Firmware revision 6

+ Brushed mode
+ Drag brake at 75% by default
+ DSHOT command 40 (select timing)
+ DSHOT command 41 (select PWM frequency)

Support for GD32F350
New targets: LUMENIER1
Drop WWDG for predictable flash programming
Minor bug fixes

CMakeLists.txt

@@ -60,6 +60,7 @@ add_target(HGLRC1 STM32F051 DEAD_TIME=26 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=210
 add_target(IFLIGHT1 STM32F051 DEAD_TIME=26 COMP_MAP=321 SENS_MAP=0xA3A6 VOLT_MUL=110 CURR_MUL=20 LED_MAP=0xB8B5B3 LED_INV)
 add_target(IFLIGHT2 STM32G071 DEAD_TIME=35 COMP_MAP=213 SENS_MAP=0xA5A4 VOLT_MUL=110 CURR_MUL=20 LED_WS2812 IO_PA6)
 add_target(IFLIGHT3 STM32G071 DEAD_TIME=35 COMP_MAP=132 SENS_MAP=0xA0 VOLT_MUL=110 LED_WS2812)
+add_target(LUMENIER1 GD32F350 DEAD_TIME=57 COMP_MAP=321 SENS_MAP=0xA3 VOLT_MUL=110)
 add_target(NEUTRONRC1 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA6A4 VOLT_MUL=210 CURR_MUL=50 LED_WS2812)
 add_target(NEUTRONRC2 AT32F421 DEAD_TIME=66 COMP_MAP=321)
 add_target(SKYSTARS1 GD32E230 DEAD_TIME=40 COMP_MAP=321 SENS_MAP=0xA3 VOLT_MUL=110 LED_MAP=0xB5B3A15)

README.md

@@ -12,7 +12,7 @@ Features
 + Analog/serial/iBUS/SBUS input mode
 + KISS/iBUS/S.Port telemetry
 + DSHOT 3D mode, turtle mode, beacon, LED, programming
-+ Sine startup mode (crawler mode)
++ Sine startup mode (crawler mode), brushed mode
 + Proportional brake, drag brake
 + Temperature/voltage/current protection
 + Variable PWM frequency, active freewheeling

boot/src/io.c

@@ -35,13 +35,13 @@ void initio(void) {
 	USART2_CR3 = USART_CR3_HDSEL;
 	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
+	TIM3_CCMR1 = TIM_CCMR1_OC1PE | TIM_CCMR1_OC1M_PWM2 | TIM_CCMR1_CC2S_IN_TI1 | TIM_CCMR1_IC2F_CK_INT_N_8;
+	TIM3_CCER = TIM_CCER_CC2E | TIM_CCER_CC2P; // IC2 on falling edge on TI1
 	TIM3_ARR = CLK_CNT(38400) - 1; // Bit time
 	TIM3_CCR1 = CLK_CNT(76800); // Half-bit time
 	TIM3_EGR = TIM_EGR_UG;
 	TIM3_CR1 = TIM_CR1_CEN;
-	TIM3_SMCR = TIM_SMCR_SMS_RM | TIM_SMCR_TS_TI1F_ED; // Reset on any edge on TI1
-	TIM3_CCMR1 = TIM_CCMR1_OC1PE | TIM_CCMR1_OC1M_PWM2 | TIM_CCMR1_CC2S_IN_TI1 | TIM_CCMR1_IC2F_CK_INT_N_8;
-	TIM3_CCER = TIM_CCER_CC2E | TIM_CCER_CC2P; // IC2 on falling edge on TI1
 #endif
 	TIM14_PSC = CLK / 10000 - 1; // 0.1ms resolution
 	TIM14_ARR = 4999; // 500ms I/O timeout

mcu/GD32F350/config.c

@@ -0,0 +1,194 @@
+/*
+** Copyright (C) 2022-2023 Arseny Vakhrushev <arseny.vakhrushev@me.com>
+**
+** This firmware 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.
+**
+** This firmware 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 this firmware. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <libopencm3/cm3/common.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include "common.h"
+
+#define ADC1_BASE ADC_BASE
+#define COMP_CSR MMIO32(SYSCFG_COMP_BASE + 0x1c)
+
+static char len, ain;
+static uint16_t buf[5];
+
+void init(void) {
+	RCC_CFGR &= ~RCC_CFGR_SW_PLL;
+	while (RCC_CFGR & RCC_CFGR_SWS_PLL);
+	RCC_CR &= ~RCC_CR_PLLON;
+	RCC_CFGR = 0x8240000; // PLLMUL=11001 (x26)
+	RCC_CR |= RCC_CR_PLLON;
+	while (!(RCC_CR & RCC_CR_PLLRDY));
+	RCC_CFGR |= RCC_CFGR_SW_PLL;
+
+	RCC_APB2RSTR = -1;
+	RCC_APB1RSTR = -1;
+	RCC_APB2RSTR = 0;
+	RCC_APB1RSTR = 0;
+	RCC_AHBENR = RCC_AHBENR_DMAEN | RCC_AHBENR_SRAMEN | RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN;
+	RCC_APB2ENR = RCC_APB2ENR_SYSCFGCOMPEN | RCC_APB2ENR_ADCEN | RCC_APB2ENR_TIM1EN | RCC_APB2ENR_USART1EN | RCC_APB2ENR_TIM17EN;
+	RCC_APB1ENR = RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM14EN | RCC_APB1ENR_WWDGEN;
+	SCB_VTOR = (uint32_t)_rom; // Set vector table address
+
+	// Default GPIO state - analog input
+	GPIOA_AFRL = 0x20000000; // A7 (TIM1_CH1N)
+	GPIOA_AFRH = 0x00000222; // A8 (TIM1_CH1), A9 (TIM1_CH2), A10 (TIM1_CH3)
+	GPIOB_AFRL = 0x00000022; // B0 (TIM1_CH2N), B1 (TIM1_CH3N)
+	GPIOB_AFRH = 0x00000000;
+	GPIOA_PUPDR = 0x24000000;
+	GPIOB_PUPDR = 0x00001000; // B6 (pull-up)
+	GPIOA_MODER = 0xebeabfff; // A7 (TIM1_CH1N), A8 (TIM1_CH1), A9 (TIM1_CH2), A10 (TIM1_CH3)
+	GPIOB_MODER = 0xffffeffa; // B0 (TIM1_CH2N), B1 (TIM1_CH3N), B6 (USART1_TX)
+#ifndef ANALOG
+#ifdef IO_PA2
+	RCC_APB2ENR |= RCC_APB2ENR_TIM15EN;
+	GPIOA_PUPDR |= 0x10; // A2 (pull-up)
+	GPIOA_MODER &= ~0x10; // A2 (TIM15_CH1)
+#else
+	RCC_APB1ENR |= RCC_APB1ENR_TIM3EN;
+	GPIOB_AFRL |= 0x10000; // B4 (TIM3_CH1)
+	GPIOB_PUPDR |= 0x100; // B4 (pull-up)
+	GPIOB_MODER &= ~0x100; // B4 (TIM3_CH1)
+#endif
+#endif
+
+	nvic_set_priority(NVIC_TIM3_IRQ, 0x40);
+	nvic_set_priority(NVIC_TIM15_IRQ, 0x40);
+	nvic_set_priority(NVIC_USART1_IRQ, 0x80);
+	nvic_set_priority(NVIC_USART2_IRQ, 0x40);
+	nvic_set_priority(NVIC_DMA1_CHANNEL1_IRQ, 0x80); // ADC
+	nvic_set_priority(NVIC_DMA1_CHANNEL2_3_DMA2_CHANNEL1_2_IRQ, 0x80); // USART1
+	nvic_set_priority(NVIC_DMA1_CHANNEL4_7_DMA2_CHANNEL3_5_IRQ, 0x40); // TIM3 or TIM15 or USART2
+
+	nvic_enable_irq(NVIC_TIM1_BRK_UP_TRG_COM_IRQ);
+	nvic_enable_irq(NVIC_TIM1_CC_IRQ);
+	nvic_enable_irq(NVIC_TIM2_IRQ);
+	nvic_enable_irq(NVIC_TIM3_IRQ);
+	nvic_enable_irq(NVIC_TIM15_IRQ);
+	nvic_enable_irq(NVIC_USART1_IRQ);
+	nvic_enable_irq(NVIC_USART2_IRQ);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL1_IRQ);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL2_3_DMA2_CHANNEL1_2_IRQ);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL4_7_DMA2_CHANNEL3_5_IRQ);
+
+	RCC_CR2 |= RCC_CR2_HSI14ON; // Enable IRC28M
+	while (!(RCC_CR2 & RCC_CR2_HSI14RDY));
+	ADC1_CR2 = ADC_CR2_ADON | ADC_CR2_TSVREFE;
+	TIM17_ARR = CLK_MHZ - 1;
+	TIM17_CR1 = TIM_CR1_CEN | TIM_CR1_OPM;
+	while (TIM17_CR1 & TIM_CR1_CEN); // Wait for 1us (RM 11.4.1)
+	ADC1_CR2 |= ADC_CR2_CAL;
+	while (ADC1_CR2 & ADC_CR2_CAL);
+	ADC1_CR1 = ADC_CR1_SCAN;
+	ADC1_SMPR1 = -1; // Sampling time ~17us @ IRC28M/2=14Mhz
+	ADC1_SMPR2 = -1;
+	ADC1_SQR3 = SENS_CHAN;
+	len = SENS_CNT;
+	if (IO_ANALOG) {
+		ADC1_SQR3 |= THROT_CHAN << (len++ * 5);
+		ain = 1;
+	}
+	ADC1_SQR3 |= 0x230 << (len * 5); // CH16 (temp), CH17 (vref)
+	len += 2;
+	ADC1_SQR1 = (len - 1) << ADC_SQR1_L_LSB;
+	DMA1_CPAR(1) = (uint32_t)&ADC1_DR;
+	DMA1_CMAR(1) = (uint32_t)buf;
+
+	TIM1_DIER = TIM_DIER_UIE | TIM_DIER_CC1IE | TIM_DIER_CC4IE; // Software comparator blanking, ADC trigger
+	TIM1_SMCR = TIM_SMCR_TS_ITR1; // TRGI=TIM2
+	TIM2_CR2 = TIM_CR2_MMS_COMPARE_OC1REF; // TRGO=OC1REF
+	TIM2_CCMR1 = TIM_CCMR1_OC1PE | TIM_CCMR1_OC1M_PWM2; // Inverted PWM on OC1
+	TIM2_CCMR2 = TIM_CCMR2_CC4S_IN_TI4 | TIM_CCMR2_IC4F_DTF_DIV_16_N_8;
+	TIM2_CCER = TIM_CCER_CC4E; // IC4 on rising edge on TI4 (COMP1_OUT)
+}
+
+void compctl(int x) {
+	int cr = 0;
+	switch (x & 3) {
+		case COMP_IN1:
+			cr = 0x61; // A1>A0
+			break;
+		case COMP_IN2:
+			cr = 0x41; // A1>A4
+			break;
+		case COMP_IN3:
+			cr = 0x51; // A1>A5
+			break;
+	}
+	if (x & 4) cr |= 0x800; // Change polarity
+	COMP_CSR = cr;
+}
+
+void io_serial(void) {
+	TIM15_DIER = 0;
+	nvic_clear_pending_irq(NVIC_TIM15_IRQ);
+	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
+	RCC_APB1ENR |= RCC_APB1ENR_USART2EN;
+	GPIOA_AFRL |= 0x100; // A2 (USART2_TX)
+}
+
+void io_analog(void) {
+	TIM15_DIER = 0;
+	nvic_clear_pending_irq(NVIC_TIM15_IRQ);
+	RCC_APB2ENR &= ~RCC_APB2ENR_TIM15EN;
+	GPIOA_PUPDR &= ~0x30; // A2 (no pull-up/pull-down)
+	GPIOA_MODER |= 0x30; // A2 (analog)
+}
+
+void adc_trig(void) {
+	if (DMA1_CCR(1) & DMA_CCR_EN) return;
+	DMA1_CNDTR(1) = len;
+	DMA1_CCR(1) = DMA_CCR_EN | DMA_CCR_TCIE | DMA_CCR_MINC | DMA_CCR_PSIZE_16BIT | DMA_CCR_MSIZE_16BIT;
+	ADC1_CR2 = ADC_CR2_ADON | ADC_CR2_TSVREFE | ADC_CR2_DMA | ADC_CR2_EXTTRIG | ADC_CR2_EXTSEL_SWSTART;
+}
+
+void tim1_brk_up_trg_com_isr(void) {
+	int sr = TIM1_SR;
+	if (sr & TIM_SR_UIF) {
+		TIM1_SR = ~TIM_SR_UIF;
+		if (TIM1_CCR4) COMP_CSR &= ~0x700; // COMP_OUT off
+	}
+	if (sr & TIM_SR_COMIF) tim1_com_isr();
+}
+
+void tim1_cc_isr(void) {
+	int sr = TIM1_SR;
+	if (sr & TIM_SR_CC4IF) {
+		TIM1_SR = ~TIM_SR_CC4IF;
+		COMP_CSR |= 0x400; // COMP1_OUT=TIM2_IC4
+	}
+	if (!(sr & TIM_SR_CC1IF)) return;
+	TIM1_SR = ~TIM_SR_CC1IF;
+	if (!(ADC1_CR2 & ADC_CR2_DMA)) return;
+	ADC1_CR2 = ADC_CR2_ADON | ADC_CR2_TSVREFE | ADC_CR2_DMA | ADC_CR2_EXTTRIG | ADC_CR2_EXTSEL_SWSTART | ADC_CR2_SWSTART;
+}
+
+void dma1_channel1_isr(void) {
+	DMA1_IFCR = DMA_IFCR_CTCIF(1);
+	DMA1_CCR(1) = 0;
+	ADC1_CR2 = ADC_CR2_ADON | ADC_CR2_TSVREFE;
+	int i = 0, v = 0, c = 0, x = 0;
+#if SENS_CNT == 2
+	c = buf[i++];
+#endif
+#if SENS_CNT >= 1
+	v = buf[i++];
+#endif
+	if (ain) x = buf[i++];
+	int r = 4914000 / buf[i + 1];
+	int t = (1450 - (buf[i] * r >> 12)) * 10 / 43 + 25;
+	adc_data(t, v * r >> 12, c * r >> 12, x);
+}

mcu/GD32F350/config.cmake

@@ -0,0 +1,3 @@
+set(opts -mcpu=cortex-m4 -mthumb)
+set(libs opencm3_stm32f0)
+set(defs STM32F0)

mcu/GD32F350/config.h

@@ -0,0 +1,59 @@
+/*
+** Copyright (C) 2022-2023 Arseny Vakhrushev <arseny.vakhrushev@me.com>
+**
+** This firmware 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.
+**
+** This firmware 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 this firmware. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+
+#if SENS_MAP == 0xA3 // A3 (volt)
+#define SENS_CNT 1
+#define SENS_CHAN 0x3
+#endif
+
+#ifndef THROT_CHAN
+#define THROT_CHAN 2 // A2
+#endif
+
+#define CLK 104000000
+
+#define IFTIM TIM2
+#define IFTIM_ICF 128
+#define IFTIM_ICE TIM_DIER_CC4IE
+#define IFTIM_ICR TIM2_CCR4
+#define IFTIM_OCR TIM2_CCR1
+#define iftim_isr tim2_isr
+
+#ifdef IO_PA2
+#define IO_TYPE 0
+#define IOTIM TIM15
+#define IOTIM_IDR (GPIOA_IDR & 0x4) // A2
+#define IOTIM_DMA 5
+#define iotim_isr tim15_isr
+#else
+#define IO_TYPE 2
+#define IOTIM TIM3
+#define IOTIM_IDR (GPIOB_IDR & 0x10) // B4
+#define IOTIM_DMA 4
+#define iotim_isr tim3_isr
+#endif
+#define iodma_isr dma1_channel4_7_dma2_channel3_5_isr
+
+#define USART1_TX_DMA 2
+#define USART1_RX_DMA 3
+#define usart1_dma_isr dma1_channel2_3_dma2_channel1_2_isr
+
+#define USART2_RX_DMA 5
+
+void tim1_com_isr(void);

mcu/GD32F350/config.ld

@@ -0,0 +1,6 @@
+MEMORY {
+	boot (rx) : ORIGIN = 0x8000000, LENGTH = 4K
+	cfg (rx) : ORIGIN = ORIGIN(boot) + LENGTH(boot), LENGTH = 1K
+	rom (rx) : ORIGIN = ORIGIN(cfg) + LENGTH(cfg), LENGTH = 32K - LENGTH(boot) - LENGTH(cfg)
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}

mcu/GD32F350/preset.c

@@ -0,0 +1,33 @@
+/*
+** Copyright (C) 2022-2023 Arseny Vakhrushev <arseny.vakhrushev@me.com>
+**
+** This firmware 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.
+**
+** This firmware 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 this firmware. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "common.h"
+
+const uint16_t sinedata[] = {
+	346, 352, 358, 364, 370, 376, 382, 388, 394, 400, 406, 412, 418, 424, 430, 436, 441, 447, 453, 459, 464, 470, 476, 481, 487, 492, 498, 503, 508, 514,
+	519, 524, 529, 534, 539, 544, 549, 554, 559, 564, 568, 573, 578, 582, 586, 591, 595, 599, 603, 607, 611, 615, 619, 622, 626, 629, 633, 636, 639, 643,
+	646, 649, 651, 654, 657, 660, 662, 664, 667, 669, 671, 673, 675, 677, 679, 680, 682, 683, 684, 686, 687, 688, 689, 689, 690, 691, 691, 692, 692, 692,
+	692, 692, 692, 692, 691, 691, 690, 689, 689, 688, 687, 686, 684, 683, 682, 680, 679, 677, 675, 673, 671, 669, 667, 664, 662, 660, 657, 654, 651, 649,
+	646, 643, 639, 636, 633, 629, 626, 622, 619, 615, 611, 607, 603, 599, 595, 591, 586, 582, 578, 573, 568, 564, 559, 554, 549, 544, 539, 534, 529, 524,
+	519, 514, 508, 503, 498, 492, 487, 481, 476, 470, 464, 459, 453, 447, 441, 436, 430, 424, 418, 412, 406, 400, 394, 388, 382, 376, 370, 364, 358, 352,
+	346, 340, 334, 328, 322, 316, 310, 304, 298, 292, 286, 280, 274, 268, 262, 256, 251, 245, 239, 233, 228, 222, 216, 211, 205, 200, 194, 189, 184, 178,
+	173, 168, 163, 158, 153, 148, 143, 138, 133, 128, 124, 119, 114, 110, 106, 101,  97,  93,  89,  85,  81,  77,  73,  70,  66,  63,  59,  56,  53,  49,
+	 46,  43,  41,  38,  35,  32,  30,  28,  25,  23,  21,  19,  17,  15,  13,  12,  10,   9,   8,   6,   5,   4,   3,   3,   2,   1,   1,   0,   0,   0,
+	  0,   0,   0,   0,   1,   1,   2,   3,   3,   4,   5,   6,   8,   9,  10,  12,  13,  15,  17,  19,  21,  23,  25,  28,  30,  32,  35,  38,  41,  43,
+	 46,  49,  53,  56,  59,  63,  66,  70,  73,  77,  81,  85,  89,  93,  97, 101, 106, 110, 114, 119, 124, 128, 133, 138, 143, 148, 153, 158, 163, 168,
+	173, 178, 184, 189, 194, 200, 205, 211, 216, 222, 228, 233, 239, 245, 251, 256, 262, 268, 274, 280, 286, 292, 298, 304, 310, 316, 322, 328, 334, 340,
+};

src/cli.c

@@ -49,6 +49,7 @@
 	XX(28, val, volume) \
 	XX(29, val, beacon) \
 	XX(30, val, led) \
+	XX(31, val, brushed) \
 
 static int beep = -1;
 

src/common.h

@@ -86,6 +86,7 @@ typedef struct {
 	char volume;
 	char beacon;
 	char led;
+	char brushed;
 } Cfg;
 
 typedef struct {

src/defs.h

@@ -168,7 +168,7 @@
 #define DUTY_RAMP 25
 #endif
 #ifndef DUTY_DRAG
-#define DUTY_DRAG 0
+#define DUTY_DRAG 75
 #endif
 #ifndef THROT_MODE
 #define THROT_MODE 0
@@ -228,3 +228,6 @@
 #ifndef LED
 #define LED 0
 #endif
+#ifndef BRUSHED
+#define BRUSHED 0
+#endif