From 23d11299b86c00aa37fa2f905235ddf14df8940d Mon Sep 17 00:00:00 2001 From: timecop Date: Sat, 14 Jul 2012 02:00:39 +0000 Subject: [PATCH] added test driver for software i2c. disabled by default. no, that wasn't the cause of cycletime jumps. increased flash size to 128k, moved config data in last kbyte of that. as a result all settings are reset, please save them. corrected hex6x mixer. added telemetry to makefile. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@180 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- Makefile | 1 + obj/baseflight.hex | 4967 ++++++++++++++++++++++---------------------- src/board.h | 2 + src/config.c | 2 +- src/drv_i2c.c | 4 + src/mixer.c | 9 + stm32_flash.ld | 2 +- 7 files changed, 2501 insertions(+), 2486 deletions(-) diff --git a/Makefile b/Makefile index 2fa7b1bfa..77ee3a34c 100644 --- a/Makefile +++ b/Makefile @@ -47,6 +47,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \ sensors.c \ serial.c \ spektrum.c \ + telemetry.c \ drv_i2c.c \ drv_system.c \ drv_uart.c \ diff --git a/obj/baseflight.hex b/obj/baseflight.hex index d9e269d6f..41a5ea0ea 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,83 +1,83 @@ :020000040800F2 -:10000000E819002085740008C5740008C77400084A -:10001000C9740008CB740008CD740008000000000B -:10002000000000000000000000000000CF74000885 -:10003000D174000800000000D3740008155C0008AB -:10004000D7740008D7740008D7740008D774000864 -:10005000D7740008D7740008D77400086F640008CC -:10006000D7740008D7740008D7740008D774000844 -:10007000D7740008D77400082F5E0008D7740008F2 -:10008000D7740008D7740008D7740008D774000824 -:10009000D7740008D7740008D7740008716400088A -:1000A000D7740008D7740008D7740008D774000804 -:1000B0009B570008AD570008D7740008AD530008DF -:1000C0008B510008B1530008AF530008D7740008E3 -:1000D000D7740008D77400085B600008D774000864 -:1000E000014D0008D7740008D7740008DFF80CD061 -:1000F00007F030FF0048004709150008E819002004 +:10000000E819002081740008C1740008C374000856 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#define BEEP_ON ; #endif +#undef SOFT_I2C // enable to test software i2c + #ifdef FY90Q // FY90Q #include "drv_system.h" // timers, delays, etc diff --git a/src/config.c b/src/config.c index d5402aabd..755971187 100755 --- a/src/config.c +++ b/src/config.c @@ -3,7 +3,7 @@ #include #ifndef FLASH_PAGE_COUNT -#define FLASH_PAGE_COUNT 64 +#define FLASH_PAGE_COUNT 128 #endif #define FLASH_PAGE_SIZE ((uint16_t)0x400) diff --git a/src/drv_i2c.c b/src/drv_i2c.c index e986186d7..51c9fbad9 100755 --- a/src/drv_i2c.c +++ b/src/drv_i2c.c @@ -1,5 +1,7 @@ #include "board.h" +#ifndef SOFT_I2C + // I2C2 // SCL PB10 // SDA PB11 @@ -347,3 +349,5 @@ static void i2cUnstick(void) GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; GPIO_Init(GPIOB, &GPIO_InitStructure); } + +#endif \ No newline at end of file diff --git a/src/mixer.c b/src/mixer.c index a1deafef5..4ce937172 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -163,12 +163,21 @@ void mixTable(void) break; case MULTITYPE_HEX6X: +#if 0 motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R motor[1] = PIDMIX(-1 / 2, -1 / 2, +1); //FRONT_R motor[2] = PIDMIX(+1 / 2, +1 / 2, -1); //REAR_L motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L motor[4] = PIDMIX(-1, +0, -1); //RIGHT motor[5] = PIDMIX(+1, +0, +1); //LEFT +#else + motor[0] = PIDMIX(-4/5,+9/10,+1); //REAR_R + motor[1] = PIDMIX(-4/5,-9/10,+1); //FRONT_R + motor[2] = PIDMIX(+4/5,+9/10,-1); //REAR_L + motor[3] = PIDMIX(+4/5,-9/10,-1); //FRONT_L + motor[4] = PIDMIX(-4/5 ,+0 ,-1); //RIGHT + motor[5] = PIDMIX(+4/5 ,+0 ,+1); //LEFT +#endif break; case MULTITYPE_OCTOX8: diff --git a/stm32_flash.ld b/stm32_flash.ld index 0bab13229..abd809b4c 100644 --- a/stm32_flash.ld +++ b/stm32_flash.ld @@ -22,7 +22,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */ /* Specify the memory areas */ MEMORY { - FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 127K RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K }