards without issues
} else {
i2c.I2C_ClockSpeed = 400000; // 400khz Operation according specs
}
I2C_Cmd(I2Cx, ENABLE);
I2C_Init(I2Cx, &i2c);

18
src/main/drivers/bus_i2c_stm32f30x.c
View file

@ -69,6 +69,12 @@ static I2C_TypeDef *I2Cx = NULL;
// I2C TimeoutUserCallback
///////////////////////////////////////////////////////////////////////////////
static bool i2cOverClock;
void i2cSetOverclock(uint8_t OverClock) {
i2cOverClock = (OverClock) ? true : false;
}
uint32_t i2cTimeoutUserCallback(I2C_TypeDef *I2Cx)
{
if (I2Cx == I2C1) {
@ -118,7 +124,11 @@ void i2cInitPort(I2C_TypeDef *I2Cx)
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
if (i2cOverClock) {
I2C_InitStructure.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
} else {
I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10
}
//I2C_InitStructure.I2C_Timing = 0x8000050B;
I2C_Init(I2C1, &I2C_InitStructure);
@ -165,7 +175,11 @@ void i2cInitPort(I2C_TypeDef *I2Cx)
// ^ when using this setting and after a few seconds of a scope probe being attached to the I2C bus it was observed that the bus enters
// a busy state and does not recover.
I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
if (i2cOverClock) {
I2C_InitStructure.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
} else {
I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10
}
//I2C_InitStructure.I2C_Timing = 0x8000050B;

27
src/main/io/serial_1wire.c
View file

@ -26,7 +26,6 @@
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "io/serial_1wire.h"
const escHardware_t escHardware[ESC_COUNT] = {
@ -71,6 +70,13 @@ const escHardware_t escHardware[ESC_COUNT] = {
{ GPIOA, 2 },
{ GPIOA, 3 },
{ GPIOA, 8 }
#elif SPARKY
{ GPIOB, 15 },
{ GPIOB, 14 },
{ GPIOA, 8 },
{ GPIOB, 0 },
{ GPIOA, 6 },
{ GPIOA, 2 }
#endif
};
@ -90,11 +96,10 @@ void usb1WireInitialize()
#ifdef BEEPER
// fix for buzzer often starts beeping continuously when the ESCs are read
// switch beeper off until reboot
gpio_set_mode(BEEP_GPIO, BEEP_PIN, Mode_IN_FLOATING); //GPIO_Mode_IPU
gpio_set_mode(BEEP_GPIO, BEEP_PIN, Mode_IN_FLOATING); // set input no pull up or down
#endif
}
#ifdef STM32F10X
static volatile uint32_t in_cr_mask, out_cr_mask;
@ -132,8 +137,6 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
}
#endif
#define disable_hardware_uart __disable_irq()
#define enable_hardware_uart __enable_irq()
#define ESC_HI(escIndex) ((escHardware[escIndex].gpio->IDR & (1U << escHardware[escIndex].pinpos)) != (uint32_t)Bit_RESET)
#define RX_HI ((S1W_RX_GPIO->IDR & S1W_RX_PIN) != (uint32_t)Bit_RESET)
#define ESC_SET_HI(escIndex) escHardware[escIndex].gpio->BSRR = (1U << escHardware[escIndex].pinpos)
@ -184,7 +187,7 @@ void usb1WirePassthrough(uint8_t escIndex)
#endif
//Disable all interrupts
disable_hardware_uart;
__disable_irq();
// reset all the pins
GPIO_ResetBits(S1W_RX_GPIO, S1W_RX_PIN);
@ -219,7 +222,7 @@ void usb1WirePassthrough(uint8_t escIndex)
// Wait for programmer to go 0 -> 1
uint32_t ct=3333;
while(!RX_HI) {
if (ct > 0) ct--; //count down until 0;
if (ct > 0) ct--; // count down until 0;
// check for low time ->ct=3333 ~600uS //byte LO time for 0 @ 19200 baud -> 9*52 uS => 468.75uS
// App must send a 0 at 9600 baud (or lower) which has a LO time of at 104uS (or more) > 0 = 937.5uS LO
// BLHeliSuite will use 4800 baud
@ -243,17 +246,11 @@ void usb1WirePassthrough(uint8_t escIndex)
}
}
}
// we get here in case ct reached zero
TX_SET_HIGH;
RX_LED_OFF;
// Programmer TX
gpio_set_mode(S1W_TX_GPIO, S1W_TX_PIN, Mode_AF_PP);
// Enable Hardware UART
enable_hardware_uart;
// Wait a bit more to let App read the 0 byte and switch baudrate
// 2ms will most likely do the job, but give some grace time
delay(10);
// Enable all irq (for Hardware UART)
__enable_irq();
return;
}

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

@ -325,6 +325,7 @@ typedef struct {
const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16 | MASTER_VALUE, &masterConfig.looptime, 0, 9000 },
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE, &masterConfig.emf_avoidance, 0, 1 },
{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE, &masterConfig.i2c_overclock, 0, 1 },
{ "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 },

27
src/main/io/serial_msp.c
View file

@ -1756,13 +1756,32 @@ static bool processInCommand(void)
headSerialReply(0);
tailSerialReply();
// wait for all data to send
while (!isSerialTransmitBufferEmpty(mspSerialPort)) {
delay(50);
}
waitForSerialPortToFinishTransmitting(currentPort->port);
// Start to activate here
// motor 1 => index 0
// search currentPort portIndex
/* next lines seems to be unnecessary, because the currentPort always point to the same mspPorts[portIndex]
uint8_t portIndex;
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
if (currentPort == &mspPorts[portIndex]) {
break;
}
}
*/
mspReleasePortIfAllocated(mspSerialPort); // CloseSerialPort also marks currentPort as UNUSED_PORT
usb1WirePassthrough(i);
// MPS uart is active again
// Wait a bit more to let App read the 0 byte and switch baudrate
// 2ms will most likely do the job, but give some grace time
delay(10);
// rebuild/refill currentPort structure, does openSerialPort if marked UNUSED_PORT - used ports are skiped
mspAllocateSerialPorts(&masterConfig.serialConfig);
/* restore currentPort and mspSerialPort
setCurrentPort(&mspPorts[portIndex]); // not needed same index will be restored
*/
// former used MSP uart is active again
// restore MSP_SET_1WIRE as current command for correct headSerialReply(0)
currentPort->cmdMSP = MSP_SET_1WIRE;
} else {
// ESC channel higher than max. allowed
// rem: BLHeliSuite will not support more than 8

1
src/main/main.c
View file

@ -169,6 +169,7 @@ void init(void)
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
i2cSetOverclock(masterConfig.i2c_overclock);
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();

6
src/main/target/RMDO/target.h
View file

@ -163,3 +163,9 @@
// USART3,
#define BIND_PORT GPIOB
#define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9
#define S1W_RX_GPIO GPIOA
#define S1W_RX_PIN GPIO_Pin_10

6
src/main/target/SPARKY/target.h
View file

@ -150,6 +150,12 @@
#define WS2811_IRQ DMA1_Channel7_IRQn
#endif
#define USE_SERIAL_1WIRE
#define ESC_COUNT 6
#define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6
#define S1W_RX_GPIO GPIOB
#define S1W_RX_PIN GPIO_Pin_7
#define SPEKTRUM_BIND
// USART2, PA3

12
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -102,9 +102,9 @@
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
// STM32F3DISCOVERY TX - PC3 connects to UART RX
#define S1W_TX_GPIO GPIOC
#define S1W_TX_PIN GPIO_Pin_3
// STM32F3DISCOVERY RX - PC1 connects to UART TX
#define S1W_RX_GPIO GPIOC
#define S1W_RX_PIN GPIO_Pin_1
// STM32F3DISCOVERY TX - PD5 connects to UART RX
#define S1W_TX_GPIO GPIOD
#define S1W_TX_PIN GPIO_Pin_5
// STM32F3DISCOVERY RX - PD6 connects to UART TX
#define S1W_RX_GPIO GPIOD
#define S1W_RX_PIN GPIO_Pin_6

4
src/main/telemetry/hott.c
View file

@ -193,8 +193,8 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
addGPSCoordinates(hottGPSMessage, GPS_coord[LAT], GPS_coord[LON]);
// GPS Speed in km/h
uint16_t speed = (GPS_speed * 36) / 100; // 0->1m/s * 0->36 = km/h
// GPS Speed is returned in cm/s (from io/gps.c) and must be sent in km/h (Hott requirement)
uint16_t speed = (GPS_speed * 36) / 1000;
hottGPSMessage->gps_speed_L = speed & 0x00FF;
hottGPSMessage->gps_speed_H = speed >> 8;