changes log

Makefile

@@ -41,9 +41,9 @@ FORKNAME			 = raceflight
 CC3D_TARGETS = CC3D CC3D_OPBL
 F1_TARGETS = NAZE OLIMEXINO CJMCU EUSTM32F103RC PORT103R ALIENWIIF1 AFROMINI
 F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO LUX_RACE
-F4_TARGETS = REVO REVO_OPBL SPARKY2 SPARKY2_OPBL REVONANO REVONANO_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE QUANTON KKNGF4
+F4_TARGETS = REVO REVO_OPBL SPARKY2 SPARKY2_OPBL REVONANO REVONANO_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE QUANTON KKNGF4 KAKUTEF4
 
-F405_TARGETS = REVO REVO_OPBL SPARKY2 SPARKY2_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE QUANTON KKNGF4
+F405_TARGETS = REVO REVO_OPBL SPARKY2 SPARKY2_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE QUANTON KKNGF4 KAKUTEF4
 F405_TARGETS_16 = QUANTON
 F411_TARGETS = REVONANO REVONANO_OPBL
 
@@ -459,7 +459,10 @@ STM32F4xx_COMMON_SRC = \
 		   drivers/timer.c \
 		   drivers/timer_stm32f4xx.c \
 		   drivers/flash_m25p16.c \
-		   io/flashfs.c 
+		   io/flashfs.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f4xx.c \
+		   drivers/dma_stm32f4xx.c
 
 VCP_SRC = \
 		   vcp/hw_config.c \
@@ -693,6 +696,14 @@ SPARKY2_SRC = $(STM32F4xx_COMMON_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCPF4_SRC)
 
+KAKUTEF4_SRC = $(STM32F4xx_COMMON_SRC) \
+		   drivers/accgyro_spi_mpu9250.c \
+		   drivers/barometer_ms5611.c \
+		   drivers/compass_hmc5883l.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC) \
+		   $(VCPF4_SRC)
+
 ALIENFLIGHTF4_SRC = $(STM32F4xx_COMMON_SRC) \
 		   drivers/accgyro_spi_mpu9250.c \
 		   drivers/barometer_bmp280.c \
@@ -747,7 +758,8 @@ STM32F30x_COMMON_SRC = \
 		   drivers/sound_beeper.c \
 		   drivers/system_stm32f30x.c \
 		   drivers/timer.c \
-		   drivers/timer_stm32f30x.c
+		   drivers/timer_stm32f30x.c \
+		   drivers/dma.c
 
 NAZE32PRO_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
@@ -915,7 +927,7 @@ LTO_FLAGS	 = $(OPTIMIZE)
 else
 ifeq ($(TARGET),$(filter $(TARGET),SPARKY2 SPARKY2_OPBL))
 OPTIMIZE	 = -O2
-else ifeq ($(TARGET),$(filter $(TARGET),REVO REVO_OPBL REVONANO REVONANO_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE KKNGF4))
+else ifeq ($(TARGET),$(filter $(TARGET),REVO REVO_OPBL REVONANO REVONANO_OPBL ALIENFLIGHTF4 BLUEJAYF4 VRCORE KKNGF4 KAKUTEF4))
 OPTIMIZE	 = -O2
 else
 OPTIMIZE	 = -Os

src/main/drivers/dma.c

@@ -0,0 +1,87 @@
+/*
+ * 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 <string.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "drivers/dma.h"
+
+/*
+ * DMA handlers for DMA resources that are shared between different features depending on run-time configuration.
+ */
+static dmaHandlers_t dmaHandlers;
+
+#if defined(STM32F1) || defined(STM32F3)
+void dmaNoOpHandler(DMA_Channel_TypeDef *channel)
+{
+    UNUSED(channel);
+}
+
+void DMA1_Channel2_IRQHandler(void)
+{
+    dmaHandlers.dma1Channel2IRQHandler(DMA1_Channel2);
+}
+
+void DMA1_Channel3_IRQHandler(void)
+{
+    dmaHandlers.dma1Channel3IRQHandler(DMA1_Channel3);
+}
+
+void DMA1_Channel6_IRQHandler(void)
+{
+    dmaHandlers.dma1Channel6IRQHandler(DMA1_Channel6);
+}
+
+void DMA1_Channel7_IRQHandler(void)
+{
+    dmaHandlers.dma1Channel7IRQHandler(DMA1_Channel7);
+}
+#endif
+
+void dmaInit(void)
+{
+    memset(&dmaHandlers, 0, sizeof(dmaHandlers));
+    dmaHandlers.dma1Channel2IRQHandler = dmaNoOpHandler;
+    dmaHandlers.dma1Channel3IRQHandler = dmaNoOpHandler;
+    dmaHandlers.dma1Channel6IRQHandler = dmaNoOpHandler;
+    dmaHandlers.dma1Channel7IRQHandler = dmaNoOpHandler;
+}
+
+void dmaSetHandler(dmaHandlerIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback)
+{
+    switch (identifier) {
+        case DMA1_CH2_HANDLER:
+            dmaHandlers.dma1Channel2IRQHandler = callback;
+            break;
+        case DMA1_CH3_HANDLER:
+            dmaHandlers.dma1Channel3IRQHandler = callback;
+            break;
+        case DMA1_CH6_HANDLER:
+            dmaHandlers.dma1Channel6IRQHandler = callback;
+            break;
+        case DMA1_CH7_HANDLER:
+            dmaHandlers.dma1Channel7IRQHandler = callback;
+            break;
+    }
+}
+
+

src/main/drivers/dma.h

@@ -0,0 +1,58 @@
+/*
+ * 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/>.
+ */
+
+
+#pragma once
+#include <platform.h>
+
+#if defined(STM32F4)
+ typedef void (*dmaCallbackHandlerFuncPtr)(DMA_Stream_TypeDef *stream);
+
+ typedef enum {
+     DMA1_ST2_HANDLER = 0,
+     DMA1_ST7_HANDLER,
+ } dmaHandlerIdentifier_e;
+
+ typedef struct dmaHandlers_s {
+     dmaCallbackHandlerFuncPtr dma1Stream2IRQHandler;
+     dmaCallbackHandlerFuncPtr dma1Stream7IRQHandler;
+ } dmaHandlers_t;
+
+#else
+
+ typedef void (*dmaCallbackHandlerFuncPtr)(DMA_Channel_TypeDef *channel);
+
+ typedef enum {
+     DMA1_CH2_HANDLER = 0,
+     DMA1_CH3_HANDLER,
+     DMA1_CH6_HANDLER,
+     DMA1_CH7_HANDLER,
+ } dmaHandlerIdentifier_e;
+
+ typedef struct dmaHandlers_s {
+     dmaCallbackHandlerFuncPtr dma1Channel2IRQHandler;
+     dmaCallbackHandlerFuncPtr dma1Channel3IRQHandler;
+     dmaCallbackHandlerFuncPtr dma1Channel6IRQHandler;
+     dmaCallbackHandlerFuncPtr dma1Channel7IRQHandler;
+ } dmaHandlers_t;
+
+#endif
+
+ void dmaInit(void);
+ void dmaSetHandler(dmaHandlerIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback);
+
+

src/main/drivers/dma_stm32f4xx.c

@@ -0,0 +1,67 @@
+/*
+ * 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 <string.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "drivers/dma.h"
+
+/*
+ * DMA handlers for DMA resources that are shared between different features depending on run-time configuration.
+ */
+static dmaHandlers_t dmaHandlers;
+
+void dmaNoOpHandler(DMA_Stream_TypeDef *stream)
+{
+	UNUSED(stream);
+}
+
+void DMA1_Stream2_IRQHandler(void)
+{
+    dmaHandlers.dma1Stream2IRQHandler(DMA1_Stream2);
+}
+
+void DMA1_Stream7_IRQHandler(void)
+{
+    dmaHandlers.dma1Stream7IRQHandler(DMA1_Stream7);
+}
+
+void dmaInit(void)
+{
+    memset(&dmaHandlers, 0, sizeof(dmaHandlers));
+    dmaHandlers.dma1Stream2IRQHandler = dmaNoOpHandler;
+    dmaHandlers.dma1Stream7IRQHandler = dmaNoOpHandler;
+}
+
+void dmaSetHandler(dmaHandlerIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback)
+{
+    switch (identifier) {
+        case DMA1_ST2_HANDLER:
+            dmaHandlers.dma1Stream2IRQHandler = callback;
+            break;
+        case DMA1_ST7_HANDLER:
+            dmaHandlers.dma1Stream7IRQHandler = callback;
+            break;
+    }
+}
+
+

src/main/drivers/io_impl.h

@@ -19,19 +19,24 @@ extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT];
 
 int IO_GPIOPortIdx(IO_t io);
 int IO_GPIOPinIdx(IO_t io);
-#if defined(STM32F10X)
-int IO_GPIO_PinSource(IO_t io);
-int IO_GPIO_PortSource(IO_t io);
-#elif defined(STM32F303xC)
-int IO_GPIO_PinSource(IO_t io);
-int IO_GPIO_PortSource(IO_t io);
+//#if defined(STM32F10X)
+//int IO_GPIO_PinSource(IO_t io);
+//int IO_GPIO_PortSource(IO_t io);
+//#elif defined(STM32F303xC)
+//int IO_GPIO_PinSource(IO_t io);
+//int IO_GPIO_PortSource(IO_t io);
+//int IO_EXTI_PortSourceGPIO(IO_t io);
+//int IO_EXTI_PinSource(IO_t io);
+//#elif defined(STM32F40_41xxx) || defined(STM32F411xE)
+
+#if defined(STM32F3) || defined(STM32F4)
 int IO_EXTI_PortSourceGPIO(IO_t io);
-int IO_EXTI_PinSource(IO_t io);
-#elif defined(STM32F40_41xxx) || defined(STM32F411xE)
+int IO_EXTI_PinSource(IO_t io); 
+GPIO_TypeDef* IO_GPIO(IO_t io);
+#endif
+
 int IO_GPIO_PinSource(IO_t io);
 int IO_GPIO_PortSource(IO_t io);
-int IO_EXTI_PortSourceGPIO(IO_t io);
-int IO_EXTI_PinSource(IO_t io); 
-# endif
+
 uint32_t IO_EXTI_Line(IO_t io);
 ioRec_t *IO_Rec(IO_t io);

src/main/drivers/light_ws2811strip.c

@@ -27,13 +27,15 @@
 #include <stdint.h>
 #include <string.h>
 
-#include "platform.h"
+#include <platform.h>
 
 #include "build_config.h"
 
 #include "common/color.h"
 #include "common/colorconversion.h"
-#include "drivers/light_ws2811strip.h"
+//#include "drivers/light_ws2811strip.h"
+#include "light_ws2811strip.h"
+
 
 uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
 volatile uint8_t ws2811LedDataTransferInProgress = 0;
@@ -133,7 +135,8 @@ void ws2811UpdateStrip(void)
 
     // wait until previous transfer completes
     while(ws2811LedDataTransferInProgress) {
-        waitCounter++;
+        //waitCounter++;
+        return;
     }
 
     dmaBufferOffset = 0;                // reset buffer memory index

src/main/drivers/light_ws2811strip.h

@@ -25,8 +25,14 @@
 
 #define WS2811_DMA_BUFFER_SIZE (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH)   // number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
 
+#if defined(STM32F40_41xxx)
+#define BIT_COMPARE_1 67 // timer compare value for logical 1
+#define BIT_COMPARE_0 33  // timer compare value for logical 0
+#else
 #define BIT_COMPARE_1 17 // timer compare value for logical 1
 #define BIT_COMPARE_0 9  // timer compare value for logical 0
+#endif
+
 
 void ws2811LedStripInit(void);
 

src/main/drivers/light_ws2811strip_stm32f10x.c

@@ -21,9 +21,18 @@
 #include "platform.h"
 
 #include "common/color.h"
-#include "drivers/light_ws2811strip.h"
+#include "light_ws2811strip.h"
+#include "dma.h"
 #include "nvic.h"
 
+void ws2811DMAHandler(DMA_Channel_TypeDef *channel) {
+     if (DMA_GetFlagStatus(WS2811_DMA_TC_FLAG)) {
+         ws2811LedDataTransferInProgress = 0;
+         DMA_Cmd(channel, DISABLE);
+         DMA_ClearFlag(WS2811_DMA_TC_FLAG);
+    }
+}
+
 void ws2811LedStripHardwareInit(void)
 {
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
@@ -77,6 +86,8 @@ void ws2811LedStripHardwareInit(void)
     /* DMA clock enable */
     RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
 
+	dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
+
     /* DMA1 Channel6 Config */
     DMA_DeInit(DMA1_Channel6);