Implement lulu filtering for QuickSilver

platformio.ini

@@ -165,9 +165,9 @@ extends = stm32g473
 
 [at32]
 extends = common
-debug_tool = stlink
+debug_tool = atlink
 upload_protocol = dfu
-platform = https://github.com/ArteryTek/platform-arterytekat32.git#5729d36
+platform = https://github.com/ArteryTek/platform-arterytekat32.git#c8da386
 platform_packages = toolchain-gccarmnoneeabi@~1.120301.0
 framework = at32firmlib
 board_build.at32firmlib.custom_system_setup = yes

script/device_gen.py

@@ -1,7 +1,6 @@
 import glob
 import hashlib
-import yaml
-import os
+import re
 
 import modm_devices
 
@@ -106,6 +105,66 @@ def __getitem__(self, item) -> modm_devices.device.Device:
         return value
 
 
+def map_signal(s):
+    if s is None:
+        return None
+
+    if s["driver"] == "tim" and s["name"].startswith("ch"):
+        return {
+            "func": "timer",
+            "af": int(s.get("af", "-1")),
+            "instance": int(s["instance"]),
+            "name": s["name"],
+        }
+    elif s["driver"] == "spi" and (
+        s["name"] == "sck"
+        or s["name"] == "mosi"
+        or s["name"] == "miso"
+        or s["name"] == "tx"
+        or s["name"] == "rx"
+    ):
+        return {
+            "func": "spi",
+            "af": int(s.get("af", "-1")),
+            "instance": int(s["instance"]),
+            "name": {"tx": "mosi", "rx": "miso"}.get(s["name"], s["name"]),
+        }
+    elif (s["driver"] == "uart" or s["driver"] == "usart") and (
+        s["name"] == "rx" or s["name"] == "tx"
+    ):
+        return {
+            "func": "serial",
+            "af": int(s.get("af", "-1")),
+            "instance": int(s["instance"]),
+            "name": s["name"],
+        }
+    elif s["driver"] == "adc" and re.match(r"in\d+", s.get("name", "in0")):
+        return {
+            "func": "adc",
+            "af": -1,
+            "instance": int(s["instance"]),
+            "name": s.get("name", "in0xff")[2:],
+        }
+    else:
+        return None
+
+
+def map_tag(f):
+    if f is None:
+        return None
+
+    if f["func"] == "timer":
+        return f"TIMER_TAG(TIMER{f['instance']}, TIMER_{f['name']})".upper()
+    elif f["func"] == "spi":
+        return f"SPI_TAG(SPI_PORT{f['instance']}, RES_SPI_{f['name']})".upper()
+    elif f["func"] == "serial":
+        return f"SERIAL_TAG(SERIAL_PORT{f['instance']}, RES_SERIAL_{f['name']})".upper()
+    elif f["func"] == "adc":
+        return f"ADC_TAG(ADC_DEVICE{f['instance']}, {f['name']})".upper()
+    else:
+        return None
+
+
 devices = [
     "stm32f405rg",
     "stm32f411re",
@@ -123,100 +182,58 @@ def __getitem__(self, item) -> modm_devices.device.Device:
     pins = {}
     key = next((x for x in caches.keys() if x.startswith(device)), None)
 
-    for driver in caches[key].get_all_drivers("gpio"):
-        for pin in driver["gpio"]:
-            funcs = []
+    with open(f"src/system/{device[:9]}/gpio_pins.in", "w") as file:
+        for driver in caches[key].get_all_drivers("gpio"):
+            for pin in driver["gpio"]:
+                file.write(f"GPIO_PIN({pin['port']}, {pin['pin']})\n".upper())
+                if "signal" not in pin:
+                    continue
 
-            if "signal" in pin:
                 for s in pin["signal"]:
-                    if s["driver"] == "tim" and s["name"].startswith("ch"):
-                        funcs.append(
-                            {
-                                "func": "timer",
-                                "af": int(s["af"]),
-                                "instance": int(s["instance"]),
-                                "name": s["name"],
-                            }
-                        )
-
-                    if s["driver"] == "spi" and (
-                        s["name"] == "sck" or s["name"] == "mosi" or s["name"] == "miso"
-                    ):
-                        funcs.append(
-                            {
-                                "func": "spi",
-                                "af": int(s["af"]),
-                                "instance": int(s["instance"]),
-                                "name": s["name"],
-                            }
-                        )
-
-                    if (s["driver"] == "uart" or s["driver"] == "usart") and (
-                        s["name"] == "rx" or s["name"] == "tx"
-                    ):
-                        funcs.append(
-                            {
-                                "func": "serial",
-                                "af": int(s["af"]),
-                                "instance": int(s["instance"]),
-                                "name": s["name"],
-                            }
-                        )
-
-                    if s["driver"] == "adc" and not (
-                        s["name"].startswith("inp") or s["name"].startswith("inn")
-                    ):
-                        funcs.append(
-                            {
-                                "func": "adc",
-                                "af": -1,
-                                "instance": int(s["instance"]),
-                                "name": s["name"][2:],
-                            }
-                        )
-
-            pins[f"P{pin['port']}{pin['pin']}".upper()] = funcs
-
-    with open(f"src/system/{device[:9]}/gpio_pins.yaml", "w") as file:
-        documents = yaml.dump(pins, file, sort_keys=False)
-
-for filename in glob.glob("src/system/*/gpio_pins.yaml"):
-    dir = os.path.dirname(filename)
-
-    with open(filename, "r") as f:
-        pins = yaml.load(f, Loader=yaml.Loader)
-
-    with open(f"{dir}/gpio_pins.in", "w") as file:
-        for k, funcs in pins.items():
-            port = k[1]
-            pin = k[2:]
-            file.write(f"GPIO_PIN({port}, {pin})\n")
-
-            for f in funcs:
-                line = f"GPIO_AF(PIN_{port}{pin}, {f['af']}, "
-
-                if f["func"] == "timer":
-                    line = (
-                        line
-                        + f"TIMER_TAG(TIMER{f['instance']}, TIMER_{f['name'].upper()}))\n"
-                    )
-
-                if f["func"] == "spi":
-                    line = (
-                        line
-                        + f"SPI_TAG(SPI_PORT{f['instance']}, RES_SPI_{f['name'].upper()}))\n"
-                    )
-
-                if f["func"] == "serial":
-                    line = (
-                        line
-                        + f"SERIAL_TAG(SERIAL_PORT{f['instance']}, RES_SERIAL_{f['name'].upper()}))\n"
-                    )
-
-                if f["func"] == "adc":
-                    line = (
-                        line
-                        + f"ADC_TAG(ADC_DEVICE{f['instance']}, {f['name'].upper()}))\n"
+                    f = map_signal(s)
+                    s = map_tag(f)
+                    if s is None:
+                        continue
+                    file.write(
+                        f"GPIO_AF(PIN_{pin['port']}{pin['pin']}, {f['af']}, {s})\n".upper()
                     )
 
-                file.write(line)
+    with open(f"src/system/{device[:9]}/dma.in", "w") as file:
+        for driver in caches[key].get_all_drivers("dma"):
+            if "streams" in driver:
+                for dma in driver["streams"]:
+                    for stream in dma["stream"]:
+                        for channel in stream["channel"]:
+                            funcs = [
+                                r
+                                for s in channel["signal"]
+                                if (r := map_tag(map_signal(s))) is not None
+                            ]
+                            for func in funcs:
+                                entry = ", ".join(
+                                    [
+                                        f".tag = {func}",
+                                        f".port_index = {dma['instance']}",
+                                        f".stream_index = {stream['position']}",
+                                        f".channel = LL_DMA_CHANNEL_{channel['position']}",
+                                    ]
+                                )
+                                file.write("{ " + entry + " },\n")
+            if "requests" in driver:
+                for dma in driver["requests"]:
+                    for request in dma["request"]:
+                        funcs = [
+                            r
+                            for s in request["signal"]
+                            if (r := map_tag(map_signal(s))) is not None
+                        ]
+                        for func in funcs:
+                            entry = ", ".join(
+                                [
+                                    f".tag = {func}",
+                                    f".port_index = -1",
+                                    f".stream_index = -1",
+                                    f".request = {request['position']}",
+                                ]
+                            )
+                            file.write("{ " + entry + " },\n")

src/config/config.h

@@ -160,8 +160,7 @@
 // at eliminating propwash.  Motor noise related to rpm is known to have a quadratic relationship with increasing throttle.  While a quadratic curve
 // could have been selected for this feature, a faster moving parabolic one was selected in its place as the goal is not to follow motor noise, but
 // to get the filter out of the way as fast as possible in the interest of better performance and handling through reduced D filter latency when you need it most.
-#define DTERM_DYNAMIC_LPF
-#define DTERM_DYNAMIC_EXPO 1.0f
+#define DTERM_DYNAMIC_TYPE FILTER_LP_PT1
 #define DTERM_DYNAMIC_FREQ_MIN 70
 #define DTERM_DYNAMIC_FREQ_MAX 260
 

src/config/feature.h

@@ -12,6 +12,7 @@
 #define USE_VTX
 #define USE_DIGITAL_VTX
 #define USE_MAX7456
+#define USE_RGB_LED
 
 #define USE_MOTOR_DSHOT
 #define USE_MOTOR_PWM

src/core/failloop.h

@@ -10,8 +10,8 @@ typedef enum {
   FAILLOOP_GYRO = 4,        // gyro not found
   FAILLOOP_FAULT = 5,       // clock, intterrupts, systick, gcc bad code, bad memory access (code issues like bad pointers) - this should not come up
   FAILLOOP_LOOPTIME = 6,    // loop time issue - if loop time exceeds 20mS
-  FAILLOOP_DMA = 7,         // dma error - triggered by dma pool
-  FAILLOOP_SPI = 8,         // spi error - triggered by hardware spi driver only
+  FAILLOOP_DMA = 7,         // dma error
+  FAILLOOP_SPI = 8,         // spi error
 } __attribute__((__packed__)) failloop_t;
 
 void failloop(failloop_t val);

src/core/main.c

@@ -100,7 +100,7 @@ __attribute__((__used__)) int main() {
   motor_set_all(MOTOR_OFF);
 
   // wait for devices to wake up
-  time_delay_ms(300);
+  time_delay_ms(100);
   osd_init();
   rx_spektrum_bind();
 
@@ -113,20 +113,17 @@ __attribute__((__used__)) int main() {
   sixaxis_init();
 
   // give the gyro some time to settle
-  time_delay_ms(100);
+  time_delay_ms(50);
 
   // display bootlogo while calibrating
   sixaxis_gyro_cal();
 
-  // wait for adc and vtx to wake up
-  time_delay_ms(100);
-
   adc_init();
   vbat_init();
 
   rx_init();
   vtx_init();
-  rgb_init();
+  rgb_led_init();
 
   blackbox_init();
   imu_init();

src/core/profile.c

@@ -203,17 +203,10 @@ const profile_t default_profile = {
             },
         },
 
-#ifdef DTERM_DYNAMIC_LPF
-        .dterm_dynamic_enable = 1,
-#else
-        .dterm_dynamic_enable = 0,
-#endif
-#ifdef DTERM_DYNAMIC_FREQ_MIN
+        .dterm_dynamic_type = DTERM_DYNAMIC_TYPE,
         .dterm_dynamic_min = DTERM_DYNAMIC_FREQ_MIN,
-#endif
-#ifdef DTERM_DYNAMIC_FREQ_MAX
         .dterm_dynamic_max = DTERM_DYNAMIC_FREQ_MAX,
-#endif
+
 #ifdef GYRO_DYNAMIC_NOTCH
         .gyro_dynamic_notch_enable = 1,
 #else

src/core/profile.h

@@ -9,7 +9,7 @@
 
 #define OSD_NUMBER_ELEMENTS 32
 
-#define PROFILE_VERSION MAKE_SEMVER(0, 2, 5)
+#define PROFILE_VERSION MAKE_SEMVER(0, 2, 6)
 
 // Rates
 typedef enum {
@@ -327,7 +327,7 @@ typedef struct {
 typedef struct {
   profile_filter_parameter_t gyro[FILTER_MAX_SLOTS];
   profile_filter_parameter_t dterm[FILTER_MAX_SLOTS];
-  uint8_t dterm_dynamic_enable;
+  filter_type_t dterm_dynamic_type;
   float dterm_dynamic_min;
   float dterm_dynamic_max;
   uint8_t gyro_dynamic_notch_enable;
@@ -337,7 +337,7 @@ typedef struct {
   START_STRUCT(profile_filter_t)                                    \
   ARRAY_MEMBER(gyro, FILTER_MAX_SLOTS, profile_filter_parameter_t)  \
   ARRAY_MEMBER(dterm, FILTER_MAX_SLOTS, profile_filter_parameter_t) \
-  MEMBER(dterm_dynamic_enable, uint8_t)                             \
+  MEMBER(dterm_dynamic_type, uint8_t)                               \
   MEMBER(dterm_dynamic_min, float)                                  \
   MEMBER(dterm_dynamic_max, float)                                  \
   MEMBER(gyro_dynamic_notch_enable, uint8_t)                        \

src/core/target.c

@@ -41,6 +41,7 @@ target_info_t target_info = {
 #define INDEX_ARRAY_MEMBER CBOR_ENCODE_INDEX_ARRAY_MEMBER
 #define STR_ARRAY_MEMBER CBOR_ENCODE_STR_ARRAY_MEMBER
 
+TARGET_DMA_MEMBERS
 TARGET_LED_MEMBERS
 TARGET_BUZZER_MEMBERS
 TARGET_SERIAL_MEMBERS
@@ -69,6 +70,7 @@ TARGET_INFO_MEMBERS
 #define INDEX_ARRAY_MEMBER CBOR_DECODE_INDEX_ARRAY_MEMBER
 #define STR_ARRAY_MEMBER CBOR_DECODE_STR_ARRAY_MEMBER
 
+TARGET_DMA_MEMBERS
 TARGET_LED_MEMBERS
 TARGET_BUZZER_MEMBERS
 TARGET_SERIAL_MEMBERS