Adapted code to changes on new controller board.

5 files changed, 75 insertions, 67 deletions

diff --git a/i2c.cpp b/i2c.cpp
index 90c0ce1..77eb67a 100644
--- a/i2c.cpp
+++ b/i2c.cpp
@@ -3,71 +3,71 @@
 #include "stm32.h"
 
 void I2C::enable() {
-	RCC.enable(RCC.I2C2);
+	RCC.enable(RCC.I2C1);
 	asm volatile("nop");
 	
-	I2C2.CR1 = 0x8000;
-	I2C2.CR1 = 0;
+	I2C1.CR1 = 0x8000;
+	I2C1.CR1 = 0;
 	
-	I2C2.CR2 = 36;
-	I2C2.TRISE = 37;
-	I2C2.CCR = 180;
-	I2C2.CR1 = 1;
+	I2C1.CR2 = 36;
+	I2C1.TRISE = 37;
+	I2C1.CCR = 180;
+	I2C1.CR1 = 1;
 }
 
 void I2C::write_reg(uint8_t addr, uint8_t reg, uint8_t data) {
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
+	I2C1.CR1 |= 0x100;
+	while(!(I2C1.SR1 & 0x01));
 	
-	I2C2.DR = (addr << 1) | 0;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
+	I2C1.DR = (addr << 1) | 0;
+	while (!(I2C1.SR1 & 0x02));
+	I2C1.SR2;
 	
-	I2C2.DR = reg;
-	while (!(I2C2.SR1 & 0x80));
+	I2C1.DR = reg;
+	while (!(I2C1.SR1 & 0x80));
 	
-	I2C2.DR = data;
-	while (!(I2C2.SR1 & 0x04));
+	I2C1.DR = data;
+	while (!(I2C1.SR1 & 0x04));
 	
-	I2C2.CR1 |= 0x200;
+	I2C1.CR1 |= 0x200;
 }
 
 void I2C::read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf) {
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
+	I2C1.CR1 |= 0x100;
+	while(!(I2C1.SR1 & 0x01));
 	
-	I2C2.DR = (addr << 1) | 0;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
+	I2C1.DR = (addr << 1) | 0;
+	while (!(I2C1.SR1 & 0x02));
+	I2C1.SR2;
 	
-	I2C2.DR = reg;
-	while (!(I2C2.SR1 & 0x80));
+	I2C1.DR = reg;
+	while (!(I2C1.SR1 & 0x80));
 	
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
+	I2C1.CR1 |= 0x100;
+	while(!(I2C1.SR1 & 0x01));
 	
-	I2C2.DR = (addr << 1) | 1;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
+	I2C1.DR = (addr << 1) | 1;
+	while (!(I2C1.SR1 & 0x02));
+	I2C1.SR2;
 	
-	I2C2.CR1 |= 0x400; // Set ACK.
+	I2C1.CR1 |= 0x400; // Set ACK.
 	
 	while(len) {
 		if(len == 3) {
-			while (!(I2C2.SR1 & 0x04)); // Wait for BTF
+			while (!(I2C1.SR1 & 0x04)); // Wait for BTF
 			
-			I2C2.CR1 &= ~0x400; // Clear ACK.
-			*buf++ = I2C2.DR;
+			I2C1.CR1 &= ~0x400; // Clear ACK.
+			*buf++ = I2C1.DR;
 			len--;
 			
-			I2C2.CR1 |= 0x200; // Set STOP.
-			*buf++ = I2C2.DR;
+			I2C1.CR1 |= 0x200; // Set STOP.
+			*buf++ = I2C1.DR;
 			len--;
 			
 		} else {
-			while (!(I2C2.SR1 & 0x40)); // Wait for RXNE
+			while (!(I2C1.SR1 & 0x40)); // Wait for RXNE
 			
-			*buf++ = I2C2.DR;
+			*buf++ = I2C1.DR;
 			len--;
 		}
 	}
diff --git a/main.cpp b/main.cpp
index 72c0389..d3c14b3 100644
--- a/main.cpp
+++ b/main.cpp
@@ -57,11 +57,12 @@ int main() {
 	RCC.enable(RCC.IOPA);
 	RCC.enable(RCC.IOPB);
 	
-	GPIOA.CRL = 0x4434bbbb;
+	GPIOA.CRL = 0x4444bbbb;
 	GPIOA.CRH = 0x444444b4;
-	GPIOA.ODR = 1 << 5;
 	
-	GPIOB.CRH = 0x4444ff44;
+	GPIOB.CRL = 0xff444434;
+	GPIOB.CRH = 0x44444444;
+	GPIOB.ODR = 1 << 1;
 	
 	I2C i2c;
 	i2c.enable();
@@ -81,9 +82,9 @@ int main() {
 	
 	TIM2.CR1 = 0x05;
 	
-	PID pid_pitch(3000, 0, 0);
-	PID pid_roll(3000, 0, 0);
-	PID pid_yaw(2000, 0, 0);
+	PID pid_pitch(6000, 0, 0);
+	PID pid_roll(6000, 0, 0);
+	PID pid_yaw(6000, 0, 0);
 	
 	while(1) {
 		// Wait for a new update.
@@ -97,9 +98,9 @@ int main() {
 		
 		// Generate motor mix.
 		int16_t throttle = ppmsum.channels[2] - 1000;
-		int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 3 - gyro.x);
-		int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 3 - gyro.y);
-		int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * 5 - gyro.z);
+		int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 1 - gyro.x);
+		int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 1 - gyro.y);
+		int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * -1 - gyro.z);
 		
 		int16_t max = throttle > 250 ? 250 : throttle;
 		saturate(pitch, max);
@@ -107,10 +108,10 @@ int main() {
 		saturate(yaw, max);
 		
 		int cmds[] = {
-			1000 + throttle + pitch + roll + yaw,
-			1000 + throttle + pitch - roll - yaw,
-			1000 + throttle - pitch + roll - yaw,
-			1000 + throttle - pitch - roll + yaw,
+			1000 + throttle + pitch - roll + yaw,
+			1000 + throttle - pitch - roll - yaw,
+			1000 + throttle - pitch + roll + yaw,
+			1000 + throttle + pitch + roll - yaw,
 		};
 		
 		TIM2.CCR1 = limit(cmds[0], 1000, 2000);
diff --git a/openocd.cfg b/openocd.cfg
index 2343753..1321413 100644
--- a/openocd.cfg
+++ b/openocd.cfg
@@ -9,7 +9,7 @@ ft2232_device_desc "USB<=>JTAG&RS232"
 

 reset_config trst_and_srst

 

-source [find target/stm32.cfg]

+source [find target/stm32f1x.cfg]

 

 proc flash_chip {} {

 	halt

diff --git a/ppmsum.cpp b/ppmsum.cpp
index 75faa17..927efa8 100644
--- a/ppmsum.cpp
+++ b/ppmsum.cpp
@@ -3,18 +3,23 @@
 PPMSum* PPMSum::self = 0;
 
 template<>
-void interrupt<Interrupt::TIM4>() {
+void interrupt<Interrupt::TIM1_UP>() {
+	PPMSum::self->irq();
+}
+
+template<>
+void interrupt<Interrupt::TIM1_CC>() {
 	PPMSum::self->irq();
 }
 
 void PPMSum::irq() {
-	int16_t sr = TIM4.SR;
-	TIM4.SR = 0;
+	int16_t sr = TIM1.SR;
+	TIM1.SR = 0;
 	
 	if(sr & 0x06) {
-		GPIOA.ODR = 1 << 5;
+		GPIOB.ODR = 1 << 1;
 	} else {
-		GPIOA.ODR = 0;
+		GPIOB.ODR = 0;
 	}
 	
 	
@@ -26,7 +31,7 @@ void PPMSum::irq() {
 	} else if(sr & 0x02) {
 		// Period.
 		
-		if(TIM4.CCR1 > 5000) {
+		if(TIM1.CCR1 > 5000) {
 			synced = true;
 			index = 0;
 		} else {
@@ -36,19 +41,20 @@ void PPMSum::irq() {
 	} else if(sr & 0x04) {
 		// Pulsewidth.
 		
-		channels[index] = TIM4.CCR2;
+		channels[index] = TIM1.CCR2;
 	}
 }
 
 void PPMSum::enable() {
-	RCC.enable(RCC.TIM4);
-	TIM4.PSC = 72;
-	TIM4.CCMR1 = 0x0201;
-	TIM4.SMCR = 0x54;
-	TIM4.CCER = 0x31;
-	TIM4.DIER = 0x07;
+	RCC.enable(RCC.TIM1);
+	TIM1.PSC = 72;
+	TIM1.CCMR1 = 0x0201;
+	TIM1.SMCR = 0x54;
+	TIM1.CCER = 0x31;
+	TIM1.DIER = 0x07;
 	
-	Interrupt::enable(Interrupt::TIM4);
+	Interrupt::enable(Interrupt::TIM1_UP);
+	Interrupt::enable(Interrupt::TIM1_CC);
 	
-	TIM4.CR1 = 0x05;
+	TIM1.CR1 = 0x05;
 }
diff --git a/ppmsum.h b/ppmsum.h
index efc7287..90bb860 100644
--- a/ppmsum.h
+++ b/ppmsum.h
@@ -5,7 +5,8 @@
 #include "interrupt.h"
 
 class PPMSum {
-	friend void interrupt<Interrupt::TIM4>();
+	friend void interrupt<Interrupt::TIM1_UP>();
+	friend void interrupt<Interrupt::TIM1_CC>();
 	
 	private:
 		static PPMSum* self;