Create Diatone Reactor66 target

Inc/common.h

@@ -26,6 +26,11 @@ extern char ic_timer_prescaler;
 extern uint8_t buffersize;
 extern char output_timer_prescaler;
 extern uint8_t compute_dshot_flag;
+extern uint16_t battery_voltage;
+extern int16_t actual_current;
+extern uint16_t e_rpm;
+
+
 #ifdef STMICRO
 extern GPIO_TypeDef* current_GPIO_PORT;
 #ifndef MCU_F031
@@ -73,3 +78,15 @@ typedef struct fastPID {
     int32_t integral_limit;
     int32_t output_limit;
 } fastPID;
+
+/*
+  input signal types
+ */
+enum inputType {
+    AUTO_IN = 0,
+    DSHOT_IN = 1,
+    SERVO_IN = 2,
+    SERIAL_IN = 3,
+    EDTARM_IN = 4,
+    DRONECAN_IN = 5,
+};

Inc/eeprom.h

@@ -49,8 +49,18 @@ typedef union EEprom_u {
         uint8_t auto_advance; // 47
         uint8_t reserved_2[4]; //48-51
         uint8_t tune[124]; // 52-175
+        struct {
+            uint8_t can_node; // 176
+            uint8_t esc_index; // 177
+            uint8_t require_arming; // 178
+            uint8_t telem_rate; // 179
+            uint8_t require_zero_throttle; // 180
+            uint8_t filter_hz; // 181
+            uint8_t debug_rate; // 182
+            uint8_t reserved[9]; // 183-191
+        } can;
     };
-    uint8_t buffer[184];
+    uint8_t buffer[192];
 } EEprom_t;
 
 extern EEprom_t eepromBuffer;
@@ -59,4 +69,4 @@ extern EEprom_t eepromBuffer;
 // void read_flash(uint8_t* data, uint32_t address);
 // void save_to_flash_bin(uint8_t *data, int length, uint32_t add);
 void read_flash_bin(uint8_t* data, uint32_t add, int out_buff_len);
-void save_flash_nolib(uint8_t* data, int length, uint32_t add);
+void save_flash_nolib(uint8_t* data, int length, uint32_t add);

Inc/targets.h

@@ -81,6 +81,18 @@
 #define EEPROM_START_ADD (uint32_t)0x0800F800
 #endif
 
+#ifdef VIMDRONES_L431_CAN
+#define FIRMWARE_NAME "VimdroneL431"
+#define FILE_NAME "VIMDRONES_L431_CAN"
+#define DRONECAN_SUPPORT 1
+#define DEAD_TIME 45
+#define HARDWARE_GROUP_L4_B
+#define TARGET_VOLTAGE_DIVIDER 94
+#define MILLIVOLT_PER_AMP 30
+#define CURRENT_OFFSET 110
+#define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef VIMDRONES_NANO_L431
 #define FIRMWARE_NAME "VM_NANO"
 #define FILE_NAME "VIMDRONES_NANO_L431"
@@ -89,7 +101,31 @@
 #define TARGET_VOLTAGE_DIVIDER 110
 #define MILLIVOLT_PER_AMP 20
 #define USE_SERIAL_TELEMETRY
-#define EEPROM_START_ADD (uint32_t)0x0800F800
+#endif
+
+#ifdef VIMDRONES_NANO_L431_CAN
+#define FIRMWARE_NAME "VM_NANO_CAN"
+#define FILE_NAME "VIMDRONES_NANO_L431_CAN"
+#define DRONECAN_SUPPORT 1
+#define USE_HSE
+#undef HSE_VALUE
+#define HSE_VALUE 24000000
+#define DEAD_TIME 45
+#define HARDWARE_GROUP_L4_B
+#define TARGET_VOLTAGE_DIVIDER 110
+#define MILLIVOLT_PER_AMP 20
+#define USE_SERIAL_TELEMETRY
+#endif
+
+#ifdef SIERRA_PULSE1_L431_CAN
+#define FIRMWARE_NAME "SierraPulse1"
+#define FILE_NAME "SIERRA_PULSE1_L431_CAN"
+#define DRONECAN_SUPPORT 1
+#define DEAD_TIME 45
+#define HARDWARE_GROUP_L4_C
+#define TARGET_VOLTAGE_DIVIDER 100
+#define MILLIVOLT_PER_AMP 100
+#define USE_SERIAL_TELEMETRY
 #endif
 
 #ifdef  REF_L431
@@ -634,6 +670,43 @@
 #define LOOP_FREQUENCY_HZ 20000
 #endif
 
+#ifdef TBS_12S_F415
+#define FIRMWARE_NAME "TBS 12S F415"
+#define FILE_NAME "TBS_12S_F415"
+#define DEAD_TIME 120
+#define HARDWARE_GROUP_AT_D
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
+#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
+#define TARGET_VOLTAGE_DIVIDER 210
+#define MILLIVOLT_PER_AMP 25
+#define RAMP_SPEED_LOW_RPM 1
+#define RAMP_SPEED_HIGH_RPM 1
+#define LOOP_FREQUENCY_HZ 20000
+#define PA6_VOLTAGE
+#define EEPROM_START_ADD (uint32_t)0x0801F800
+#endif
+
+#ifdef TBS_12S_F415_CAN
+#define FIRMWARE_NAME "TBS 12S CAN"
+#define FILE_NAME "TBS_12S_F415_CAN"
+#define DEAD_TIME 120
+#define HARDWARE_GROUP_AT_D
+#define HARDWARE_GROUP_AT_045
+#define DRONECAN_SUPPORT 1
+#define USE_SERIAL_TELEMETRY
+#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
+#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
+#define TARGET_VOLTAGE_DIVIDER 210
+#define MILLIVOLT_PER_AMP 25
+#define RAMP_SPEED_LOW_RPM 1
+#define RAMP_SPEED_HIGH_RPM 1
+#define LOOP_FREQUENCY_HZ 20000
+#define PA6_VOLTAGE
+#define EEPROM_START_ADD (uint32_t)0x0801F800
+#endif
+
 #ifdef AIKON_SINGLE_F421
 #define FIRMWARE_NAME "AIKON S F4  "
 #define FILE_NAME "AIKON_SINGLE_F421"
@@ -663,6 +736,23 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef REF_F415_CAN
+#define FIRMWARE_NAME "REF F415 CAN"
+#define FILE_NAME "REF_F415_CAN"
+#define DRONECAN_SUPPORT 1
+#define DEAD_TIME 120
+#define HARDWARE_GROUP_AT_D
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
+#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
+#define TARGET_VOLTAGE_DIVIDER 210
+#define MILLIVOLT_PER_AMP 25
+#define RAMP_SPEED_LOW_RPM 1
+#define RAMP_SPEED_HIGH_RPM 1
+#define LOOP_FREQUENCY_HZ 20000
+#endif
+
 #ifdef DAKEFPV_35A_F415
 #define FIRMWARE_NAME "DakeFPV 35A"
 #define FILE_NAME "DAKEFPV_35A_F415" // DISABLE_BUILD
@@ -680,10 +770,11 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
-#ifdef TBS_CAN_F415
-#define FIRMWARE_NAME "TBS_CAN_F415"
-#define FILE_NAME "TBS_CAN_F415"
+#ifdef TBS_F415_CAN
+#define FIRMWARE_NAME "TBS_F415_CAN"
+#define FILE_NAME "TBS_F415_CAN"
 #define DEAD_TIME 120
+#define DRONECAN_SUPPORT 1
 #define HARDWARE_GROUP_AT_H
 #define HARDWARE_GROUP_AT_045
 #define TARGET_VOLTAGE_DIVIDER 210
@@ -729,6 +820,15 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef MAMBA_REACTOR_66_F421
+#define FIRMWARE_NAME "MAMBA REACTOR 66 F4"
+#define FILE_NAME "MAMBA_REACTOR_66_F421"
+#define DEAD_TIME 100
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_450
+#define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef JUPITER_50A_F421
 #define FIRMWARE_NAME "Jupiter 50A "
 #define FILE_NAME "JUPITER_50A_F421"
@@ -3387,7 +3487,9 @@
 #ifdef MCU_AT415
 #define ARTERY
 #define CPU_FREQUENCY_MHZ 144
+#ifndef EEPROM_START_ADD
 #define EEPROM_START_ADD (uint32_t)0x08007C00
+#endif
 #define INTERVAL_TIMER TMR4
 #define TEN_KHZ_TIMER TMR9
 #define UTILITY_TIMER TMR10
@@ -3438,3 +3540,12 @@
 #endif
 
 #define PID_LOOP_DIVIDER (LOOP_FREQUENCY_HZ / 1000)
+
+// default to no DroneCAN support
+#ifndef DRONECAN_SUPPORT
+#define DRONECAN_SUPPORT 0
+#elif DRONECAN_SUPPORT == 1
+// all DroneCAN ESCs use 128k flash layout
+#undef EEPROM_START_ADD
+#define EEPROM_START_ADD (uint32_t)0x0801F800
+#endif

Makefile

@@ -44,7 +44,7 @@ FIRMWARE_VERSION := $(VERSION_MAJOR).$(VERSION_MINOR)
 # Compiler options
 
 CFLAGS_BASE := -fsingle-precision-constant -fomit-frame-pointer -ffast-math
-CFLAGS_BASE += -I$(MAIN_INC_DIR) -g3 -O2 -ffunction-sections
+CFLAGS_BASE += -I$(MAIN_INC_DIR) -g3 -O2 -ffunction-sections --specs=nosys.specs
 CFLAGS_BASE += -Wall -Wundef -Wextra -Werror -Wno-unused-parameter -Wno-stringop-truncation
 
 CFLAGS_COMMON := $(CFLAGS_BASE)
@@ -59,6 +59,9 @@ SRC_COMMON := $(foreach dir,$(SRC_DIRS_COMMON),$(wildcard $(dir)/*.[cs]))
 OBJ := obj
 BIN_DIR := $(ROOT)/$(OBJ)
 
+# Function to check for _CAN suffix
+has_can_suffix = $(findstring _CAN,$1)
+
 # find the SVD files
 $(foreach MCU,$(MCU_TYPES),$(eval SVD_$(MCU) := $(wildcard $(HAL_FOLDER_$(MCU))/*.svd)))
 
@@ -88,20 +91,26 @@ $$($(2)_BASENAME).bin: $$($(2)_BASENAME).elf
 	echo building BIN $$@
 	@$(ECHO) Generating $$(notdir $$@)
 	$(QUIET)$(OBJCOPY) -O binary $$(<) $$@
+	$(QUIET)python3 Src/DroneCAN/set_app_signature.py $$@ $$(<)
 	$(QUIET)$(OBJCOPY) $$(<) -O ihex $$(@:.bin=.hex)
+	$(QUIET)$(CP) -f $$(<) $(OBJ)$(DSEP)debug.elf > $(NUL)
+
+# check for CAN support
+$(eval xLDSCRIPT := $$(if $$(call has_can_suffix,$$(2)),$(LDSCRIPT_CAN_$(1)),$(LDSCRIPT_$(1))))
+$(eval xCFLAGS := $$(if $$(call has_can_suffix,$$(2)),$(CFLAGS_CAN_$(1))))
+$(eval xSRC := $$(if $$(call has_can_suffix,$$(2)),$(SRC_CAN_$(1))))
 
-CFLAGS_$(2) = $(MCU_$(1)) -D$(2) $(CFLAGS_$(1)) $(CFLAGS_COMMON)
-LDFLAGS_$(2) = $(LDFLAGS_COMMON) $(LDFLAGS_$(1)) -T$(LDSCRIPT_$(1))
+CFLAGS_$(2) = -DAM32_MCU=\"$(MCU)\" $(MCU_$(1)) -D$(2) $(CFLAGS_$(1)) $(CFLAGS_COMMON) $(xCFLAGS)
+LDFLAGS_$(2) = $(LDFLAGS_COMMON) $(LDFLAGS_$(1)) -T$(xLDSCRIPT)
 
 -include $$($(2)_BASENAME).d
 
-$$($(2)_BASENAME).elf: $(SRC_COMMON) $$(SRC_$(1))
+$$($(2)_BASENAME).elf: $(SRC_COMMON) $$(SRC_$(1)) $(xSRC)
 	@$(ECHO) Compiling $$(notdir $$@)
 	$(QUIET)$(MKDIR) -p $(OBJ)
-	$(QUIET)$(CC) $$(CFLAGS_$(2)) $$(LDFLAGS_$(2)) -MMD -MP -MF $$(@:.elf=.d) -o $$(@) $(SRC_COMMON) $$(SRC_$(1))
+	$(QUIET)$(CC) $$(CFLAGS_$(2)) $$(LDFLAGS_$(2)) -MMD -MP -MF $$(@:.elf=.d) -o $$(@) $(SRC_COMMON) $$(SRC_$(1)) $(xSRC)
 # we copy debug.elf to give us a constant debug target for vscode
 # this means the debug button will always debug the last target built
-	$(QUIET)$(CP) -f $$(@) $(OBJ)$(DSEP)debug.elf > $(NUL)
 	$(QUIET)$(CP) -f $$(SVD_$(1)) $(OBJ)/debug.svd
 # also copy the openocd.cfg from the MCU directory to obj/openocd.cfg for auto config of Cortex-Debug
 # in vscode

Mcu/f415/Drivers/drivers/inc/at32f415_gpio.h

@@ -168,6 +168,7 @@ extern "C" {
   * @{
   */
 
+#define CAN1_GMUX_0000                   IOMUX_MAKE_VALUE(0x2C, 0, 4, 0x00)  /*!< can_rx(pa11),  can_tx(pa12) */
 #define CAN1_GMUX_0010                   IOMUX_MAKE_VALUE(0x2C, 0, 4, 0x02)  /*!< can_rx(pb8),   can_tx(pb9) */
 #define SDIO1_GMUX_0100                  IOMUX_MAKE_VALUE(0x2C, 8, 4, 0x04)  /*!< sdio1_ck(pc4), sdio1_cmd(pc5), sdio1_d0(pc0), sdio1_d1(pc1), sdio1_d2(pc2), sdio1_d3(pc3), sdio1_d4(pa4), sdio1_d5(pa5), sdio1_d6(pa6), sdio1_d7(pa7) */
 #define SDIO1_GMUX_0101                  IOMUX_MAKE_VALUE(0x2C, 8, 4, 0x05)  /*!< sdio1_ck(pc4), sdio1_cmd(pc5), sdio1_d0(pa4), sdio1_d1(pa5), sdio1_d2(pa6), sdio1_d3(pa7) */

Mcu/f415/Src/eeprom.c

@@ -1,55 +1,60 @@
 #include "eeprom.h"
+#include "targets.h"
 
 #include <string.h>
+#include <stdbool.h>
+
+//#pragma GCC optimize("O0")
 
 #include "at32f415_flash.h"
 
-// #define APP_START (uint32_t)0x08001000
-// #define FLASH_STORAGE 0x08005000  // at the 31kb mark
-#define page_size 0x400 // 1 kb for f051
-// uint32_t FLASH_FKEY1 =0x45670123;
-// uint32_t FLASH_FKEY2 =0xCDEF89AB;
+/*
+  the F415 can be either 1k or 2k sector size. The 256k flash part has
+  2k sector size. We only support ESCs with 128k flash or less, so 1k
+  sector size, but it is useful to work with 2k sector size when using
+  a F415 dev board like the AT-Start F415, so we detect here.
+ */
+static inline uint32_t sector_size()
+{
+    const uint16_t *F_SIZE = (const uint16_t *)0x1FFFF7E0;
+    if (*F_SIZE <= 128) {
+	// 1k sectors for 128k flash or less
+	return 1024;
+    }
+    // 256k flash is 2k sectors
+    return 2048;
+}
 
 void save_flash_nolib(uint8_t* data, int length, uint32_t add)
-{ /// todo
-
-    // fmc_wscnt_set(2);
-
-    // fmc_prefetch_enable();
-
-    uint32_t data_to_FLASH[length / 4];
-    memset(data_to_FLASH, 0, length / 4);
-    for (int i = 0; i < length / 4; i++) {
-        data_to_FLASH[i] = data[i * 4 + 3] << 24 | data[i * 4 + 2] << 16 | data[i * 4 + 1] << 8 | data[i * 4]; // make 16 bit
+{
+    if ((add & 0x3) != 0 || (length & 0x3) != 0) {
+        return;
     }
-    volatile uint32_t data_length = length / 4;
+    /*
+      we need the data to be 32 bit aligned
+     */
+    const uint32_t word_length = length / 4;
 
     // unlock flash
-
     flash_unlock();
 
-    // erase page if address even divisable by 1024
-    if ((add % 1024) == 0) {
-        flash_sector_erase(add);
+    // erase page if address even divisable by sector size
+    if ((add % sector_size()) == 0) {
+	flash_sector_erase(add);
     }
 
-    volatile uint32_t index = 0;
-    while (index < data_length) {
-        //    	  fmc_word_program(add + (index*4),data_to_FLASH[index]);
-        flash_word_program(add + (index * 4), data_to_FLASH[index]);
-        //				fmc_flag_clear(FMC_FLAG_END |
-        // FMC_FLAG_WPERR |
-        // FMC_FLAG_PGERR);
-        flash_flag_clear(FLASH_PROGRAM_ERROR | FLASH_EPP_ERROR | FLASH_OPERATE_DONE);
+    uint32_t index = 0;
+    while (index < word_length) {
+	uint32_t word;
+        memcpy(&word, &data[index*4], sizeof(word));
+	flash_word_program(add + (index * 4), word);
+	flash_flag_clear(FLASH_PROGRAM_ERROR | FLASH_EPP_ERROR | FLASH_OPERATE_DONE);
         index++;
     }
     flash_lock();
 }
 
 void read_flash_bin(uint8_t* data, uint32_t add, int out_buff_len)
 {
-    // volatile uint32_t read_data;
-    for (int i = 0; i < out_buff_len; i++) {
-        data[i] = *(uint8_t*)(add + i);
-    }
-}
+    memcpy(data, (void*)add, out_buff_len);
+}