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inav-1.9.1-servosOut

New branch, mostly for study on STM32 behaviour

  • make RX_PPM enabled by default featureNames[0] = "RX_PPM"

  • related compile time symbol: USE_RX_PPM

featureMask(),

from cli: <featureClear(mask);, featureSet(mask);` -- tady jsem zatim skoncil --

  • featureConfig() ?

  • featureConfigMutable() ? (also found in 2.0.1)

On general what is difference between * & *Mutable.

  • pwmWriteServo(): src/main/drivers/pwm_output.c

typo found there: USE_PMW_SERVO_DRIVER

found *servos[index]->ccr as pointer to HW registers

Designed features

  • extend list of pins to max possible number (Model-Y needs 9 out channels)

  • controlled by "old manner/MSP_" GUI from MultiWii (get/set value)

  • controlled by command line

  • make separate settings for neutral(s) and reverses. there is only one neutral.

  rxConfig()->midrc

found message MSP_SERVO_CONFIGURATIONS and MSP_SET_SERVO_CONFIGURATION

case MSP_SERVO_CONFIGURATIONS:
       for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
           sbufWriteU16(dst, servoParams(i)->min);
           sbufWriteU16(dst, servoParams(i)->max);
           sbufWriteU16(dst, servoParams(i)->middle);
           sbufWriteU8(dst, servoParams(i)->rate);
           sbufWriteU8(dst, 0);
           sbufWriteU8(dst, 0);
           sbufWriteU8(dst, servoParams(i)->forwardFromChannel);
           sbufWriteU32(dst, servoParams(i)->reversedSources);
       }

Proceeded steps

  • removed symbols TIM_USE_xxx except TIM_USE_ANY and TIM_USE_FW_SERVO

  • removed mixers

  • excluded many HW components from Makefile

System State

bit array containig rew stages.

IO Port map

Defined type: ioRec_t array with size DEFIO_IO_USED_COUNT defined in src/main/drivers/io.c. Size of array is derived form ports specified as TARGET_IO_PORTx is particular target.c file. The array is named ioRecs. It is not configured it is initialized in void IOInitGlobal(void);.

How program work with this array should be investigated.

Configuration and Parameters

The code is comming from Cleanflight project and definitions are in parameter_group.h.

Discover how configuration is stored in persistent store.

Tasks

In fc_tasks there is table containing tasks including its enable, disable during boot.

Check for cfTask_t

Features

See feature(); function. It looks like bitmask.

planned steps

  • modify GUI interface (set get rc out)

  • add commands (set get) to CLI (possible to change it)

  • ported to SP3RACING, BLUEPILL

Elimination unnecessary code as discovered in On branch extractPpmIn

The one codefile with defined symbols USE_

  • src/main/target/common.h

  • src/main/target//target.h

    • here was found 2 interesting symbols:

    • DEFAULT_FEATURES investigate

    • DEFAULT_RX_TYPE investigate

some code was commented out in Makefile, but this is not a good way how to do.

somewhere is defined symbol <FLASH_SIZE>, investigate

The other thoughts: the resulting code size can be lowered by excluding unused features and/or modules

Other investigation should go there:

Check if some commands/features in CLI is disabled when related USE_ is commented out

Best practice/way (recomendations)

Step by step disable one USE_ then another and see what happens, and or if code is compilable

Other

Compile-time Symbols

Some of them are defined somewhere else from TARGET, Makefile and target.mk.

  • AVOID_UART2_FOR_PWM_PPM

  • AVOID_UART3_FOR_PWM_PPM

  • BRUSHED_ESC_AUTODETECT

  • CLI_MINIMAL_VERBOSITY

  • MAX_PWM_OUTPUT_PORTS

  • MAX_PWM_MOTORS

  • MAX_PWM_SERVOS

  • ONBOARDFLASH

  • RX_CHANNELS_TAER

  • SOFTSERIAL_LOOPBACK

  • SKIP_TASK_STATISTICS

  • STACK_CHECK - checks stack usage, probably for development purposes.

  • USE_ADC

  • USE_ASYNC_GYRO_PROCESSING

  • USE_BLACKBOX

  • USE_CLI

  • USE_CMS - neni u F1

  • USE_DEBUG_TRACE

  • USE_EXTI - enables externa INT for MAG, MPU, or some others, and it can be used or not used on specific HW

  • USE_FLASHFS

  • USE_GPS

  • USE_HARDWARE_REVISION_DETECTION

  • USE_NAV

  • NAV_NON_VOLATILE_WAYPOINT_STORAGE

  • USE_PITOT

  • USE_PMW_SERVO_DRIVER

  • USE_QUAD_MIXER_ONLY

  • USE_RANGEFINDER_HCSR04

  • USE_RCDEVICE

  • USE_RX_CX10

  • USE_RX_ELERES

  • USE_RX_H8_3D

  • USE_RX_INAV

  • USE_RX_SOFTSPI

  • USE_SERIALRX_SPEKTRUM

  • USE_SERVOS

  • USE_SOFTSPI

  • USE_SPEKTRUM_BIND

  • USE_TELEMETRY

  • USE_UART1

  • USE_UART2

  • USE_UART2_RX_DMA

  • USE_UART2_TX_DMA

  • USE_UART3

  • USE_UART4

  • USE_UART5

  • USE_UART6

  • USE_UART7

  • USE_UART8

  • USE_SOFTSERIAL1 - ?

  • USE_SOFTSERIAL2 - ?

  • USE_VCP

Config arrays/blocks

Here should be detected _System and _Mutable and ...

  • gyroConfig

  • navConfig

  • rcControlsConfig

  • telemetryConfig

PG_FOREACH - vypada jako ze ma v pozadi nejaky seznam memory bloku

PG_REGISTER_WITH_RESET_FN - dalsi zajimave makro

Recomended changes

typedef struct timerHardware_s

move conditionally added fields to the end of list. Obey this can result in strange behaviour after sucessfull compilation and linking based on wrong combination of parameters/attributes.

Subsystems

io.c**` - handles work with particular pins. Ouptut statistics is used by CLI resource.

IO Pins are in array: ioDefUsedMask this is the mask, which pins can be used.

Serial Port(s)

branch: inav-1.9.1-serialOnly

Initialization

  • uartPort_t *serialUARTx(uint32_t baudRate, portMode_t mode, portOptions_t options); Low level init

  • serialPort_t *uartOpen(USART_TypeDef *USARTx, ...);** higher level the **USART_TypeDef is coming from CMISIS

  • serialPort_t *openSerialPort();

operations

  • serialBeginWrite(serialPort_t *instance)

find which task is responsible for reading CLI/MSP serial check for TASK_SERIAL taskHandleSerial (), cliProcess(); there is wariable cliPort check cliEnter() see: mspSerialAllocatePorts (); which is calling openSerialPort(); using appropriate parameters.

serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);

RX

Initialisation is done thru rxInit () in rx.c.

rxConfig, rxRuntimeConfig

failsafeInit() needs to be discovered

The all checks for serial usage has to be wiped out:

findSerialPortConfig(FUNCTION_RX_SERIAL)

findSerialPortUsageByIdentifier(identifier)

it looks that `serialInit ();`` has to be called.

raw RX data are read and evaluated by: calculateRxChannelsAndUpdateFailsafe() when rxRuntimeConfig.rcReadRawFn is initialised to appropriate function pointer.

[TASK_RX] -> taskUpdateRxMain() -> processRx() -> calculateRxChannelsAndUpdateFailsafe()

PWM Out

pwmServoConfig () in file: pwm_output.c called from pwmInit() pwm_mapping.c

symbols from HW definition MAX_PWM_OUTPUT_PORTS USABLE_TIMER_CHANNEL_COUNT

pwmInit() prepares config for particular pins

pwmServoConfig

pwmWriteServo() writes value to the servo/pin and uses:

there is servos[] and motors[]

pwm_params.enablePWMOutput = /* feature(FEATURE_PWM_OUTPUT_ENABLE) */ true; // hardcoded for now

servoConfig()->servoCenterPulse here is place to change for personified center for each servo

Number of servos is limited by compile-time symbol MAX_PWM_SERVOS - in actual development version of upstream project is module pwm_output.* different.

board modification of default settings

// alternative defaults settings for -censored- targets
void targetConfiguration(void) ...

check code snippet from src/main/fc/config.c

#if defined(TARGET_CONFIG)
    targetConfiguration();
#endif