ChibiOS Free Embedded RTOS

Dear Giovanni,
I would open a thread about the Multipilot32 and ChibiOS . Where is better that i open it ? I try to update wiki user but my user name is not active.
I create a Multipilot32 Board as you told me Giovanni , and I implement some feature as PWM output , PPM SUM input for RC radio.
Now i would encapsulate native 'c' code in a class but i don't understand exactly what is the correct approach ?! I Yet check the class . Is better that this is my starting point for C++ application ? It will be support without any problem all 'C' native code and hardware interrupt without problem ?
I need help around my framework idea someone could help me ?
Regards
Roberto Navoni

Basically you want to create a C++ wrapper around the kernel and the HAL, it should not be a problem.

I think you should properly present your project, expose your ideas and objective and then ask for help.

I am moving this thread in the development forum, this one is for support, feel free to use this thread to promote your project and find developers.

Giovanni

Thank you Giovanni for your beautifull work
I little introduction to Multipilot32:
Multipilot32 is a Board that i developed for DIY UAV , And Robotix application, I start to work at this project 3 years ago . My first product Was Multipilot 1.0
The firts product based on avr644p , the next one is based on STM32 . STM32 is powerfull micro with a lot of possibility for people that would develop robot and drone . In my experiences I work inside worldwide team as AeroQuad or Arducopter project. So i have a lot of experience in this kind of application.
I founded a community called : www.virtualrobotix.com our mission is to develop DIY UAV or ROBOT and support user on this kind of project.
More info about the project is available here : http://www.virtualrobotix.com/profiles/ ... ower-point .
So i open this thread for advanced question about ChibiOS that our members. And other people that would join our project.
At this link there is a white paper of VROS : http://www.virtualrobotix.com/forum/top ... hite-paper , a ChibiOS distribution developed fo UAV and ROBOTIX application , DIY and professional .. Why not
Other usefull link are :
http://www.virtualrobotix.com/forum/top ... vanced-sdk
http://www.virtualrobotix.com/forum/top ... ng-started

Multipilot32 is available for OEM and is possible to obtain some customization.

Regards
Roberto

Internal RC Oscillator.

Hi Giovanni,
i activate internal oscillator with this stantment in mcuconf.h.
It work fine , but my impression is that is different the time base ? Its' right ? I found that the pwm don't work fine as with the external clock ... there are other option to set ?
Regards
Roberto

* HAL driver system settings.
*/
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSI // WAS HSE for external source as clock.
#define STM32_PLLXTPRE STM32_PLLXTPRE_DIV1
#define STM32_PLLMUL_VALUE 9
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV2
#define STM32_PPRE2 STM32_PPRE2_DIV2
#define STM32_ADCPRE STM32_ADCPRE_DIV4
#define STM32_USBPRE STM32_USBPRE_DIV1P5
#define STM32_MCO STM32_MCO_NOCLOCK

Another questions , is i share a variable inside a routine and inside a thread that variable are shared ? Or not ... my impression is not.
I doing a simple program that set in a thread the value true or false of a variable ... and in another thread used it for execute or not the code .. but don't work .. the variable is false and not became true . There's a reason ?

Regards
Roberto

Were the above questions meant to be in this thread or a follow-up of your latest private message?

Anyway, the clock related settings are in mcuconf.h, please define what anomaly you have with the PWM, it is hard to answer such a vague question. You should expect less precision and drift from the HSI oscillator.

About variables, automatic variables are local to threads, static/global variables are shared.

Giovanni

Giovanni wrote:Were the above questions meant to be in this thread or a follow-up of your latest private message?

Anyway, the clock related settings are in mcuconf.h, please define what anomaly you have with the PWM, it is hard to answer such a vague question. You should expect less precision and drift from the HSI oscillator.

About variables, automatic variables are local to threads, static/global variables are shared.

Giovanni

Hi Giovanni for me is ok that you reply in this thread so also other people can learn from our discussion... Now i connect a rc servo motor and i see that don't rotate in the same way my impression is that dont work fromm 1000 to 2000 microseconds , but is in another window .. near but not the same . I need to check it by the oscilloscope. I read the info about internal rc , i don't think that it is so pour the precision .
Thanks for your reply about the variable ..
Another small question , where i can found example using spi ?
Regards
Roberto

I asked because you risk to hide your original message into the noise, support requests are better handled in the support forum anyway.

You shouldn't expect precision nor stability from internal oscillators, I think you should measure the frequency to be sure.

There is a SPI demo under testhal/stm32, you may also study the STM32VL-Discovery demo.

Giovanni

Giovanni wrote:I asked because you risk to hide your original message into the noise, support requests are better handled in the support forum anyway.

You shouldn't expect precision nor stability from internal oscillators, I think you should measure the frequency to be sure.

There is a SPI demo under testhal/stm32, you may also study the STM32VL-Discovery demo.

Giovanni

Ok for me no problem is the same .. ok check that demo sorry if i ask you again but i forget So i check with oscilloscope instead of 1000 micro i see 2000 micro instead of 2000 i see 4000 .. so the resolution is ok but is twice slower that if i use external clock i think that i need to change a multiplier on pll ?!
Do you have an idea ?
Regards
Roberto

Hi Giovanni ,
i tested the SPI and it work fine ..
Now I put a thread for RC Radio , another for PWM ,an thread for Serial port and Other for read of raw sensor data .. now i need the i2c .. how i can add the support on standard i2c to my chibiOS ?
Regards
Roberto

There is no official I2C support yet. You could ask to various people that implemented I2C in their own way.

Giovanni