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f7 check #12

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2 changes: 1 addition & 1 deletion src/flight_controller/inc/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ extern volatile uint32_t rfCustomReplyBufferPointerSent;

extern volatile int headerToWrite;
extern volatile int headerWritten;
extern volatile int julian;
extern volatile int julian, bob;
extern volatile float bear[];

extern char *CleanupNumberString(char *inString);
Expand Down
8 changes: 7 additions & 1 deletion src/flight_controller/src/config.c
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Expand Up @@ -10,6 +10,7 @@ volatile uint32_t configSize = 0;
volatile int headerWritten;
volatile int headerToWrite;
volatile int julian = -99;
volatile int bob = -99;
volatile float bear[3] = {0.0f,};

extern biquad_state kdBqFilterState[];
Expand Down Expand Up @@ -1161,7 +1162,7 @@ void ProcessCommand(char *inString)
else if (!strcmp("error", inString))
{

snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "%li %lu %lu\n", deviceWhoAmI, errorMask, failsafeHappend);RfCustomReplyBuffer(rf_custom_out_buffer);
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "%lu %lu %lu\n", deviceWhoAmI, errorMask, failsafeHappend);RfCustomReplyBuffer(rf_custom_out_buffer);
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "ba:%lu\n", armingStructure.boardArmed);RfCustomReplyBuffer(rf_custom_out_buffer);
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "lfa:%lu\n", armingStructure.latchFirstArm);RfCustomReplyBuffer(rf_custom_out_buffer);
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "ams:%lu\n", armingStructure.armModeSet);RfCustomReplyBuffer(rf_custom_out_buffer);
Expand Down Expand Up @@ -2050,6 +2051,11 @@ void ProcessCommand(char *inString)
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "#me Goes Pro!! %i\n", julian);
RfCustomReplyBuffer(rf_custom_out_buffer);
}
else if (!strcmp("bob", inString))
{
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "#me Goes Pro!! %i\n", bob);
RfCustomReplyBuffer(rf_custom_out_buffer);
}
else if (!strcmp("bear", inString))
{
snprintf(rf_custom_out_buffer, RF_BUFFER_SIZE, "#me BARELY!! %i, %i, %i\n", (int)(bear[0]*10000), (int)(bear[1]*10000), (int)(bear[2]*10000));
Expand Down
12 changes: 12 additions & 0 deletions src/flight_controller/src/drivers/flash_chip.c
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Expand Up @@ -308,6 +308,16 @@ int FindFirstEmptyPage(void)
uint32_t allFFsTotal = 0;
uint32_t firstEmptySector;

//TEST: force always off
flashInfo.currentWriteAddress = 0;
flashInfo.enabled = FLASH_FULL;
return (0);

//TEST: force always on
flashInfo.enabled = STAT_FLASH_ENABLED;
flashInfo.currentWriteAddress = 0;
return (1);

//find first empty sector
for (x = 0; x < flashInfo.totalSize; x = x + (flashInfo.pageSize * flashInfo.pagesPerSector) )
{
Expand Down Expand Up @@ -427,6 +437,8 @@ int InitFlashChip(void)
int flashReturn;
//TODO: Allow working with multiple flash chips

//TESTING
return 0;
//TODO: Check for DMA conflicts
if (board.dmasSpi[board.spis[board.flash[0].spiNumber].RXDma].enabled)
{
Expand Down
32 changes: 20 additions & 12 deletions src/flight_controller/src/drivers/maxOsd.c
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Expand Up @@ -2237,7 +2237,10 @@ int CheckForVideoSignal(void)

//maxOsdRecord.commandStatus = OSD_COMMAND_STATUS_SPI_SENDING_DMA_VIDEO_TYPE;

julian++;
spiReturnData = MaxSendReceiveCommand(MAX7456ADD_STAT, 0xFF, 1, 1);
bob = spiReturnData;

if (3 & spiReturnData)
{
//video found!
Expand Down Expand Up @@ -2272,8 +2275,8 @@ int HandleMaxOsd(void)
{

//disabled for now
return(0);
if (InlineMillis() - lastTimeRun > 100)
//return(0);
if (InlineMillis() - lastTimeRun < 10)
return(0);

if ( (maxOsdRecord.type == OSD_TYPE_SPI) && (maxOsdRecord.videoMode == VIDEO_MODE_UNKNOWN) )
Expand Down Expand Up @@ -2301,7 +2304,7 @@ int HandleMaxOsd(void)
int InitMaxOsd(void)
{

return(0);
//return(0);
int x; //set
uint8_t spiReturnData; //set

Expand Down Expand Up @@ -2414,18 +2417,23 @@ static void DrawScreen(void)

if (bufferLength)
{
if (HAL_DMA_GetState(&dmaHandles[board.dmasActive[board.spis[board.maxOsd[0].spiNumber].TXDma].dmaHandle]) == HAL_DMA_STATE_READY && HAL_SPI_GetState(&spiHandles[board.spis[board.maxOsd[0].spiNumber].spiHandle]) == HAL_SPI_STATE_READY)
{
//if (HAL_DMA_GetState(&dmaHandles[board.dmasActive[board.spis[board.maxOsd[0].spiNumber].TXDma].dmaHandle]) == HAL_DMA_STATE_READY && HAL_SPI_GetState(&spiHandles[board.spis[board.maxOsd[0].spiNumber].spiHandle]) == HAL_SPI_STATE_READY)
//{
//callback function is free to use, set callback.
if(callbackFunctionArray[MAX_OSD_TX_DMA_FP] == NULL)
{
callbackFunctionArray[MAX_OSD_TX_DMA_FP] = FlashDmaRxCallback;
maxOsdRecord.commandStatus = OSD_COMMAND_STATUS_SPI_SENDING_DMA;
// if(callbackFunctionArray[MAX_OSD_TX_DMA_FP] == NULL)
// {
// callbackFunctionArray[MAX_OSD_TX_DMA_FP] = FlashDmaRxCallback;
maxOsdRecord.commandStatus = OSD_COMMAND_STATUS_SPI_SENDING_BLK;
//maxOsdRecord.commandStatus = OSD_COMMAND_STATUS_SPI_SENDING_DMA;
inlineDigitalLo(ports[board.maxOsd[0].csPort], board.maxOsd[0].csPin);
HAL_SPI_TransmitReceive_DMA(&spiHandles[board.spis[board.maxOsd[0].spiNumber].spiHandle], txBuffer, rxBuffer, bufferLength);
HAL_SPI_TransmitReceive(&spiHandles[board.spis[board.maxOsd[0].spiNumber].spiHandle], txBuffer, rxBuffer, bufferLength, 500);
inlineDigitalHi(ports[board.maxOsd[0].csPort], board.maxOsd[0].csPin);
maxOsdRecord.commandStatus = OSD_COMMAND_STATUS_IDLE;

//HAL_SPI_TransmitReceive_DMA(&spiHandles[board.spis[board.maxOsd[0].spiNumber].spiHandle], txBuffer, rxBuffer, bufferLength);
lastTimeRun = InlineMillis();
}
}
// }
//}
}

}
Expand Down
8 changes: 6 additions & 2 deletions src/flight_controller/src/drivers/spring_bus_spi.c
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Expand Up @@ -48,7 +48,7 @@ void DeInitGyroExti(void)

void InitGyroExti(void)
{
EXTI_Init(ports[board.gyros[0].extiPort], board.gyros[0].extiPin, board.gyros[0].extiIRQn, 2, 0, GPIO_MODE_IT_RISING, GPIO_PULLUP);
EXTI_Init(ports[board.gyros[0].extiPort], board.gyros[0].extiPin, board.gyros[0].extiIRQn, 2, 0, GPIO_MODE_IT_RISING, GPIO_PULLDOWN);
}

void AccGyroDeinit(void)
Expand Down Expand Up @@ -104,17 +104,21 @@ uint32_t AccGyroInit(loopCtrl_e loopCtrl)
if (!AccGyroDeviceDetect())
{
//make sure IMU is a known version
deviceWhoAmI = 6660;
return 0; //testing
}

if (!AccGyroDeviceInit(loopCtrl)) {
deviceWhoAmI = 6661;
return 0; //testing
}

//goto TESTI; //testing
SPI_Init(board.gyros[0].spiFastBaud);
if (board.gyros[0].spiSlowBaud != board.gyros[0].spiFastBaud)
SPI_Init(board.gyros[0].spiFastBaud);

// after the gyro is started, start up the interrupt
DeInitializeGpio(ports[board.gyros[0].extiPort], board.gyros[0].extiPin);
InitGyroExti();

skipGyro = 0;
Expand Down
13 changes: 9 additions & 4 deletions src/flight_controller/src/drivers/spring_imuf9001.c
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Expand Up @@ -3,7 +3,7 @@
#define IMUF_COMMAND_HEADER 'h'
#define IMUF_COMMAND_RST '13'

static const uint16_t imufCurrentVersion = 105;
static const uint16_t imufCurrentVersion = 106;

volatile gyroToBoardCommMode_t currentCommMode;

Expand Down Expand Up @@ -236,7 +236,7 @@ int AccGyroDeviceInit(loopCtrl_e gyroLoop)
data.param5 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.q) << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.w;
data.param6 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.lpf) << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.lpf;
data.param7 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.lpf) << 16 ) | 0;
data.param8 = ( (int16_t)mainConfig.gyroConfig.minorBoardRotation[X] << 16 ) | mainConfig.gyroConfig.gyroRotation;
data.param8 = ( (int16_t)mainConfig.gyroConfig.minorBoardRotation[X] << 16 ) | (uint16_t)mainConfig.gyroConfig.gyroRotation;
data.param9 = ( (int16_t)mainConfig.gyroConfig.minorBoardRotation[Z] << 16 ) | (int16_t)mainConfig.gyroConfig.minorBoardRotation[Y];

for (attempt = 0; attempt < 4; attempt++)
Expand Down Expand Up @@ -298,8 +298,10 @@ int AccGyroDeviceDetect(void)
RtcWriteBackupRegister(RFBL_BKR_BOOT_ADDRESSS_REG, UPT_ADDRESS);
DelayMs(500);
SystemReset();
deviceWhoAmI = 6662;
} else {
return (*(imufVersion_t *)&(reply.param1)).firmware;
deviceWhoAmI = (*(imufVersion_t *)&(reply.param1)).firmware;
return deviceWhoAmI;
}
}
}
Expand Down Expand Up @@ -333,8 +335,11 @@ void ImuDeviceReadComplete(void)
inlineDigitalHi(ports[board.gyros[0].csPort], board.gyros[0].csPin);
if ( (currentCommMode == GTBCM_GYRO_ACC_FILTER_F) || (currentCommMode == GTBCM_GYRO_ACC_QUAT_FILTER_F))
{
volatile uint32_t crc1 = ((*(uint32_t *)(&imuRxCommFrame.gyroFrame+mainConfig.gyroConfig.imufMode-4)) & 0xFF);
volatile uint32_t crc1 = ((*(uint32_t *)(&imuRxCommFrame.gyroFrame + mainConfig.gyroConfig.imufMode-4)) & 0xFF);
volatile uint32_t crc2 = (HAL_CRC_Calculate(&CrcHandle, (uint32_t *)(&imuRxCommFrame.gyroFrame), (mainConfig.gyroConfig.imufMode >> 2)-1) & 0xFF);
//volatile uint32_t crc1 = ( (*(uint32_t *)(dmaRxBuffer+gyroConfig()->imuf_mode-4)) & 0xFF );
//volatile uint32_t crc2 = ( getCrcImuf9001((uint32_t *)(dmaRxBuffer), (gyroConfig()->imuf_mode >> 2)-1) & 0xFF );
crc1 = crc2 = 1;
if(
crc1 != crc2
)
Expand Down
2 changes: 2 additions & 0 deletions src/flight_controller/src/flight_logger.c
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Expand Up @@ -415,8 +415,10 @@ void UpdateBlackbox(pid_output flightPids[], float flightSetPoints[], float dpsG
(void)(filteredAccData);
#endif

//TEST: force always on, start logging after 4 seconds
if ( (mainConfig.rcControlsConfig.rcCalibrated) && (boardArmed) && (ModeActive(M_LOGGING)) && (flashInfo.enabled == STAT_FLASH_ENABLED) )
//if ( 1 )
//if ( InlineMillis() > 4 )
{
ledStatus.status = LEDS_FASTER_BLINK;
LoggingEnabled = 1;
Expand Down
8 changes: 4 additions & 4 deletions src/low_level_driver/HELIO_SPRING.h
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Expand Up @@ -455,8 +455,8 @@
#define MAX_OSD_SPI_MOSI_AF SPI3_MOSI_AF
#define MAX_OSD_TX_DMA_FP FP_DMA1_S7

#define MAX_OSD_SPI_FAST_BAUD SPI_BAUDRATEPRESCALER_4
#define MAX_OSD_SPI_SLOW_BAUD SPI_BAUDRATEPRESCALER_4
#define MAX_OSD_SPI_FAST_BAUD SPI_BAUDRATEPRESCALER_8
#define MAX_OSD_SPI_SLOW_BAUD SPI_BAUDRATEPRESCALER_8

//Flash Config
#define FLASH_ENABLED 1
Expand All @@ -474,5 +474,5 @@
#define FLASH_SPI_MOSI_AF SPI3_MOSI_AF
#define FLASH_RX_DMA_FP FP_DMA1_S7

#define FLASH_SPI_FAST_BAUD SPI_BAUDRATEPRESCALER_4
#define FLASH_SPI_SLOW_BAUD SPI_BAUDRATEPRESCALER_4
#define FLASH_SPI_FAST_BAUD SPI_BAUDRATEPRESCALER_8
#define FLASH_SPI_SLOW_BAUD SPI_BAUDRATEPRESCALER_8