Firmware revision 8

+ Music format extensions to better accommodate for RTTTL
+ Fix bug when watchdog reset was delayed while playing music
+ Fix brushed mode (broken in Rev7)
+ Require power cycling for brushed mode

Support for PWM/EN bridge (PWM_ENABLE build option)
Support for two-wire serial (PA2+PA15)
Tune current sensor for AIRBOT1 and ESCAPE1 targets
Cosmetics

CMakeLists.txt

@@ -48,10 +48,10 @@ endfunction()
 add_subdirectory(boot)
 
 add_target(AIKON1 STM32G071 DEAD_TIME=35 COMP_MAP=213 IO_PA6)
-add_target(AIRBOT1 AT32F421 DEAD_TIME=66 COMP_MAP=321 SENS_MAP=0xA3A6 VOLT_MUL=74 CURR_MUL=20 LED_MAP=0xA15B3B4)
+add_target(AIRBOT1 AT32F421 DEAD_TIME=66 COMP_MAP=321 SENS_MAP=0xA3A6 VOLT_MUL=74 CURR_MUL=30 LED_MAP=0xA15B3B4)
 add_target(AIRBOT2 STM32F051 DEAD_TIME=26 COMP_MAP=321 SENS_MAP=0xA3 VOLT_MUL=74 IO_PA2)
 add_target(EMAX1 STM32F051 DEAD_TIME=26 COMP_MAP=123 IO_PA2)
-add_target(ESCAPE1 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA5A4 VOLT_MUL=110 CURR_MUL=40 LED_WS2812 IO_PA2)
+add_target(ESCAPE1 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA5A4 VOLT_MUL=110 CURR_MUL=30 LED_WS2812 IO_PA2)
 add_target(FLYCOLOR1 STM32F051 DEAD_TIME=26 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=110 LED_MAP=0xB5B4B3 IO_PA2)
 add_target(FLYCOLOR2 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=110 LED_MAP=0xB8)
 add_target(HAKRC1 STM32F051 DEAD_TIME=26 COMP_MAP=213 SENS_MAP=0xA3 VOLT_MUL=110 LED_MAP=0xA15B5B3 LED_INV)

README.md

@@ -17,7 +17,6 @@ Features
 + Temperature/voltage/current protection
 + Variable PWM frequency, active freewheeling
 + Customizable startup music
-+ Configuration via CLI using a USB-TTL adapter or Betaflight passthrough
 
 
 Installation

boot/mcu/STM32F0/config.c

@@ -32,8 +32,9 @@ void init(void) {
 #ifdef IO_PA2
 	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
-	GPIOA_MODER &= ~0x10; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
+	GPIOA_MODER &= ~0x40000010; // A2 (USART2_TX), A15 (USART2_RX)
 #else
 	RCC_APB1ENR |= RCC_APB1ENR_TIM3EN;
 #ifdef IO_PA6

boot/mcu/STM32G0/config.c

@@ -31,8 +31,9 @@ void init(void) {
 #ifdef IO_PA2
 	RCC_APBENR1 |= RCC_APBENR1_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
-	GPIOA_MODER &= ~0x10; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
+	GPIOA_MODER &= ~0x40000010; // A2 (USART2_TX), A15 (USART2_RX)
 #else
 	RCC_APBENR1 |= RCC_APBENR1_TIM3EN;
 #ifdef IO_PA6

boot/src/io.c

@@ -32,7 +32,7 @@
 void initio(void) {
 #ifdef IO_PA2
 	USART2_BRR = CLK_CNT(38400);
-	USART2_CR3 = USART_CR3_HDSEL;
+	if (!(GPIOA_IDR & 0x8000)) USART2_CR3 = USART_CR3_HDSEL; // A15 low
 	USART2_CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
 #else
 	TIM3_SMCR = TIM_SMCR_SMS_RM | TIM_SMCR_TS_TI1F_ED; // Reset on any edge on TI1

mcu/AT32F421/config.c

@@ -55,7 +55,7 @@ void init(void) {
 	GPIOB_MODER = 0xffffeffa; // B0 (TIM1_CH2N), B1 (TIM1_CH3N), B6 (USART1_TX)
 #ifndef ANALOG
 	RCC_APB2ENR |= RCC_APB2ENR_TIM15EN;
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
 	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
 #endif
 
@@ -171,6 +171,9 @@ void io_serial(void) {
 	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
 	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_MODER |= 0x80000000; // In case A15 is LED
+	GPIOA_MODER &= ~0x40000000; // A15 (USART2_RX)
 }
 
 void io_analog(void) {

mcu/GD32E230/config.c

@@ -55,7 +55,7 @@ void init(void) {
 	GPIOB_MODER = 0xffffeffa; // B0 (TIM1_CH2N), B1 (TIM1_CH3N), B6 (USART1_TX)
 #ifndef ANALOG
 	RCC_APB2ENR |= RCC_APB2ENR_TIM15EN;
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
 	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
 #endif
 
@@ -130,6 +130,9 @@ void io_serial(void) {
 	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
 	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_MODER |= 0x80000000; // In case A15 is LED
+	GPIOA_MODER &= ~0x40000000; // A15 (USART2_RX)
 }
 
 void io_analog(void) {

mcu/GD32F350/config.c

@@ -55,7 +55,7 @@ void init(void) {
 #ifndef ANALOG
 #ifdef IO_PA2
 	RCC_APB2ENR |= RCC_APB2ENR_TIM15EN;
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
 	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
 #else
 	RCC_APB1ENR |= RCC_APB1ENR_TIM3EN;
@@ -138,6 +138,9 @@ void io_serial(void) {
 	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
 	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_MODER |= 0x80000000; // In case A15 is LED
+	GPIOA_MODER &= ~0x40000000; // A15 (USART2_RX)
 }
 
 void io_analog(void) {

mcu/STM32F051/config.c

@@ -46,7 +46,7 @@ void init(void) {
 #ifndef ANALOG
 #ifdef IO_PA2
 	RCC_APB2ENR |= RCC_APB2ENR_TIM15EN;
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
 	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
 #else
 	RCC_APB1ENR |= RCC_APB1ENR_TIM3EN;
@@ -122,6 +122,9 @@ void io_serial(void) {
 	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
 	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_MODER |= 0x80000000; // In case A15 is LED
+	GPIOA_MODER &= ~0x40000000; // A15 (USART2_RX)
 }
 
 void io_analog(void) {

mcu/STM32G071/config.c

@@ -65,7 +65,7 @@ void init(void) {
 #ifdef IO_PA2
 	RCC_APBENR2 |= RCC_APBENR2_TIM15EN;
 	GPIOA_AFRL |= 0x500; // A2 (TIM15_CH1)
-	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_PUPDR |= 0x80000010; // A2 (pull-up), A15 (pull-down)
 	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
 #else
 	RCC_APBENR1 |= RCC_APBENR1_TIM3EN;
@@ -242,6 +242,9 @@ void io_serial(void) {
 	RCC_APBENR1 |= RCC_APBENR1_USART2EN;
 	GPIOA_AFRL &= ~0xf00;
 	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+	GPIOA_AFRH |= 0x10000000; // A15 (USART2_RX)
+	GPIOA_MODER |= 0x80000000; // In case A15 is LED
+	GPIOA_MODER &= ~0x40000000; // A15 (USART2_RX)
 	DMAMUX1_CxCR(1) = DMAMUX_CxCR_DMAREQ_ID_USART2_RX;
 }
 

src/cli.c

@@ -21,37 +21,37 @@
 	XX( 0, val, arm) \
 	XX( 1, val, damp) \
 	XX( 2, val, revdir) \
-	XX( 3, val, timing) \
-	XX( 4, val, sine_range) \
-	XX( 5, val, sine_power) \
-	XX( 6, val, freq_min) \
-	XX( 7, val, freq_max) \
-	XX( 8, val, duty_min) \
-	XX( 9, val, duty_max) \
-	XX(10, val, duty_spup) \
-	XX(11, val, duty_ramp) \
-	XX(12, val, duty_rate) \
-	XX(13, val, duty_drag) \
-	XX(14, val, throt_mode) \
-	XX(15, val, throt_set) \
-	XX(16, val, throt_cal) \
-	XX(17, val, throt_min) \
-	XX(18, val, throt_mid) \
-	XX(19, val, throt_max) \
-	XX(20, val, input_mode) \
-	XX(21, val, input_chid) \
-	XX(22, val, telem_mode) \
-	XX(23, val, telem_phid) \
-	XX(24, val, telem_poles) \
-	XX(25, val, prot_temp) \
-	XX(26, val, prot_volt) \
-	XX(27, val, prot_cells) \
-	XX(28, val, prot_curr) \
-	XX(29, str, music) \
-	XX(30, val, volume) \
-	XX(31, val, beacon) \
-	XX(32, val, led) \
-	XX(33, val, brushed) \
+	XX( 3, val, brushed) \
+	XX( 4, val, timing) \
+	XX( 5, val, sine_range) \
+	XX( 6, val, sine_power) \
+	XX( 7, val, freq_min) \
+	XX( 8, val, freq_max) \
+	XX( 9, val, duty_min) \
+	XX(10, val, duty_max) \
+	XX(11, val, duty_spup) \
+	XX(12, val, duty_ramp) \
+	XX(13, val, duty_rate) \
+	XX(14, val, duty_drag) \
+	XX(15, val, throt_mode) \
+	XX(16, val, throt_set) \
+	XX(17, val, throt_cal) \
+	XX(18, val, throt_min) \
+	XX(19, val, throt_mid) \
+	XX(20, val, throt_max) \
+	XX(21, val, input_mode) \
+	XX(22, val, input_chid) \
+	XX(23, val, telem_mode) \
+	XX(24, val, telem_phid) \
+	XX(25, val, telem_poles) \
+	XX(26, val, prot_temp) \
+	XX(27, val, prot_volt) \
+	XX(28, val, prot_cells) \
+	XX(29, val, prot_curr) \
+	XX(30, str, music) \
+	XX(31, val, volume) \
+	XX(32, val, beacon) \
+	XX(33, val, led) \
 
 static int beep = -1;
 

src/common.h

@@ -66,6 +66,7 @@ typedef struct {
 	char arm;
 	char damp;
 	char revdir;
+	char brushed;
 	char timing;
 	char sine_range;
 	char sine_power;
@@ -92,11 +93,10 @@ typedef struct {
 	char prot_volt;
 	char prot_cells;
 	char prot_curr;
-	char music[128];
+	char music[256];
 	char volume;
 	char beacon;
 	char led;
-	char brushed;
 } Cfg;
 
 typedef struct {

src/io.c

@@ -75,7 +75,7 @@ static void entryirq(void) {
 #ifdef IO_PA2
 		io_serial();
 		USART2_BRR = CLK_CNT(38400);
-		USART2_CR3 = USART_CR3_HDSEL;
+		if (!(GPIOA_IDR & 0x8000)) USART2_CR3 = USART_CR3_HDSEL; // A15 low
 		USART2_CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE | USART_CR1_RXNEIE;
 #else
 		TIM3_CCER = 0;
@@ -202,13 +202,13 @@ static void servoirq(void) {
 	int w = TIM_CCR2(IOTIM); // Pulse width
 	if (p < 2000) return; // Invalid signal
 	if (w >= 28 && w <= 32) { // Telemetry request
-		telreq = 1;
 		IWDG_KR = IWDG_KR_RESET;
+		telreq = 1;
 		return;
 	}
 	if (w < 800 || w > 2200) return; // Invalid signal
-	servoval(w);
 	IWDG_KR = IWDG_KR_RESET;
+	servoval(w);
 }
 
 static void dshotirq(void) {
@@ -491,10 +491,10 @@ static void throtdma(void) {
 		resync();
 		return;
 	}
+	IWDG_KR = IWDG_KR_RESET;
 	x &= 0xfff;
 	if (x & 0x800) x -= 0x1000; // Propagate sign
 	throt = x;
-	IWDG_KR = IWDG_KR_RESET;
 }
 
 static void ibusdma(void) {
@@ -520,15 +520,16 @@ static void ibusdma(void) {
 		u -= a + b;
 		if (i == n) x = v & 0xfff;
 	}
-	servoval(x);
 	IWDG_KR = IWDG_KR_RESET;
+	servoval(x);
 }
 
 static void sbusdma(void) {
 	if (iobuf[0] != 0x0f) { // Invalid frame
 		resync();
 		return;
 	}
+	IWDG_KR = IWDG_KR_RESET;
 	int n = cfg.input_chid - 1;
 	int i = (n * 11) >> 3;
 	int a = (n * 3) & 7;
@@ -540,7 +541,6 @@ static void sbusdma(void) {
 		x < 946 ? scale(x, 240, 946, -2000, 0):
 		x > 1101 ? scale(x, 1101, 1807, 0, 2000): 0:
 		x > 318 ? scale(x, 318, 1807, 0, 2000): 0;
-	IWDG_KR = IWDG_KR_RESET;
 }
 
 static void cliirq(void) {
@@ -569,7 +569,7 @@ static void cliirq(void) {
 	if (USART2_ISR & USART_ISR_FE || i == sizeof iobuf - 1) WWDG_CR = WWDG_CR_WDGA; // Data error
 	char b = USART2_RDR; // Clear RXNE
 	if (b == '\b' || b == 0x7f) { // Backspace
-		if (i > 0) --i;
+		if (i) --i;
 		return;
 	}
 	iobuf[i++] = b;
@@ -628,7 +628,7 @@ static void cliirq(void) {
 			TIM3_DIER = TIM_DIER_CC2IE;
 			n = 0;
 			if (b == '\b' || b == 0x7f) { // Backspace
-				if (i > 0) --i;
+				if (i) --i;
 				break;
 			}
 			iobuf[i++] = b;