Anyone have this working on commercial STM32F4 FC's?

[ejowerks]

Hi folks, I have MF working on ESP32 (and it's awesome) and I would really like to get it working on my various old / new STM32F4 flight controllers as I have quite a few projects I'd like to write my own mixers for. I have tried MF on two different F405 FC's (SpeedybeeF405mini and FlywooF405nano) and with this latest version 2.1.4 it boots and detects the ICM42688P and is receiving the ICM42688P's interrupt (so that's fixed now, thanks!) but unfortunately the gyro/accel is still not working. I'm not a developer so I wasn't comfortable opening a second bug report.

This is the helloworld example with

// define the board header to use, or comment out for none
//#define MF_BOARD "brd/default.h"
//#define MF_BOARD "brd/betaflight/SPBE-SPEEDYBEEF405MINI.h"
#define MF_BOARD "brd/betaflight/FLWO-FLYWOOF405NANO.h"

madflight v2.1.4 starting 1 ...
Arduino library: Arduino_Core_STM32 v(0x02U).(0x0BU).(0x00U)
Board: BETAFLIGHT-FLWO-FLYWOOF405NANO
Processor: STM32F405
CFG: Loading EEPROM - OK
CFG: Loading config - Skipping madflight_board and madflight_config (EEPROM is newer)
PIN: pin_ser3_tx PA0
PIN: pin_ser3_rx PA1
PIN: pin_out3 PA2
PIN: pin_out2 PA3
PIN: pin_spi0_sclk PA5
PIN: pin_spi0_miso PA6
PIN: pin_spi0_mosi PA7
PIN: pin_ser0_rx PA10
PIN: pin_out0 PB0
PIN: pin_out1 PB1
PIN: pin_out6 PB4
PIN: pin_out4 PB5
PIN: pin_ser0_tx PB6
PIN: pin_i2c0_scl PB8
PIN: pin_rcl_ppm PB8 # WARNING: Duplicate pin assignment
PIN: pin_i2c0_sda PB9
PIN: pin_ser2_tx PB10
PIN: pin_ser2_rx PB11
PIN: pin_imu_cs PB12
PIN: pin_imu_int PB13
PIN: pin_bat_i PC2
PIN: pin_bat_v PC3
PIN: pin_ser5_tx PC6
PIN: pin_ser5_rx PC7
PIN: pin_out7 PC8
PIN: pin_out5 PC9
PIN: pin_spi2_sclk PC10
PIN: pin_spi2_miso PC11
PIN: pin_spi2_mosi PC12
PIN: pin_led PC14
PIN: pin_ser4_rx PD2
PIN: pin_ser1_tx PD5
PIN: pin_ser1_rx PD6
HAL: Notice: availability of hardware busses depends on chip used, and is not checked here.
HAL: SER bus 0 is hardware uart with TX:22 RX:10
HAL: SER bus 1 is hardware uart with TX:53 RX:54
HAL: SER bus 2 is hardware uart with TX:26 RX:27
HAL: SER bus 3 is hardware uart with TX:0 RX:1
HAL: SER bus 4 is hardware uart with TX:-1 RX:50
HAL: SER bus 5 is hardware uart with TX:38 RX:39
HAL: SER bus 6 is hardware uart with TX:-1 RX:-1
HAL: SER bus 7 is hardware uart with TX:-1 RX:-1
HAL: I2C bus 0 is hardware i2c with SDA:25 SCL:24
HAL: I2C bus 1 is hardware i2c with SDA:-1 SCL:-1
HAL: SPI bus 0 is hardware spi with MISO:6 SCLK:5 MOSI:7
HAL: SPI bus 1 is hardware spi with MISO:-1 SCLK:-1 MOSI:-1
EEPROM: using Buffered IO
I2C: Scanning i2c_bus:0 - 0x76(118) - Found 1 device(s)
RCL: CRSF setup - rcl_thr_ch:1 rcl_thr_pull:1100 rcl_thr_mid:1500 rcl_thr_push:1900 rcl_rol_ch:2 rcl_rol_left:1100 rcl_rol_mid:1500 rcl_rol_right:1900 rcl_pit_ch:3 rcl_pit_pull:1100 rcl_pit_mid:1500 rcl_pit_push:1900 rcl_yaw_ch:4 rcl_yaw_left:1100 rcl_yaw_mid:1500 rcl_yaw_right:1900 rcl_arm_ch:5 rcl_arm_min:1600 rcl_arm_max:2500 rcl_flt_ch:6 rcl_flt_min:1165 rcl_flt_max:1815 rcl_ser_bus:5 rcl_baud:0 rcl_num_ch:8 rcl_deadband:0 pin_rcl_ppm:PB8
RCL: Setup completed. Channels: throttle:1 roll:2 pitch:3 yaw:4 armed:5 flightmode:6
BAR: DPS310 setup - bar_i2c_bus:0 bar_i2c_adr:0 bar_rate:
BAR: ERROR check pin/bus config
MAG: NONE setup - mag_cal_x: mag_cal_y: mag_cal_z: mag_cal_sx: mag_cal_sy: mag_cal_sz: mag_i2c_bus:0 mag_i2c_adr:0 mag_lp: mag_align:CW0
BAT: ADC setup - bat_cal_v: bat_cal_i: bat_i2c_bus:-1 bat_i2c_adr:0 pin_bat_i:PC2 pin_bat_v:PC3
RDR: NONE setup - rdr_ser_bus:-1 rdr_baud:0 rdr_i2c_bus:-1 rdr_i2c_adr:0 pin_rdr_trig:-1 pin_rdr_echo:-1
OFL: NONE setup - ofl_spi_bus:-1 ofl_ser_bus:-1 ofl_baud:0 ofl_align:NE ofl_cal_rad: pin_ofl_cs:-1
GPS: NONE setup - gps_ser_bus:-1 gps_baud:0
BBX: NONE setup - bbx_spi_bus:-1 pin_bbx_cs:-1
ALT: KALMAN3 altCov= accCov= biasCov=
AHR: MAHONY setup -
IMU: ICM42688P setup - imu_cal_ax: imu_cal_ay: imu_cal_az: imu_cal_gx: imu_cal_gy: imu_cal_gz: imu_spi_bus:0 imu_i2c_bus:-1 imu_i2c_adr:0 imu_align:CW0 imu_rate: imu_acc_lp: imu_gyr_lp: imu_bus_type:SPI pin_imu_cs:PB12 pin_imu_int:PB13
IMU: detected:ICM42688P sample_rate:1000
IMU: Actual sample rate:1000 Hz
IMU: IMU_EXEC_IRQ
AHR: No Magnetometer, yaw:0.00
Calibrating gyro, don't move vehicle, this takes a couple of seconds...
set imu_cal_gx #config was
set imu_cal_gy #config was
set imu_cal_gz #config was
Use 'save' to save these values to flash
CLI: Command Line Interface Started - Type help for help
pgyr
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
gx: gy: gz:
pacc
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
ax: ay: az:
calinfo
Gathering sensor statistics, please wait 3 seconds ...
=== Gyro - Sample rate: 1012 Hz===
gx[deg/s] mean: stdev: min: max: n:3037
��#��� ��� �&����� ��� #=== Gyro - Sample ratgy[deg/s] mean: stdev: min: max: n:3037
��#��� ��� �&����� ��� #=== Gyro - Sample ratgz[deg/s] mean: stdev: min: max: n:3037
��#��� ��� �&����� ��� #=== Gyro - Sample rat=== Accelerometer - Sample rate: 1012 Hz===
ax[g] mean: stdev: min: max: n:3037
��,��� ��� �&����� ��� ,=== Accelerometer - Say[g] mean: stdev: min: max: n:3037
��,��� ��� �&����� ��� ,=== Accelerometer - Saz[g] mean: stdev: min: max: n:3037
��,��� ��� �&����� ��� ,=== Accelerometer - S

Not sure what's going on above with the weird chars.

I do have CRSF ELRS Serial receiver working with set rcl_gizmo CRSF and set rcl_ser_bus 5 so that's a good start

ppwm
pwm1:1500 pwm2:1500 pwm3:989 pwm4:991 pwm5:999 pwm6:999 pwm7:999 pwm8:999
pwm1:1500 pwm2:1500 pwm3:989 pwm4:1147 pwm5:999 pwm6:999 pwm7:999 pwm8:999
pwm1:1500 pwm2:1500 pwm3:989 pwm4:1421 pwm5:999 pwm6:999 pwm7:999 pwm8:999
poff

As mentioned in a previous bug report (about the IMU interrupt which is now fixed) -- I can read the gyro/accel values if I flash either board with this standalone ICM42688 library, but I cannot get madflight to confirm the IMU is working.

Any help would be much appreciated as I would rather not hack through writing all the other parts of a FC myself since madflight has already done all the hard work. :-)

[EnzoPB]

Hi,
You need to have those build/upload parameters in arduino ide. (This should probably be in the documentation).
And the barometer is not initializing, I had the same problem on one of my board. If you have one, you have to manually set the i2c address in madflight_config.h (bar_i2c_adr 0x76)

[ejowerks]

Hello EnzoPB, thanks for the quick response! I will follow your instructions and will report back on this thread.

[ejowerks]

I got it working, thank you so much! It was the C Runtime Library: "Newlib Nano + Float Printf" that did it. (I was using the default Newlib Nano setting).

I also got my baro working with

i2c I2C: Scanning i2c_bus:0 - 0x76(118) - Found 1 device(s)
set bar_i2c_adr 118

(set bar_i2c_adr 0x76 did not work)

[ejowerks]

Also would be super cool if the documentation could be updated. I know this is a higher level flight control meant for folks with dev experience but I'm sure I'm not the only one that is just barely good enough in Arduino IDE to be dangerous :-)

[ejowerks]

From EnzoPB's response above, the fix was ensuring ALL Arduino IDE build/upload settings are as follows:

//Arduino IDE settings:
//Board: Generic STM32xxx
//Board part number: select according your board
//C Runtime Library: "Newlib Nano + Float Printf"
//USB support: "CDC (general Serial supperseed U(S)ART)"
//U(S)ART) support: "Enabled (generic 'Serial')"