From: Keith Packard Date: Thu, 30 Mar 2023 07:46:36 +0000 (-0700) Subject: altos/easymega-v3.0: Switch to STM32F103 X-Git-Tag: 1.9.18~2^2~72 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=2a34be23938cf1b3c3662abe2d39492bda9a4be1 altos/easymega-v3.0: Switch to STM32F103 For some reason, there was easymega v3.0 firmware sitting here, but it was mostly a copy of easymega v2.0 bits. Fix that to support the current design based on the STM32F103 SoC. Signed-off-by: Keith Packard --- diff --git a/src/easymega-v3.0/Makefile b/src/easymega-v3.0/Makefile index 51c51755..c145b83b 100644 --- a/src/easymega-v3.0/Makefile +++ b/src/easymega-v3.0/Makefile @@ -3,7 +3,7 @@ # # -include ../stm/Makefile.defs +include ../stm32f1/Makefile.defs INC = \ ao.h \ @@ -20,38 +20,27 @@ INC = \ ao_ms5607.h \ ao_bmx160.h \ ao_adxl375.h \ - ao_profile.h \ ao_task.h \ ao_whiten.h \ ao_sample_profile.h \ ao_quaternion.h \ - ao_mpu.h \ - stm32l.h \ + stm32f1.h \ Makefile # # Common AltOS sources # -#PROFILE=ao_profile.c -#PROFILE_DEF=-DAO_PROFILE=1 - -#SAMPLE_PROFILE=ao_sample_profile.c \ -# ao_sample_profile_timer.c -#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 - -#STACK_GUARD=ao_mpu_stm.c -#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 - ALTOS_SRC = \ ao_boot_chain.c \ ao_interrupt.c \ + ao_clock.c \ ao_product.c \ ao_romconfig.c \ ao_cmd.c \ ao_config.c \ ao_task.c \ - ao_led_stm.c \ + ao_led.c \ ao_stdio.c \ ao_panic.c \ ao_timer.c \ @@ -60,19 +49,19 @@ ALTOS_SRC = \ ao_freq.c \ ao_dma_stm.c \ ao_spi_stm.c \ + ao_i2c_stm.c \ ao_data.c \ ao_ms5607.c \ - ao_bmx160.c \ + ao_bmi088.c \ + ao_mmc5983.c \ ao_adxl375.c \ ao_adc_stm.c \ ao_beep_stm.c \ - ao_eeprom_stm.c \ ao_storage.c \ ao_m25.c \ ao_usb_stm.c \ ao_exti_stm.c \ ao_report.c \ - ao_i2c_stm.c \ ao_convert_pa.c \ ao_convert_volt.c \ ao_log.c \ @@ -90,7 +79,7 @@ PRODUCT=EasyMega-v3.0 PRODUCT_DEF=-DEASYMEGA IDPRODUCT=0x0028 -CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) +CFLAGS = $(PRODUCT_DEF) $(STM32F1_CFLAGS) PROGNAME=easymega-v3.0 PROG=$(PROGNAME)-$(VERSION).elf diff --git a/src/easymega-v3.0/ao_easymega.c b/src/easymega-v3.0/ao_easymega.c index 70a6e409..de666c65 100644 --- a/src/easymega-v3.0/ao_easymega.c +++ b/src/easymega-v3.0/ao_easymega.c @@ -18,20 +18,14 @@ #include #include -#include +#include +#include #include #include #include #include -#include #include -#if HAS_SAMPLE_PROFILE -#include -#endif #include -#if HAS_STACK_GUARD -#include -#endif int main(void) @@ -57,10 +51,10 @@ main(void) ao_cmd_init(); ao_ms5607_init(); - ao_bmx160_init(); + ao_bmi088_init(); + ao_mmc5983_init(); ao_adxl375_init(); - ao_eeprom_init(); ao_storage_init(); ao_flight_init(); diff --git a/src/easymega-v3.0/ao_pins.h b/src/easymega-v3.0/ao_pins.h index 79a2a59a..1aea7b21 100644 --- a/src/easymega-v3.0/ao_pins.h +++ b/src/easymega-v3.0/ao_pins.h @@ -19,61 +19,46 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ +/* 16MHz crystal */ -/* 16MHz High speed external crystal */ -#define AO_HSE 16000000 +#define AO_HSE 1 +#define AO_HSE_BYPASS 0 -/* PLLVCO = 96MHz (so that USB will work) */ -#define AO_PLLMUL 6 -#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6) +#define AO_SYSCLK 72000000 +#define AO_HCLK 72000000 +#define AO_APB1CLK 36000000 +#define AO_APB2CLK 72000000 +#define AO_ADCCLK 12000000 -/* SYSCLK = 32MHz (no need to go faster than CPU) */ -#define AO_PLLDIV 3 -#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) +/* PLLMUL is 9, PLLXTPRE (pre divider) is 2, so the + * overall PLLCLK is 16 * 9/2 = 72MHz (used as SYSCLK) + * + * HCLK is SYSCLK / 1 (HPRE_DIV) = 72MHz (72MHz max) + * USB is PLLCLK / 1.5 (USBPRE)= 48MHz (must be 48MHz) + * APB2 is HCLK / 1 (PPRE2_DIV) = 72MHz (72MHz max) + * APB1 is HCLK / 2 (PPRE1_DIV) = 36MHz (36MHz max) + * ADC is APB2 / 6 (ADCPRE) = 12MHz (14MHz max) + */ -/* HCLK = 32MHz (CPU clock) */ -#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_USBPRE STM_RCC_CFGR_USBPRE_1_5 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_9 +#define AO_RCC_CFGR_PLLXTPRE STM_RCC_CFGR_PLLXTPRE_2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE1_DIV_2 #define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 - -/* Run APB1 at 16MHz (HCLK/2) */ -#define AO_APB1_PRESCALER 2 -#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 - -/* Run APB2 at 16MHz (HCLK/2) */ -#define AO_APB2_PRESCALER 2 -#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 - -#define HAS_SERIAL_1 0 -#define USE_SERIAL_1_STDIN 0 -#define SERIAL_1_PB6_PB7 0 -#define SERIAL_1_PA9_PA10 0 - -#define HAS_SERIAL_2 0 -#define USE_SERIAL_2_STDIN 0 -#define SERIAL_2_PA2_PA3 0 -#define SERIAL_2_PD5_PD6 0 - -#define HAS_SERIAL_3 0 -#define USE_SERIAL_3_STDIN 0 -#define SERIAL_3_PB10_PB11 0 -#define SERIAL_3_PC10_PC11 0 -#define SERIAL_3_PD8_PD9 0 - -#define ao_gps_getchar ao_serial1_getchar -#define ao_gps_putchar ao_serial1_putchar -#define ao_gps_set_speed ao_serial1_set_speed -#define ao_gps_fifo (ao_stm_usart1.rx_fifo) +#define AO_RCC_CFGR_ADCPRE STM_RCC_CFGR_ADCPRE_6 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024) #define AO_CONFIG_MAX_SIZE 1024 #define LOG_ERASE_MARK 0x55 #define LOG_MAX_ERASE 128 -#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_2 +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_3 +#define AO_LOG_NORMALIZED 1 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 -#define USE_EEPROM_CONFIG 1 -#define USE_STORAGE_CONFIG 0 +#define USE_EEPROM_CONFIG 0 +#define USE_STORAGE_CONFIG 1 #define HAS_USB 1 #define HAS_BEEP 1 #define BEEPER_TIMER 2 @@ -86,16 +71,19 @@ #define HAS_APRS 0 #define HAS_COMPANION 1 +#define HAS_USB_PULLUP 1 +#define AO_USB_PULLUP_PORT (&stm_gpioa) +#define AO_USB_PULLUP_PIN 8 + #define HAS_SPI_1 1 #define SPI_1_PA5_PA6_PA7 1 /* Barometer */ #define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */ #define SPI_1_PE13_PE14_PE15 0 -#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz +#define SPI_1_MODE_OUTPUT STM_GPIO_CR_MODE_OUTPUT_10MHZ #define HAS_SPI_2 1 #define SPI_2_PB13_PB14_PB15 1 /* Flash, IMU, Companion */ -#define SPI_2_PD1_PD3_PD4 0 -#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz +#define SPI_2_MODE_OUTPUT STM_GPIO_CR_MODE_OUTPUT_50MHZ #define HAS_I2C_1 1 #define I2C_1_PB8_PB9 1 @@ -108,12 +96,12 @@ #define LOW_LEVEL_DEBUG 0 -#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOAEN -#define LED_PORT (&stm_gpioa) -#define LED_PIN_RED 9 -#define LED_PIN_GREEN 10 -#define AO_LED_RED (1 << LED_PIN_RED) -#define AO_LED_GREEN (1 << LED_PIN_GREEN) +#define LED_0_PORT (&stm_gpioa) +#define LED_0_PIN 9 +#define LED_1_PORT (&stm_gpioa) +#define LED_1_PIN 10 +#define AO_LED_RED (1 << LED_0_PIN) +#define AO_LED_GREEN (1 << LED_1_PIN) #define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) @@ -217,10 +205,6 @@ struct ao_adc { #define AO_ADC_TEMP 16 -#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \ - (1 << STM_RCC_AHBENR_GPIOEEN) | \ - (1 << STM_RCC_AHBENR_GPIOBEN)) - #define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2) #define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT @@ -299,29 +283,53 @@ struct ao_adc { #define AO_M25_SPI_CS_MASK (1 << AO_M25_SPI_CS_PIN) #define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15 -/* - * bmx160 - */ +/* BMI088 */ -#define HAS_BMX160 1 -#define AO_BMX160_INT_PORT (&stm_gpioc) -#define AO_BMX160_INT_PIN 15 -#define AO_BMX160_SPI_BUS (AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0) -#define AO_BMX160_SPI_CS_PORT (&stm_gpioc) -#define AO_BMX160_SPI_CS_PIN 13 +#define HAS_BMI088 1 +#define AO_BMI088_SPI_BUS (AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0) +#define AO_BMI088_ACC_CS_PORT (&stm_gpioc) +#define AO_BMI088_ACC_CS_PIN 14 +#define AO_BMI088_GYR_CS_PORT (&stm_gpioc) +#define AO_BMI088_GYR_CS_PIN 13 #define HAS_IMU 1 -#define ao_data_along(packet) ((packet)->bmx160.acc_x) -#define ao_data_across(packet) (-(packet)->bmx160.acc_y) -#define ao_data_through(packet) ((packet)->bmx160.acc_z) +#define ao_bmi088_along(m) ((m)->acc.x) +#define ao_bmi088_across(m) (-(m)->acc.y) +#define ao_bmi088_through(m) ((m)->acc.z) + +#define ao_bmi088_roll(m) ((m)->gyr.x) +#define ao_bmi088_pitch(m) (-(m)->gyr.y) +#define ao_bmi088_yaw(m) ((m)->gyr.z) + +#define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088) +#define ao_data_across(packet) ao_bmi088_across(&(packet)->bmi088) +#define ao_data_through(packet) ao_bmi088_through(&(packet)->bmi088) + +#define ao_data_roll(packet) ao_bmi088_roll(&(packet)->bmi088) +#define ao_data_pitch(packet) ao_bmi088_pitch(&(packet)->bmi088) +#define ao_data_yaw(packet) ao_bmi088_yaw(&(packet)->bmi088) + +/* + * MMC5983 + * + * pin 1 NE corner of chip + * + * +along -Y + * +across +X + * +through -Z + */ + +#define HAS_MMC5983 1 +#define MMC5983_I2C 1 +#define AO_MMC5983_I2C_INDEX STM_I2C_INDEX(1) -#define ao_data_roll(packet) ((packet)->bmx160.gyr_x) -#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y) -#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z) +#define ao_mmc5983_along(m) (-(m)->y) +#define ao_mmc5983_across(m) ((m)->x) +#define ao_mmc5983_through(m) (-(m)->z) -#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x) -#define ao_data_mag_across(packet) (-(packet)->bmx160.mag_y) -#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z) +#define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983) +#define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983) +#define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983) /* ADXL375 */ diff --git a/src/easymega-v3.0/flash-loader/Makefile b/src/easymega-v3.0/flash-loader/Makefile index 2b715caf..e441b0a6 100644 --- a/src/easymega-v3.0/flash-loader/Makefile +++ b/src/easymega-v3.0/flash-loader/Makefile @@ -5,4 +5,4 @@ TOPDIR=../.. HARDWARE=easymega-v3.0 -include $(TOPDIR)/stm/Makefile-flash.defs +include $(TOPDIR)/stm32f1/Makefile-flash.defs diff --git a/src/easymega-v3.0/flash-loader/ao_pins.h b/src/easymega-v3.0/flash-loader/ao_pins.h index 324b0eb9..c60f6207 100644 --- a/src/easymega-v3.0/flash-loader/ao_pins.h +++ b/src/easymega-v3.0/flash-loader/ao_pins.h @@ -19,8 +19,34 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ -/* External crystal at 16MHz */ -#define AO_HSE 16000000 +/* 16MHz crystal */ + +#define AO_HSE 1 +#define AO_HSE_BYPASS 0 + +#define AO_SYSCLK 72000000 +#define AO_HCLK 72000000 +#define AO_APB1CLK 36000000 +#define AO_APB2CLK 72000000 +#define AO_ADCCLK 12000000 + +/* PLLMUL is 9, PLLXTPRE (pre divider) is 2, so the + * overall PLLCLK is 16 * 9/2 = 72MHz (used as SYSCLK) + * + * HCLK is SYSCLK / 1 (HPRE_DIV) = 72MHz (72MHz max) + * USB is PLLCLK / 1.5 (USBPRE)= 48MHz (must be 48MHz) + * APB2 is HCLK / 1 (PPRE2_DIV) = 72MHz (72MHz max) + * APB1 is HCLK / 2 (PPRE1_DIV) = 36MHz (36MHz max) + * ADC is APB2 / 6 (ADCPRE) = 12MHz (14MHz max) + */ + +#define AO_RCC_CFGR_USBPRE STM_RCC_CFGR_USBPRE_1_5 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_9 +#define AO_RCC_CFGR_PLLXTPRE STM_RCC_CFGR_PLLXTPRE_2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE1_DIV_2 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 +#define AO_RCC_CFGR_ADCPRE STM_RCC_CFGR_ADCPRE_6 #include @@ -32,4 +58,8 @@ #define AO_BOOT_APPLICATION_VALUE 1 #define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP +#define HAS_USB_PULLUP 1 +#define AO_USB_PULLUP_PORT (&stm_gpioa) +#define AO_USB_PULLUP_PIN 8 + #endif /* _AO_PINS_H_ */ diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index de1156e1..b8aa6a8c 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -63,6 +63,7 @@ extern enum ao_flight_state ao_log_state; #define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */ #define AO_LOG_FORMAT_TELEMEGA_6 22 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */ #define AO_LOG_FORMAT_EASYTIMER_2 23 /* 32 byte typed easytimer records with 32 bit gyro cal, bmi088 and mmc5983 */ +#define AO_LOG_FORMAT_EASYMEGA_3 24 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ /* Return the flight number from the given log slot, 0 if none, -slot on failure */ @@ -592,7 +593,7 @@ struct ao_log_timer { } u; }; -#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6 +#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_3 typedef struct ao_log_mega ao_log_type; #endif