Add support for AT32 chips #8752

DusKing1 · 2023-01-31T14:08:03Z

This PR introduces support for AT32F435/7 chip, including the BSP lib, src code changes, cmake scripts, new at32 targets, some bug fixes, etc. The 5 commits are:

Add AT32 BSP LIB
Add support for AT32
Added LSM6DSXX IMU drivers, including LSM6DSO, LSM6DS3TR-C, LSM6DSL. The ~~two~~three NeutronRC AT32 targets submitted in 5 need this IMU driver
Fixed the flash index overflow bug
Added ~~two~~three NEUTRONRCF435 targets

We understand the complexity of this PR, so we are willing to further split this PR according to the guidance of the inav team.

Primary credit to @tcdddd , also thanks to my flightng team colleagues: @shanggl, @pdwdw and NT.JIA.

-- Chinese version --

本PR引入了对AT32F435/7芯片的支持，包括BSP，src代码，cmake脚本，AT32飞控目标添加，部分bug修复等。5条commits的具体内容为：

添加AT32 BSP LIB
添加对于AT32的支持
添加了LSM6DSXX陀螺仪驱动，包括LSM6DSO、LSM6DS3TR-C、LSM6DSL。5中提交的两个三个新目标使用该IMU
修复了flash index 溢出的错误
添加了两个三个NEUTRONRCF435目标

我们理解该PR的复杂性，所以我们愿意根据INAV团队的指导对该PR进行进一步拆分。

首要致敬 @tcdddd ，同时还要感谢flightng团队的同事们：@shanggl、@pdwdw以及NT.JIA。

src/main/drivers/sdcard/sdmmc_sdio.h

mmosca · 2023-01-31T15:28:11Z

src/main/drivers/bus_busdev_i2c.c

@@ -49,4 +49,11 @@ bool i2cBusReadRegister(const busDevice_t * dev, uint8_t reg, uint8_t * data)
    const bool allowRawAccess = (dev->flags & DEVFLAGS_USE_RAW_REGISTERS);
    return i2cRead(dev->busdev.i2c.i2cBus, dev->busdev.i2c.address, reg, 1, data, allowRawAccess);
 }
+bool i2cBusBusy(const busDevice_t *dev, bool *error)


This is breaking existing targets.

You can either turn this function into a macro that translate to false (better code footprint for other targets) or mark the parameters with UNUSED()

yelp ,i2cBusBusy function 's unused parm "dev“ and "error " may cause a unused param warning in my localhost , i will fix this today

The github builds enable warnings as errors. It would save time if you could build like that locally as well.

Try running cmake -DWARNINGS_AS_ERRORS=ON and running make release to build all targets as well.

The github builds enable warnings as errors. It would save time if you could build like that locally as well.

Try running cmake -DWARNINGS_AS_ERRORS=ON and running make release to build all targets as well.

All warnings has been fix yesterday , and tested the STM32F411 F405 F722 and H743 , all targets 0 errors 0 warnings

src/main/drivers/dma.h

src/main/drivers/serial_usb_vcp_at32f43x.c

mmosca · 2023-02-01T09:08:52Z

I see there are lots of comments in Chinese in these commits, many also are tagged with TODO.

Instead of tagging every file, I will just give the overall suggestion of keeping the code/comments in English.

English is not my native language either, but it is the language used in the code and documentation.

While google translate can deal with the translation fairly well, it adds friction. Remember, this is an open source project with a fairly international list of contributors. People from other backgrounds may eventually have to make changes in the code and keeping it in a single language is probably a good call.

erstec · 2023-02-01T16:41:54Z

@shanggl
After tests on real AT32 FC there are few things I noticed and want to share (all for NEUTRONRCF435AIO target):

Gyro orientation for BMI270 should be CW180_DEG
ADC readings is wrong, both Voltage and Current (I don't know why, have no time to dig)
LED strip not working (as I see it causes some conflicts with UART3 TX)
Rename UART8 -> UART5, as on FC pads are R5 and T5 (at least on one I have)

Configurator build able to flash this MCU here https://drive.google.com/file/d/1C9BsJGfIvqz2aFkYQ0daZpAjpUk06EcZ/view?usp=sharing (if someone need it)

P.S. Neutronrc F435 FC are mounted on one of my quad and I can test and check all (if you need).

DusKing1 · 2023-02-01T17:03:38Z

@shanggl After tests on real AT32 FC there are few things I noticed and want to share (all for NEUTRONRCF435AIO target):

Gyro orientation for BMI270 should be CW180_DEG

ADC readings is wrong, both Voltage and Current (I don't know why, have no time to dig)

LED strip not working (as I see it causes some conflicts with UART3 TX)

Rename UART8 -> UART5, as on FC pads are R5 and T5 (at least on one I have)

Configurator build able to flash this MCU here https://drive.google.com/file/d/1C9BsJGfIvqz2aFkYQ0daZpAjpUk06EcZ/view?usp=sharing (if someone need it)

P.S. Neutronrc F435 FC are mounted on one of my quad and I can test and check all (if you need).

Thanks we will fix it, and we have decided to rename it to NEUTRONRCF435SE
ADC issue is a known bug, and there are some other known bugs, @shanggl will share the detail of the technique dilemmas we have met with you and let's find out the solution for them
@shanggl
Typo, will fix it immediately

@erstec Can you PR the code for the configurator at the same time?

@mmosca We will translate all Chinese comments into English in days.

erstec · 2023-02-01T17:06:53Z

@shanggl After tests on real AT32 FC there are few things I noticed and want to share (all for NEUTRONRCF435AIO target):

Gyro orientation for BMI270 should be CW180_DEG

ADC readings is wrong, both Voltage and Current (I don't know why, have no time to dig)

LED strip not working (as I see it causes some conflicts with UART3 TX)

Rename UART8 -> UART5, as on FC pads are R5 and T5 (at least on one I have)

Configurator build able to flash this MCU here https://drive.google.com/file/d/1C9BsJGfIvqz2aFkYQ0daZpAjpUk06EcZ/view?usp=sharing (if someone need it)
P.S. Neutronrc F435 FC are mounted on one of my quad and I can test and check all (if you need).

Thanks we will fix it, and we have decided to rename it to NEUTRONRCF435SE

ADC issue is a known bug, and there are some other known bugs, @shanggl will share the detail of the technique dilemmas we have met with you and let's find out the solution for them

@shanggl

Typo, will fix it immediately

@erstec Can you PR the code for the configurator at the same time?

@mmosca We will translate all Chinese comments into English in days.

@DusKing1 sure, just let me back home to my main PC )

shanggl · 2023-02-02T01:45:52Z

@shanggl After tests on real AT32 FC there are few things I noticed and want to share (all for NEUTRONRCF435AIO target):

Gyro orientation for BMI270 should be CW180_DEG

ADC readings is wrong, both Voltage and Current (I don't know why, have no time to dig)

LED strip not working (as I see it causes some conflicts with UART3 TX)

Rename UART8 -> UART5, as on FC pads are R5 and T5 (at least on one I have)

Configurator build able to flash this MCU here https://drive.google.com/file/d/1C9BsJGfIvqz2aFkYQ0daZpAjpUk06EcZ/view?usp=sharing (if someone need it)

P.S. Neutronrc F435 FC are mounted on one of my quad and I can test and check all (if you need).

@erstec thks a lot

gyro orientation has been fix by @DusKing1
adc still has bugs ,i'm working on , the main reason is the Vref is not used to calibate the adc analog value of Voltage and Current ,this will be fix in next pr .
LED strip not working, i think is wrong value of the MAX_PWM_OUTPUT_PORTS , i will debug and fix this in next pr .
UART8 is a mis typeing ,has been fixed by @DusKing1

the compile warning errors has been fixed yesterday

mmosca · 2023-02-02T07:28:29Z

I don’t think it is a good idea to keep comments in both languages. Keep it simple. Duplicate comments will eventually get out of sync and cause confusion. On 2 Feb 2023, at 02:48, EMSR ***@***.***> wrote: @shanggl commented on this pull request. In src/main/drivers/sdcard/sdmmc_sdio.h:

@@ -215,7 +219,12 @@ typedef struct

extern SD_CardInfo_t SD_CardInfo; extern SD_CardType_t SD_CardType;

…

-bool SD_Initialize_LL(DMA_Stream_TypeDef * dmaRef); +#ifdef AT32F43x +// TODO:sd卡还不支持，待处理 If the hardware in question does not include sdcard slots, you may also change the comment to be #ifdef AT32F43x #error SD card not implemented void SD_Initialize_LL (dma_channel_type *dma); #else void SD_Initialize_LL (DMA_Stream_TypeDef *dma); #endif ok, comment in english will be added , but could i keep the chinese version in it ? i wants to use both —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you were mentioned.Message ID: ***@***.***>

shanggl · 2023-02-03T11:18:56Z

I don’t think it is a good idea to keep comments in both languages. Keep it simple. Duplicate comments will eventually get out of sync and cause confusion. On 2 Feb 2023, at 02:48, EMSR @.***> wrote: @shanggl commented on this pull request. In src/main/drivers/sdcard/sdmmc_sdio.h:

ok, comments will use english as default ,

DusKing1 · 2023-02-07T11:30:54Z

It seems that MSC is not working

Co-Authored-By: EMSR <10240646+shanggl@users.noreply.github.com> Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

NEUTRONRCF435AIO - based on AT32F435RGT7 NEUTRONRCF435MINI - based on AT32F435CGU7 NEUTRONRCF435WING - based on AT32F435CGU7 Co-Authored-By: EMSR <10240646+shanggl@users.noreply.github.com> Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

DusKing1 · 2023-02-12T16:53:41Z

We've cleaned all non-English comments in the code.

ujara · 2023-10-08T19:37:34Z

Please add support for SD Card as it helps in tuning target.

ujara · 2023-10-08T19:44:43Z

Also noticed in latest inav 6.1.1 release, i2C1 using ports PB6, PB7 not working for AT32F435 target. Need to hack/change "drivers/bus_i2c_at32f43x.c" for i2c1 to be mux4. In the code its mux8. This allows i2C1 to function correctly on a AT32F435 target.

mmosca reviewed Jan 31, 2023

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mmosca reviewed Jan 31, 2023

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mmosca reviewed Feb 1, 2023

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mmosca reviewed Feb 1, 2023

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DusKing1 force-pushed the add-at32-bsp branch from 522d8ef to 2f3b63a Compare February 1, 2023 16:55

DzikuVx added this to the 6.1 milestone Feb 3, 2023

shanggl and others added 5 commits February 13, 2023 00:49

add at32 bsp driver lib

389e9e9

Co-Authored-By: EMSR <10240646+shanggl@users.noreply.github.com> Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

add support for at32 chips

a502106

Co-Authored-By: EMSR <10240646+shanggl@users.noreply.github.com> Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

add support for lsm6dxx imu

1df3f07

Co-Authored-By: EMSR <10240646+shanggl@users.noreply.github.com> Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

fix bug flashdrivers idx overflow

b8d263b

Co-Authored-By: carl <101383042+tcdddd@users.noreply.github.com> Co-Authored-By: Hugo Chiang <hugo@gyroflow.xyz>

DusKing1 force-pushed the add-at32-bsp branch from 8779806 to 37c417e Compare February 12, 2023 16:52

DzikuVx changed the base branch from master to release_6.1.0 March 14, 2023 20:32

DzikuVx merged commit 79840a7 into iNavFlight:release_6.1.0 Mar 23, 2023

DusKing1 deleted the add-at32-bsp branch March 24, 2023 00:48

Scavanger mentioned this pull request Oct 21, 2023

Bootloader porting #9383

Closed

b14ckyy mentioned this pull request Mar 23, 2024

Any plans to support AT32 F435 FCs? #9844

Closed

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Add support for AT32 chips #8752

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DusKing1 commented Jan 31, 2023 •

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mmosca Jan 31, 2023

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ujara commented Oct 8, 2023

ujara commented Oct 8, 2023

Add support for AT32 chips #8752

Add support for AT32 chips #8752

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