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Merge pull request #1 from nathantsoi/sirinfpv-and-osd-cleanup

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Sirinfpv and osd cleanup
This commit is contained in:
Evgeny 2016-06-13 23:20:37 -07:00 • committed by GitHub
commit 030b1baa30
62 changed files with 2233 additions and 675 deletions
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Makefile
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@ -43,69 +43,6 @@ FLASH_SIZE ?=
FORKNAME = betaflight FORKNAME = betaflight
CC3D_TARGETS = CC3D CC3D_OPBL
NAZE_TARGETS = AFROMINI ALIENFLIGHTF1
SPRACINGF3_TARGETS = IRCFUSIONF3 RMDO
SDCARD_TARGETS = ALIENFLIGHTF4 AQ32_V2 BLUEJAYF4 FURYF3 FURYF4 SPRACINGF3MINI
SERIAL_USB_TARGETS = IRCFUSIONF3 SPRACINGF3
# Valid targets for STM VCP support
VCP_TARGETS = $(CC3D_TARGETS) BLUEJAYF4 FURYF3 FURYF4 REVO REVO_OPBL
# Valid targets for OP BootLoader support
OPBL_TARGETS = CC3D_OPBL REVO_OPBL
F405_TARGETS = ALIENFLIGHTF4 BLUEJAYF4 FURYF4 REVO REVO_OPBL
F405_TARGETS_16 =
F411_TARGETS =
F1_TARGETS = $(CC3D_TARGETS) AFROMINI ALIENFLIGHTF1 NAZE OLIMEXINO PORT103R
F3_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE DOGE FURYF3 IRCFUSIONF3 KISSFC LUX_RACE MOTOLAB NAZE32PRO RMDO SINGULARITY SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY
F4_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16) $(F411_TARGETS)
VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
64K_TARGETS = CJMCU
128K_TARGETS = $(CC3D_TARGETS) AFROMINI ALIENFLIGHTF1 NAZE OLIMEXINO RMDO
256K_TARGETS = $(F3_TARGETS) EUSTM32F103RC PORT103R
512K_TARGETS = $(F411_TARGETS)
1024K_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16)
# Configure default flash sizes for the targets
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
FLASH_SIZE = 64
else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
FLASH_SIZE = 128
else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
FLASH_SIZE = 256
else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
FLASH_SIZE = 512
else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
FLASH_SIZE = 1024
else
$(error FLASH_SIZE not configured for target $(TARGET))
endif
endif
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(DEBUG_HARDFAULTS),F3)
CFLAGS += -DDEBUG_HARDFAULTS
STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
else
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
endif
REVISION = $(shell git log -1 --format="%h")
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# Working directories # Working directories
ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST)))) ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
SRC_DIR = $(ROOT)/src/main SRC_DIR = $(ROOT)/src/main
@ -116,6 +53,81 @@ INCLUDE_DIRS = $(SRC_DIR) \
$(ROOT)/src/main/target $(ROOT)/src/main/target
LINKER_DIR = $(ROOT)/src/main/target LINKER_DIR = $(ROOT)/src/main/target
# default xtal value for F4 targets
HSE_VALUE = 8000000
# used for turning on features like VCP and SDCARD
FEATURES =
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
#VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
VALID_TARGETS := $(sort $(VALID_TARGETS))
ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
BASE_TARGET := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
-include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
else
BASE_TARGET := $(TARGET)
endif
ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
OPBL = yes
endif
# silently ignore if the file is not present. Allows for target specific.
-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS)
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
endif
ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
$(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
endif
128K_TARGETS = $(F1_TARGETS)
256K_TARGETS = $(F3_TARGETS)
512K_TARGETS = $(F411_TARGETS)
1024K_TARGETS = $(F405_TARGETS)
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
FLASH_SIZE = 1024
else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
FLASH_SIZE = 512
else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
FLASH_SIZE = 256
else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
FLASH_SIZE = 128
else
$(error FLASH_SIZE not configured for target $(TARGET))
endif
endif
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(DEBUG_HARDFAULTS),F3)
CFLAGS += -DDEBUG_HARDFAULTS
STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
else
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
endif
REVISION = $(shell git log -1 --format="%h")
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# Search path for sources # Search path for sources
VPATH := $(SRC_DIR):$(SRC_DIR)/startup VPATH := $(SRC_DIR):$(SRC_DIR)/startup
USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
@ -125,7 +137,6 @@ FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
CSOURCES := $(shell find $(SRC_DIR) -name '*.c') CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS))) ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
# F3 TARGETS # F3 TARGETS
@ -146,7 +157,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(CMSIS_DIR)/CM1/CoreSupport \ $(CMSIS_DIR)/CM1/CoreSupport \
$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
ifneq ($(TARGET),$(filter $(TARGET), $(SERIAL_USB_TARGETS))) ifneq ($(filter VCP, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(USBFS_DIR)/inc \ $(USBFS_DIR)/inc \
$(ROOT)/src/main/vcp $(ROOT)/src/main/vcp
@ -155,10 +166,9 @@ VPATH := $(VPATH):$(USBFS_DIR)/src
DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\ DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
$(USBPERIPH_SRC) $(USBPERIPH_SRC)
endif endif
ifeq ($(TARGET),$(filter $(TARGET), $(SDCARD_TARGETS))) ifneq ($(filter SDCARD, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(FATFS_DIR) \ $(FATFS_DIR) \
@ -170,9 +180,9 @@ LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
TARGET_FLAGS = -D$(TARGET) TARGET_FLAGS = -D$(TARGET)
## End F3 targets # End F3 targets
## #
## Start F4 targets # Start F4 targets
else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS))) else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
#STDPERIPH #STDPERIPH
@ -243,7 +253,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \ $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
$(ROOT)/src/main/vcpf4 $(ROOT)/src/main/vcpf4
ifeq ($(TARGET),$(filter $(TARGET),$(SDCARD_TARGETS))) ifneq ($(filter SDCARD,$(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(FATFS_DIR) $(FATFS_DIR)
VPATH := $(VPATH):$(FATFS_DIR) VPATH := $(VPATH):$(FATFS_DIR)
@ -254,54 +264,19 @@ ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu
ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS))) ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
DEVICE_FLAGS = -DSTM32F411xE DEVICE_FLAGS = -DSTM32F411xE
DEVICE_FLAGS += -DHSE_VALUE=8000000
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld
else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS_16)))
DEVICE_FLAGS = -DSTM32F40_41xxx
DEVICE_FLAGS += -DHSE_VALUE=16000000
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS))) else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
DEVICE_FLAGS = -DSTM32F40_41xxx DEVICE_FLAGS = -DSTM32F40_41xxx
DEVICE_FLAGS += -DHSE_VALUE=8000000
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
else else
$(error Unknown MCU for F4 target) $(error Unknown MCU for F4 target)
endif endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
TARGET_FLAGS = -D$(TARGET) TARGET_FLAGS = -D$(TARGET)
## End F4 targets # End F4 targets
## #
## Start EUSTM32F103RC PORT103R targets # Start F1 targets
else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
EXCLUDES = stm32f10x_crc.c \
stm32f10x_cec.c \
stm32f10x_can.c
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
# Search path and source files for the CMSIS sources
VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/inc \
$(CMSIS_DIR)/CM3/CoreSupport \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic
DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
## End EUSTM32F103RC PORT103R targets
##
## Start F1 targets
else else
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
@ -324,7 +299,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC) DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
ifeq ($(TARGET),$(filter $(TARGET), $(VCP_TARGETS))) ifneq ($(filter VCP, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(USBFS_DIR)/inc \ $(USBFS_DIR)/inc \
$(ROOT)/src/main/vcp $(ROOT)/src/main/vcp
@ -338,72 +313,42 @@ endif
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic TARGET_FLAGS := -D$(TARGET) -pedantic $(TARGET_FLAGS)
DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
ifeq ($(DEVICE_FLAGS),)
DEVICE_FLAGS = -DSTM32F10X_MD
endif
DEVICE_FLAGS += -DSTM32F10X
endif endif
## #
## End F1 targets # End F1 targets
## #
ifneq ($(BASE_TARGET), $(TARGET))
TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET)
endif
ifneq ($(FLASH_SIZE),) ifneq ($(FLASH_SIZE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE) DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
endif endif
TARGET_DIR = $(ROOT)/src/main/target/$(TARGET) TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c)) TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
# VARIANTS
ifeq ($(TARGET),CHEBUZZF3)
# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
endif
ifeq ($(TARGET),$(filter $(TARGET),$(SPRACINGF3_TARGETS)))
# VARIANTS of SPRACINGF3
TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
endif
ifeq ($(TARGET),$(filter $(TARGET), $(NAZE_TARGETS)))
# VARIANTS of NAZE
TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -D$(TARGET)
TARGET_DIR = $(ROOT)/src/main/target/NAZE
endif
ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
ifeq ($(TARGET),CC3D_OPBL)
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
CC3D_OPBL_SRC = $(CC3D_SRC)
endif
TARGET_DIR = $(ROOT)/src/main/target/CC3D
endif
ifeq ($(TARGET),$(filter $(TARGET), REVO_OPBL))
TARGET_FLAGS := $(TARGET_FLAGS) -DREVO
TARGET_DIR = $(ROOT)/src/main/target/REVO
TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
endif
ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
OPBL=yes
endif
ifeq ($(OPBL),yes) ifeq ($(OPBL),yes)
ifeq ($(TARGET),$(filter $(TARGET),$(OPBL_TARGETS)))
TARGET_FLAGS := -DOPBL $(TARGET_FLAGS) TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS))) ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_bl.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS))) else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_bl.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
else else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
endif endif
.DEFAULT_GOAL := binary .DEFAULT_GOAL := binary
else else
$(error OPBL specified with a unsupported target) .DEFAULT_GOAL := hex
endif
endif endif
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
@ -415,7 +360,7 @@ COMMON_SRC = \
build_config.c \ build_config.c \
debug.c \ debug.c \
version.c \ version.c \
$(TARGET_SRC) \ $(TARGET_DIR_SRC) \
main.c \ main.c \
mw.c \ mw.c \
scheduler.c \ scheduler.c \
@ -497,6 +442,15 @@ HIGHEND_SRC = \
telemetry/smartport.c \ telemetry/smartport.c \
telemetry/ltm.c telemetry/ltm.c
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
VCP_SRC = \
vcpf4/stm32f4xx_it.c \
vcpf4/usb_bsp.c \
vcpf4/usbd_desc.c \
vcpf4/usbd_usr.c \
vcpf4/usbd_cdc_vcp.c \
drivers/serial_usb_vcp.c
else
VCP_SRC = \ VCP_SRC = \
vcp/hw_config.c \ vcp/hw_config.c \
vcp/stm32_it.c \ vcp/stm32_it.c \
@ -507,14 +461,7 @@ VCP_SRC = \
vcp/usb_pwr.c \ vcp/usb_pwr.c \
drivers/serial_usb_vcp.c \ drivers/serial_usb_vcp.c \
drivers/usb_io.c drivers/usb_io.c
endif
VCPF4_SRC = \
vcpf4/stm32f4xx_it.c \
vcpf4/usb_bsp.c \
vcpf4/usbd_desc.c \
vcpf4/usbd_usr.c \
vcpf4/usbd_cdc_vcp.c \
drivers/serial_usb_vcp.c
STM32F10x_COMMON_SRC = \ STM32F10x_COMMON_SRC = \
startup_stm32f10x_md_gcc.S \ startup_stm32f10x_md_gcc.S \
@ -553,430 +500,49 @@ STM32F4xx_COMMON_SRC = \
drivers/serial_uart_stm32f4xx.c \ drivers/serial_uart_stm32f4xx.c \
drivers/system_stm32f4xx.c \ drivers/system_stm32f4xx.c \
drivers/timer_stm32f4xx.c \ drivers/timer_stm32f4xx.c \
drivers/dma_stm32f4xx.c \ drivers/dma_stm32f4xx.c
# check if target.mk supplied
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
endif
ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
TARGET_SRC += \
drivers/flash_m25p16.c \ drivers/flash_m25p16.c \
io/flashfs.c io/flashfs.c
endif
NAZE_SRC = \ ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
$(STM32F10x_COMMON_SRC) \ TARGET_SRC += $(HIGHEND_SRC)
drivers/accgyro_adxl345.c \ else ifneq ($(filter HIGHEND,$(FEATURES)),)
drivers/accgyro_bma280.c \ TARGET_SRC += $(HIGHEND_SRC)
drivers/accgyro_l3g4200d.c \ endif
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
hardware_revision.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
ALIENFLIGHTF1_SRC = $(NAZE_SRC) TARGET_SRC += $(COMMON_SRC)
AFROMINI_SRC = $(NAZE_SRC) ifneq ($(filter SDCARD,$(FEATURES)),)
TARGET_SRC += \
EUSTM32F103RC_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
PORT103R_SRC = $(EUSTM32F103RC_SRC)
OLIMEXINO_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
CJMCU_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/compass_hmc5883l.c \
hardware_revision.c \
flight/gtune.c \
blackbox/blackbox.c \
blackbox/blackbox_io.c \
$(COMMON_SRC)
CC3D_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
NAZE32PRO_SRC = \
$(STM32F30x_COMMON_SRC) \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
STM32F3DISCOVERY_COMMON_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/light_ws2811strip.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/compass_hmc5883l.c \
$(VCP_SRC)
STM32F3DISCOVERY_SRC = \
$(STM32F3DISCOVERY_COMMON_SRC) \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/sdcard.c \ drivers/sdcard.c \
drivers/sdcard_standard.c \ drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \ io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \ io/asyncfatfs/fat_standard.c
$(HIGHEND_SRC) \ endif
$(COMMON_SRC)
CHEBUZZF3_SRC = \ ifneq ($(filter VCP,$(FEATURES)),)
$(STM32F3DISCOVERY_SRC) \ TARGET_SRC += $(VCP_SRC)
$(HIGHEND_SRC) \ endif
$(COMMON_SRC)
COLIBRI_RACE_SRC = \ ifneq ($(filter MAX_OSD, $(FEATURES)),)
$(STM32F30x_COMMON_SRC) \ TARGET_SRC += $(SRC_DIR)/drivers/max7456.c \
io/i2c_bst.c \ $(SRC_DIR)/io/osd.c
drivers/bus_bst_stm32f30x.c \ endif
drivers/accgyro_mpu.c \ # end target specific make file checks
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8963.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
KISSFC_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/display_ug2864hsweg01.c \
drivers/accgyro_mpu6050.c \
drivers/serial_usb_vcp.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
LUX_RACE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
DOGE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/barometer_spi_bmp280.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
SPARKY_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
ALIENFLIGHTF3_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/compass_ak8963.c \
hardware_revision.c \
drivers/serial_usb_vcp.c \
drivers/sonar_hcsr04.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
RMDO_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp280.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
SPRACINGF3_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
IRCFUSIONF3_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/flash_m25p16.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
SPRACINGF3EVO_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8963.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
drivers/transponder_ir.c \
drivers/transponder_ir_stm32f30x.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
io/transponder_ir.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
MOTOLAB_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/serial_usb_vcp.c \
drivers/flash_m25p16.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
SPRACINGF3MINI_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/serial_usb_vcp.c \
drivers/sonar_hcsr04.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
drivers/transponder_ir.c \
drivers/transponder_ir_stm32f30x.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
io/transponder_ir.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
# $(FATFS_SRC)
SINGULARITY_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/serial_usb_vcp.c \
drivers/vtx_rtc6705.c \
io/flashfs.c \
io/vtx.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
FURYF3_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
drivers/flash_m25p16.c \
drivers/sonar_hcsr04.c \
drivers/serial_softserial.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
ALIENFLIGHTF4_SRC = \
$(STM32F4xx_COMMON_SRC) \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_spi_mpu9250.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8963.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f4xx.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCPF4_SRC)
BLUEJAYF4_SRC = \
$(STM32F4xx_COMMON_SRC) \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCPF4_SRC)
REVO_SRC = \
$(STM32F4xx_COMMON_SRC) \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCPF4_SRC)
REVO_OPBL_SRC = $(REVO_SRC)
FURYF4_SRC = \
$(STM32F4xx_COMMON_SRC) \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/sdcard.c \
drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCPF4_SRC)
# Search path and source files for the ST stdperiph library # Search path and source files for the ST stdperiph library
VPATH := $(VPATH):$(STDPERIPH_DIR)/src VPATH := $(VPATH):$(STDPERIPH_DIR)/src
@ -1053,15 +619,11 @@ CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
# #
# Things we will build # Things we will build
# #
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
endif
TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC)))) TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC)))) TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
@ -1081,7 +643,7 @@ $(TARGET_BIN): $(TARGET_ELF)
$(TARGET_ELF): $(TARGET_OBJS) $(TARGET_ELF): $(TARGET_OBJS)
@echo LD $(notdir $@) @echo LD $(notdir $@)
@$(CC) -o $@ $^ $(LDFLAGS) @$(CC) -o $@ $^ $(LDFLAGS)
$(SIZE) $(TARGET_ELF) $(SIZE) $(TARGET_ELF)
# Compile # Compile
$(OBJECT_DIR)/$(TARGET)/%.o: %.c $(OBJECT_DIR)/$(TARGET)/%.o: %.c
@ -1101,37 +663,47 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
@$(CC) -c -o $@ $(ASFLAGS) $< @$(CC) -c -o $@ $(ASFLAGS) $<
## all : default task; compile C code, build firmware ## all : default task; compile C code, build firmware
all: binary all:
## all_targets : build all valid target platforms
all_targets:
for build_target in $(VALID_TARGETS); do \ for build_target in $(VALID_TARGETS); do \
echo "" && \
echo "Building $$build_target" && \ echo "Building $$build_target" && \
$(MAKE) clean && \ $(MAKE) -j binary hex TARGET=$$build_target || \
$(MAKE) -j TARGET=$$build_target || \
break; \ break; \
echo "Building $$build_target succeeded."; \ echo "Building $$build_target succeeded."; \
done done
## clean : clean up all temporary / machine-generated files ## clean : clean up all temporary / machine-generated files
clean: clean:
rm -f $(CLEAN_ARTIFACTS) rm -f $(CLEAN_ARTIFACTS)
rm -rf $(OBJECT_DIR)/$(TARGET) rm -rf $(OBJECT_DIR)/$(TARGET)
## clean_test : clean up all temporary / machine-generated files (tests)
clean_test:
cd src/test && $(MAKE) clean || true cd src/test && $(MAKE) clean || true
## clean_all_targets : clean all valid target platforms
clean_all:
for clean_target in $(VALID_TARGETS); do \
echo "" && \
echo "Cleaning $$clean_target" && \
$(MAKE) -j TARGET=$$clean_target clean || \
break; \
echo "Cleaning $$clean_target succeeded."; \
done
flash_$(TARGET): $(TARGET_HEX) flash_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
echo -n 'R' >$(SERIAL_DEVICE) echo -n 'R' >$(SERIAL_DEVICE)
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller ## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET) flash: flash_$(TARGET)
st-flash_$(TARGET): $(TARGET_BIN) st-flash_$(TARGET): $(TARGET_BIN)
st-flash --reset write $< 0x08000000 st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller ## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET) st-flash: st-flash_$(TARGET)
binary: $(TARGET_BIN) binary: $(TARGET_BIN)
@ -1141,17 +713,17 @@ unbrick_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller ## unbrick : unbrick flight controller
unbrick: unbrick_$(TARGET) unbrick: unbrick_$(TARGET)
## cppcheck : run static analysis on C source code ## cppcheck : run static analysis on C source code
cppcheck: $(CSOURCES) cppcheck: $(CSOURCES)
$(CPPCHECK) $(CPPCHECK)
cppcheck-result.xml: $(CSOURCES) cppcheck-result.xml: $(CSOURCES)
$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
## help : print this help message and exit ## help : print this help message and exit
help: Makefile help: Makefile
@echo "" @echo ""
@echo "Makefile for the $(FORKNAME) firmware" @echo "Makefile for the $(FORKNAME) firmware"
@ -1163,11 +735,13 @@ help: Makefile
@echo "" @echo ""
@sed -n 's/^## //p' $< @sed -n 's/^## //p' $<
## targets : print a list of all valid target platforms (for consumption by scripts) ## targets : print a list of all valid target platforms (for consumption by scripts)
targets: targets:
@echo $(VALID_TARGETS) @echo "Valid targets: $(VALID_TARGETS)"
@echo "Target: $(TARGET)"
@echo "Base target: $(BASE_TARGET)"
## test : run the cleanflight test suite ## test : run the cleanflight test suite
test: test:
cd src/test && $(MAKE) test || true cd src/test && $(MAKE) test || true

3
fake_travis_build.sh
View file

@ -17,7 +17,8 @@ targets=("PUBLISHMETA=True" \
"TARGET=ALIENFLIGHTF1" \ "TARGET=ALIENFLIGHTF1" \
"TARGET=ALIENFLIGHTF3" \ "TARGET=ALIENFLIGHTF3" \
"TARGET=DOGE" \ "TARGET=DOGE" \
"TARGET=SINGULARITY") "TARGET=SINGULARITY" \
"TARGET=SIRINFPV")
#fake a travis build environment #fake a travis build environment
export TRAVIS_BUILD_NUMBER=$(date +%s) export TRAVIS_BUILD_NUMBER=$(date +%s)

59
q
View file

@ -1,59 +0,0 @@
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index fdde2cf..53464ef 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -67,6 +67,7 @@ static pidProfile_t *pidProfile;
static bool isUsingSticksToArm = true;

int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
+int16_t rcCommandSmooth[4]; // Smoothed RcCommand

uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e

diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index eaec277..dd8afaf 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -147,6 +147,7 @@ typedef struct controlRateConfig_s {
} controlRateConfig_t;

extern int16_t rcCommand[4];
+extern int16_t rcCommandSmooth[4]; // Smoothed RcCommand

typedef struct rcControlsConfig_s {
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
diff --git a/src/main/mw.c b/src/main/mw.c
index 125674c..5da79cf 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -181,7 +181,7 @@ void filterRc(void)

if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
- deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
+ deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcCommand[channel];
}

@@ -194,7 +194,7 @@ void filterRc(void)
// Interpolate steps of rcCommand
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
- rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
+ rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
@@ -649,8 +649,11 @@ void subTaskMainSubprocesses(void) {

const uint32_t startTime = micros();

+ filterRc();
+
if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
- filterRc();
+ int axis;
+ for (axis = 0; axis <= 4; axis++) rcCommand[axis] = rcCommandSmooth[axis];
}

// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.

1
src/main/blackbox/blackbox.c
View file

@ -60,6 +60,7 @@
#include "io/serial_cli.h" #include "io/serial_cli.h"
#include "io/serial_msp.h" #include "io/serial_msp.h"
#include "io/statusindicator.h" #include "io/statusindicator.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "rx/rx.h" #include "rx/rx.h"

1
src/main/blackbox/blackbox_io.c
View file

@ -36,6 +36,7 @@
#include "io/escservo.h" #include "io/escservo.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "io/rc_controls.h" #include "io/rc_controls.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "io/gimbal.h" #include "io/gimbal.h"

27
src/main/config/config.c
View file

@ -55,6 +55,7 @@
#include "io/rc_curves.h" #include "io/rc_curves.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/gps.h" #include "io/gps.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "rx/rx.h" #include "rx/rx.h"
@ -418,6 +419,32 @@ static void resetConf(void)
featureSet(DEFAULT_FEATURES); featureSet(DEFAULT_FEATURES);
#endif #endif
#ifdef SIRINFPV
featureSet(FEATURE_OSD);
featureSet(FEATURE_RX_SERIAL);
masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
//masterConfig.batteryConfig.vbatscale = 20;
masterConfig.mag_hardware = MAG_NONE; // disabled by default
masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
masterConfig.blackbox_device = 1;
masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1;
#endif
#ifdef OSD
masterConfig.vtx_channel = 19;
masterConfig.osdProfile.system = 0;
masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE] = -29;
masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE] = -59;
masterConfig.osdProfile.item_pos[OSD_TIMER] = -39;
masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS] = -9;
masterConfig.osdProfile.item_pos[OSD_CPU_LOAD] = 26;
masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL] = 1;
masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING] = -80;
masterConfig.osdProfile.item_pos[OSD_ARMED] = -107;
masterConfig.osdProfile.item_pos[OSD_DISARMED] = -109;
#endif
#ifdef BOARD_HAS_VOLTAGE_DIVIDER #ifdef BOARD_HAS_VOLTAGE_DIVIDER
// only enable the VBAT feature by default if the board has a voltage divider otherwise // only enable the VBAT feature by default if the board has a voltage divider otherwise
// the user may see incorrect readings and unexpected issues with pin mappings may occur. // the user may see incorrect readings and unexpected issues with pin mappings may occur.

1
src/main/config/config.h
View file

@ -46,6 +46,7 @@ typedef enum {
FEATURE_TRANSPONDER = 1 << 21, FEATURE_TRANSPONDER = 1 << 21,
FEATURE_AIRMODE = 1 << 22, FEATURE_AIRMODE = 1 << 22,
FEATURE_SUPEREXPO_RATES = 1 << 23, FEATURE_SUPEREXPO_RATES = 1 << 23,
FEATURE_OSD = 1 << 24,
} features_e; } features_e;
void handleOneshotFeatureChangeOnRestart(void); void handleOneshotFeatureChangeOnRestart(void);

5
src/main/config/config_master.h
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@ -125,6 +125,11 @@ typedef struct master_t {
uint8_t transponderData[6]; uint8_t transponderData[6];
#endif #endif
#ifdef OSD
uint8_t vtx_channel;
osd_profile osdProfile;
#endif
profile_t profile[MAX_PROFILE_COUNT]; profile_t profile[MAX_PROFILE_COUNT];
uint8_t current_profile_index; uint8_t current_profile_index;

188
src/main/drivers/max7456.c Normal file
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@ -0,0 +1,188 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <stdint.h>
#include "common/printf.h"
#include "platform.h"
#include "version.h"
#ifdef USE_MAX7456
#include "drivers/bus_spi.h"
#include "drivers/system.h"
#include "max7456.h"
#define DISABLE_MAX7456 GPIO_SetBits(MAX7456_CS_GPIO, MAX7456_CS_PIN)
#define ENABLE_MAX7456 GPIO_ResetBits(MAX7456_CS_GPIO, MAX7456_CS_PIN)
uint16_t max_screen_size;
uint8_t video_signal_type = 0;
uint8_t max7456_lock = 0;
char screen[480];
uint8_t max7456_send(uint8_t add, uint8_t data) {
spiTransferByte(MAX7456_SPI_INSTANCE, add);
return spiTransferByte(MAX7456_SPI_INSTANCE, data);
}
void max7456_init(uint8_t system) {
uint8_t max_screen_rows;
uint8_t srdata = 0;
uint16_t x;
char buf[30];
//Minimum spi clock period for max7456 is 100ns (10Mhz)
spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_9MHZ_CLOCK_DIVIDER);
delay(1000);
// force soft reset on Max7456
ENABLE_MAX7456;
max7456_send(VM0_REG, MAX7456_RESET);
delay(100);
srdata = max7456_send(0xA0, 0xFF);
if ((0x01 & srdata) == 0x01){ //PAL
video_signal_type = VIDEO_MODE_PAL;
}
else if((0x02 & srdata) == 0x02){ //NTSC
video_signal_type = VIDEO_MODE_NTSC;
}
// Override detected type: 0-AUTO, 1-PAL, 2-NTSC
switch(system) {
case 1:
video_signal_type = VIDEO_MODE_PAL;
break;
case 2:
video_signal_type = VIDEO_MODE_NTSC;
break;
}
if (video_signal_type) { //PAL
max_screen_size = 480;
max_screen_rows = 16;
} else { // NTSC
max_screen_size = 390;
max_screen_rows = 13;
}
// set all rows to same charactor black/white level
for(x = 0; x < max_screen_rows; x++) {
max7456_send(MAX7456ADD_RB0 + x, BWBRIGHTNESS);
}
// make sure the Max7456 is enabled
max7456_send(VM0_REG, OSD_ENABLE | video_signal_type);
DISABLE_MAX7456;
delay(100);
x = 160;
for (int i = 1; i < 5; i++) {
for (int j = 3; j < 27; j++)
screen[i * 30 + j] = (char)x++;
}
tfp_sprintf(buf, "BF VERSION: %s", FC_VERSION_STRING);
max7456_write_string(buf, 5*30+5);
max7456_write_string("MENU: THRT MID", 6*30+7);
max7456_write_string("YAW RIGHT", 7*30+13);
max7456_write_string("PITCH UP", 8*30+13);
max7456_draw_screen();
}
// Copy string from ram into screen buffer
void max7456_write_string(const char *string, int16_t address) {
char *dest;
if (address >= 0)
dest = screen + address;
else
dest = screen + (max_screen_size + address);
while(*string)
*dest++ = *string++;
}
void max7456_draw_screen(void) {
uint16_t xx;
if (!max7456_lock) {
ENABLE_MAX7456;
for (xx = 0; xx < max_screen_size; ++xx) {
max7456_send(MAX7456ADD_DMAH, xx>>8);
max7456_send(MAX7456ADD_DMAL, xx);
max7456_send(MAX7456ADD_DMDI, screen[xx]);
screen[xx] = ' ';
}
DISABLE_MAX7456;
}
}
void max7456_draw_screen_fast(void) {
uint16_t xx;
if (!max7456_lock) {
ENABLE_MAX7456;
max7456_send(MAX7456ADD_DMAH, 0);
max7456_send(MAX7456ADD_DMAL, 0);
max7456_send(MAX7456ADD_DMM, 1);
for (xx = 0; xx < max_screen_size; ++xx) {
max7456_send(MAX7456ADD_DMDI, screen[xx]);
screen[xx] = ' ';
}
max7456_send(MAX7456ADD_DMDI, 0xFF);
max7456_send(MAX7456ADD_DMM, 0);
DISABLE_MAX7456;
}
}
void max7456_write_nvm(uint8_t char_address, uint8_t *font_data) {
uint8_t x;
max7456_lock = 1;
ENABLE_MAX7456;
// disable display
max7456_send(VM0_REG, video_signal_type);
max7456_send(MAX7456ADD_CMAH, char_address); // set start address high
for(x = 0; x < 54; x++) {
max7456_send(MAX7456ADD_CMAL, x); //set start address low
max7456_send(MAX7456ADD_CMDI, font_data[x]);
}
// transfer 54 bytes from shadow ram to NVM
max7456_send(MAX7456ADD_CMM, WRITE_NVR);
// wait until bit 5 in the status register returns to 0 (12ms)
while ((spiTransferByte(MAX7456_SPI_INSTANCE, MAX7456ADD_STAT) & STATUS_REG_NVR_BUSY) != 0);
max7456_send(VM0_REG, video_signal_type | 0x0C);
DISABLE_MAX7456;
max7456_lock = 0;
}
#endif

125
src/main/drivers/max7456.h Normal file
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@ -0,0 +1,125 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef WHITEBRIGHTNESS
#define WHITEBRIGHTNESS 0x01
#endif
#ifndef BLACKBRIGHTNESS
#define BLACKBRIGHTNESS 0x00
#endif
#define BWBRIGHTNESS ((BLACKBRIGHTNESS << 2) | WHITEBRIGHTNESS)
//MAX7456 opcodes
#define DMM_REG 0x04
#define DMAH_REG 0x05
#define DMAL_REG 0x06
#define DMDI_REG 0x07
#define VM0_REG 0x00
#define VM1_REG 0x01
// video mode register 0 bits
#define VIDEO_BUFFER_DISABLE 0x01
#define MAX7456_RESET 0x02
#define VERTICAL_SYNC_NEXT_VSYNC 0x04
#define OSD_ENABLE 0x08
#define SYNC_MODE_AUTO 0x00
#define SYNC_MODE_INTERNAL 0x30
#define SYNC_MODE_EXTERNAL 0x20
#define VIDEO_MODE_PAL 0x40
#define VIDEO_MODE_NTSC 0x00
// video mode register 1 bits
// duty cycle is on_off
#define BLINK_DUTY_CYCLE_50_50 0x00
#define BLINK_DUTY_CYCLE_33_66 0x01
#define BLINK_DUTY_CYCLE_25_75 0x02
#define BLINK_DUTY_CYCLE_75_25 0x03
// blinking time
#define BLINK_TIME_0 0x00
#define BLINK_TIME_1 0x04
#define BLINK_TIME_2 0x08
#define BLINK_TIME_3 0x0C
// background mode brightness (percent)
#define BACKGROUND_BRIGHTNESS_0 0x00
#define BACKGROUND_BRIGHTNESS_7 0x01
#define BACKGROUND_BRIGHTNESS_14 0x02
#define BACKGROUND_BRIGHTNESS_21 0x03
#define BACKGROUND_BRIGHTNESS_28 0x04
#define BACKGROUND_BRIGHTNESS_35 0x05
#define BACKGROUND_BRIGHTNESS_42 0x06
#define BACKGROUND_BRIGHTNESS_49 0x07
#define BACKGROUND_MODE_GRAY 0x40
//MAX7456 commands
#define CLEAR_DISPLAY 0x04
#define CLEAR_DISPLAY_VERT 0x06
#define END_STRING 0xff
#define MAX7456ADD_VM0 0x00 //0b0011100// 00 // 00 ,0011100
#define MAX7456ADD_VM1 0x01
#define MAX7456ADD_HOS 0x02
#define MAX7456ADD_VOS 0x03
#define MAX7456ADD_DMM 0x04
#define MAX7456ADD_DMAH 0x05
#define MAX7456ADD_DMAL 0x06
#define MAX7456ADD_DMDI 0x07
#define MAX7456ADD_CMM 0x08
#define MAX7456ADD_CMAH 0x09
#define MAX7456ADD_CMAL 0x0a
#define MAX7456ADD_CMDI 0x0b
#define MAX7456ADD_OSDM 0x0c
#define MAX7456ADD_RB0 0x10
#define MAX7456ADD_RB1 0x11
#define MAX7456ADD_RB2 0x12
#define MAX7456ADD_RB3 0x13
#define MAX7456ADD_RB4 0x14
#define MAX7456ADD_RB5 0x15
#define MAX7456ADD_RB6 0x16
#define MAX7456ADD_RB7 0x17
#define MAX7456ADD_RB8 0x18
#define MAX7456ADD_RB9 0x19
#define MAX7456ADD_RB10 0x1a
#define MAX7456ADD_RB11 0x1b
#define MAX7456ADD_RB12 0x1c
#define MAX7456ADD_RB13 0x1d
#define MAX7456ADD_RB14 0x1e
#define MAX7456ADD_RB15 0x1f
#define MAX7456ADD_OSDBL 0x6c
#define MAX7456ADD_STAT 0xA0
#define NVM_RAM_SIZE 54
#define WRITE_NVR 0xA0
#define STATUS_REG_NVR_BUSY 0x20
extern uint16_t max_screen_size;
char screen[480];
void max7456_init(uint8_t system);
void max7456_draw_screen(void);
void max7456_draw_screen_fast(void);
void max7456_write_string(const char *string, int16_t address);
void max7456_write_nvm(uint8_t char_address, uint8_t *font_data);

151
src/main/drivers/rtc6705.c Normal file
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@ -0,0 +1,151 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_RTC6705
#include "drivers/bus_spi.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "rtc6705.h"
#define RTC6705_SPICLK_ON GPIO_SetBits(RTC6705_SPICLK_GPIO, RTC6705_SPICLK_PIN)
#define RTC6705_SPICLK_OFF GPIO_ResetBits(RTC6705_SPICLK_GPIO, RTC6705_SPICLK_PIN)
#define RTC6705_SPIDATA_ON GPIO_SetBits(RTC6705_SPIDATA_GPIO, RTC6705_SPIDATA_PIN)
#define RTC6705_SPIDATA_OFF GPIO_ResetBits(RTC6705_SPIDATA_GPIO, RTC6705_SPIDATA_PIN)
#define RTC6705_SPILE_ON GPIO_SetBits(RTC6705_SPILE_GPIO, RTC6705_SPILE_PIN)
#define RTC6705_SPILE_OFF GPIO_ResetBits(RTC6705_SPILE_GPIO, RTC6705_SPILE_PIN)
char *vtx_bands[] = {
"BOSCAM A",
"BOSCAM B",
"BOSCAM E",
"FATSHARK",
"RACEBAND",
};
uint16_t vtx_freq[] =
{
5865, 5845, 5825, 5805, 5785, 5765, 5745, 5725,
5733, 5752, 5771, 5790, 5809, 5828, 5847, 5866,
5705, 5685, 5665, 5645, 5885, 5905, 5925, 5945,
5740, 5760, 5780, 5800, 5820, 5840, 5860, 5880,
5658, 5695, 5732, 5769, 5806, 5843, 5880, 5917,
};
uint16_t current_vtx_channel;
void rtc6705_init(void) {
gpio_config_t gpio;
#ifdef STM32F303
#ifdef RTC6705_SPICLK_PERIPHERAL
RCC_AHBPeriphClockCmd(RTC6705_SPICLK_PERIPHERAL, ENABLE);
#endif
#ifdef RTC6705_SPILE_PERIPHERAL
RCC_AHBPeriphClockCmd(RTC6705_SPILE_PERIPHERAL, ENABLE);
#endif
#ifdef RTC6705_SPIDATA_PERIPHERAL
RCC_AHBPeriphClockCmd(RTC6705_SPIDATA_PERIPHERAL, ENABLE);
#endif
#endif
#ifdef STM32F10X
#ifdef RTC6705_SPICLK_PERIPHERAL
RCC_APB2PeriphClockCmd(RTC6705_SPICLK_PERIPHERAL, ENABLE);
#endif
#ifdef RTC6705_SPILE_PERIPHERAL
RCC_APB2PeriphClockCmd(RTC6705_SPILE_PERIPHERAL, ENABLE);
#endif
#ifdef RTC6705_SPIDATA_PERIPHERAL
RCC_APB2PeriphClockCmd(RTC6705_SPIDATA_PERIPHERAL, ENABLE);
#endif
#endif
gpio.pin = RTC6705_SPICLK_PIN;
gpio.speed = Speed_50MHz;
gpio.mode = Mode_Out_PP;
gpioInit(RTC6705_SPICLK_GPIO, &gpio);
gpio.pin = RTC6705_SPILE_PIN;
gpio.speed = Speed_50MHz;
gpio.mode = Mode_Out_PP;
gpioInit(RTC6705_SPILE_GPIO, &gpio);
gpio.pin = RTC6705_SPIDATA_PIN;
gpio.speed = Speed_50MHz;
gpio.mode = Mode_Out_PP;
gpioInit(RTC6705_SPIDATA_GPIO, &gpio);
}
void rtc6705_write_register(uint8_t addr, uint32_t data) {
uint8_t i;
RTC6705_SPILE_OFF;
delay(1);
// send address
for (i=0; i<4; i++) {
if ((addr >> i) & 1)
RTC6705_SPIDATA_ON;
else
RTC6705_SPIDATA_OFF;
RTC6705_SPICLK_ON;
delay(1);
RTC6705_SPICLK_OFF;
delay(1);
}
// Write bit
RTC6705_SPIDATA_ON;
RTC6705_SPICLK_ON;
delay(1);
RTC6705_SPICLK_OFF;
delay(1);
for (i=0; i<20; i++) {
if ((data >> i) & 1)
RTC6705_SPIDATA_ON;
else
RTC6705_SPIDATA_OFF;
RTC6705_SPICLK_ON;
delay(1);
RTC6705_SPICLK_OFF;
delay(1);
}
RTC6705_SPILE_ON;
}
void rtc6705_set_channel(uint16_t channel_freq) {
uint32_t freq = (uint32_t)channel_freq * 1000;
uint32_t N, A;
freq /= 40;
N = freq / 64;
A = freq % 64;
rtc6705_write_register(0, 400);
rtc6705_write_register(1, (N << 7) | A);
}
#endif

25
src/main/drivers/rtc6705.h Normal file
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@ -0,0 +1,25 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
extern char* vtx_bands[];
extern uint16_t vtx_freq[];
extern uint16_t current_vtx_channel;
void rtc6705_init(void);
void rtc6705_set_channel(uint16_t channel_freq);

2
src/main/flight/mixer.h
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@ -187,6 +187,8 @@ void writeServos(void);
void filterServos(void); void filterServos(void);
#endif #endif
bool motorLimitReached;
extern int16_t motor[MAX_SUPPORTED_MOTORS]; extern int16_t motor[MAX_SUPPORTED_MOTORS];
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS]; extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
bool motorLimitReached; bool motorLimitReached;

711
src/main/io/osd.c Normal file
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@ -0,0 +1,711 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/atomic.h"
#include "common/maths.h"
#include "common/typeconversion.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "drivers/timer.h"
#include "drivers/serial.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/pwm_mapping.h"
#include "drivers/pwm_rx.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_bst.h"
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
#include "drivers/sdcard.h"
#include "rx/rx.h"
#include "io/beeper.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/gimbal.h"
#include "io/ledstrip.h"
#include "io/display.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/initialisation.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "build_config.h"
#include "debug.h"
#ifdef OSD
#include "drivers/max7456.h"
#include "drivers/rtc6705.h"
#include "scheduler.h"
#include "common/printf.h"
#define MICROSECONDS_IN_A_SECOND (1000 * 1000)
#define OSD_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5)
#define OSD_LINE_LENGTH 30
#define STICKMIN 10
#define STICKMAX 90
static uint32_t next_osd_update_at = 0;
static uint32_t armed_seconds = 0;
static uint32_t armed_at = 0;
static bool armed = false;
static uint8_t current_page = 0;
static uint8_t sticks[] = {0,0,0,0};
static char string_buffer[30];
static uint8_t cursor_row = 255;
static uint8_t cursor_col = 0;
static bool in_menu = false;
static bool activating_menu = false;
extern uint16_t rssi;
#ifdef USE_RTC6705
void update_vtx_band(bool increase, uint8_t col) {
(void)col;
if (increase) {
if (current_vtx_channel < 32)
current_vtx_channel += 8;
} else {
if (current_vtx_channel > 7)
current_vtx_channel -= 8;
}
}
void print_vtx_band(uint16_t pos, uint8_t col) {
(void)col;
sprintf(string_buffer, "%s", vtx_bands[current_vtx_channel / 8]);
max7456_write_string(string_buffer, pos);
}
void update_vtx_channel(bool increase, uint8_t col) {
(void)col;
if (increase) {
if ((current_vtx_channel % 8) < 7)
current_vtx_channel++;
} else {
if ((current_vtx_channel % 8) > 0)
current_vtx_channel--;
}
}
void print_vtx_channel(uint16_t pos, uint8_t col) {
(void)col;
sprintf(string_buffer, "%d", current_vtx_channel % 8 + 1);
max7456_write_string(string_buffer, pos);
}
void print_vtx_freq(uint16_t pos, uint8_t col) {
(void)col;
sprintf(string_buffer, "%d M", vtx_freq[current_vtx_channel]);
max7456_write_string(string_buffer, pos);
}
#endif
void print_pid(uint16_t pos, uint8_t col, int pid_term) {
switch(col) {
case 0:
sprintf(string_buffer, "%d", currentProfile->pidProfile.P8[pid_term]);
break;
case 1:
sprintf(string_buffer, "%d", currentProfile->pidProfile.I8[pid_term]);
break;
case 2:
sprintf(string_buffer, "%d", currentProfile->pidProfile.D8[pid_term]);
break;
default:
return;
}
max7456_write_string(string_buffer, pos);
}
void print_roll_pid(uint16_t pos, uint8_t col) {
print_pid(pos, col, ROLL);
}
void print_pitch_pid(uint16_t pos, uint8_t col) {
print_pid(pos, col, PITCH);
}
void print_yaw_pid(uint16_t pos, uint8_t col) {
print_pid(pos, col, YAW);
}
void print_roll_rate(uint16_t pos, uint8_t col) {
if (col == 0) {
sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_ROLL]);
max7456_write_string(string_buffer, pos);
}
}
void print_pitch_rate(uint16_t pos, uint8_t col) {
if (col == 0) {
sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_PITCH]);
max7456_write_string(string_buffer, pos);
}
}
void print_yaw_rate(uint16_t pos, uint8_t col) {
if (col == 0) {
sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_YAW]);
max7456_write_string(string_buffer, pos);
}
}
void print_tpa_rate(uint16_t pos, uint8_t col) {
if (col == 0) {
sprintf(string_buffer, "%d", currentControlRateProfile->dynThrPID);
max7456_write_string(string_buffer, pos);
}
}
void print_tpa_brkpt(uint16_t pos, uint8_t col) {
if (col == 0) {
sprintf(string_buffer, "%d", currentControlRateProfile->tpa_breakpoint);
max7456_write_string(string_buffer, pos);
}
}
void update_int_pid(bool inc, uint8_t col, int pid_term) {
void* ptr;
switch(col) {
case 0:
ptr = &currentProfile->pidProfile.P8[pid_term];
break;
case 1:
ptr = &currentProfile->pidProfile.I8[pid_term];
break;
case 2:
ptr = &currentProfile->pidProfile.D8[pid_term];
break;
default:
return;
}
if (inc) {
if (*(uint8_t*)ptr < 200)
*(uint8_t*)ptr += 1;
} else {
if (*(uint8_t*)ptr > 0)
*(uint8_t*)ptr -= 1;
}
}
void update_roll_pid(bool inc, uint8_t col) {
update_int_pid(inc, col, ROLL);
}
void update_pitch_pid(bool inc, uint8_t col) {
update_int_pid(inc, col, PITCH);
}
void update_yaw_pid(bool inc, uint8_t col) {
update_int_pid(inc, col, YAW);
}
void update_roll_rate(bool inc, uint8_t col) {
(void)col;
if (inc) {
if (currentControlRateProfile->rates[FD_ROLL] < CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX)
currentControlRateProfile->rates[FD_ROLL]++;
} else {
if (currentControlRateProfile->rates[FD_ROLL] > 0)
currentControlRateProfile->rates[FD_ROLL]--;
}
}
void update_pitch_rate(bool increase, uint8_t col) {
(void)col;
if (increase) {
if (currentControlRateProfile->rates[FD_PITCH] < CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX)
currentControlRateProfile->rates[FD_PITCH]++;
} else {
if (currentControlRateProfile->rates[FD_PITCH] > 0)
currentControlRateProfile->rates[FD_PITCH]--;
}
}
void update_yaw_rate(bool increase, uint8_t col) {
(void)col;
if (increase) {
if (currentControlRateProfile->rates[FD_YAW] < CONTROL_RATE_CONFIG_YAW_RATE_MAX)
currentControlRateProfile->rates[FD_YAW]++;
} else {
if (currentControlRateProfile->rates[FD_YAW] > 0)
currentControlRateProfile->rates[FD_YAW]--;
}
}
void update_tpa_rate(bool increase, uint8_t col) {
(void)col;
if (increase) {
if (currentControlRateProfile->dynThrPID < CONTROL_RATE_CONFIG_TPA_MAX)
currentControlRateProfile->dynThrPID++;
} else {
if (currentControlRateProfile->dynThrPID > 0)
currentControlRateProfile->dynThrPID--;
}
}
void update_tpa_brkpt(bool increase, uint8_t col) {
(void)col;
if (increase) {
if (currentControlRateProfile->tpa_breakpoint < PWM_RANGE_MAX)
currentControlRateProfile->tpa_breakpoint++;
} else {
if (currentControlRateProfile->tpa_breakpoint > PWM_RANGE_MIN)
currentControlRateProfile->tpa_breakpoint--;
}
}
void print_average_system_load(uint16_t pos, uint8_t col) {
(void)col;
sprintf(string_buffer, "%d", averageSystemLoadPercent);
max7456_write_string(string_buffer, pos);
}
void print_batt_voltage(uint16_t pos, uint8_t col) {
(void)col;
sprintf(string_buffer, "%d.%1d", vbat / 10, vbat % 10);
max7456_write_string(string_buffer, pos);
}
/*
TODO: add this to menu
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 250 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0, 100 } },
{ "acro_plus_factor", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.acroPlusFactor, .config.minmax = {1, 100 } },
{ "acro_plus_offset", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.acroPlusOffset, .config.minmax = {1, 90 } },
*/
page_t menu_pages[] = {
{
.title = "STATUS",
.cols_number = 1,
.rows_number = 2,
.cols = {
{
.title = NULL,
.x_pos = 15
}
},
.rows = {
{
.title = "AVG LOAD",
.update = NULL,
.print = print_average_system_load
},
{
.title = "BATT",
.update = NULL,
.print = print_batt_voltage
},
}
},
#ifdef USE_RTC6705
{
.title = "VTX SETTINGS",
.cols_number = 1,
.rows_number = 3,
.cols = {
{
.title = NULL,
.x_pos = 15
}
},
.rows = {
{
.title = "BAND",
.update = update_vtx_band,
.print = print_vtx_band
},
{
.title = "CHANNEL",
.update = update_vtx_channel,
.print = print_vtx_channel
},
{
.title = "FREQUENCY",
.update = NULL,
.print = print_vtx_freq
}
}
},
#endif
{
.title = "PID SETTINGS",
.cols_number = 3,
.rows_number = 8,
.cols = {
{
.title = "P",
.x_pos = 13
},
{
.title = "I",
.x_pos = 19
},
{
.title = "D",
.x_pos = 25
}
},
.rows = {
{
.title = "ROLL",
.update = update_roll_pid,
.print = print_roll_pid
},
{
.title = "PITCH",
.update = update_pitch_pid,
.print = print_pitch_pid
},
{
.title = "YAW",
.update = update_yaw_pid,
.print = print_yaw_pid
},
{
.title = "ROLL RATE",
.update = update_roll_rate,
.print = print_roll_rate
},
{
.title = "PITCH RATE",
.update = update_pitch_rate,
.print = print_pitch_rate
},
{
.title = "YAW RATE",
.update = update_yaw_rate,
.print = print_yaw_rate
},
{
.title = "TPA RATE",
.update = update_tpa_rate,
.print = print_tpa_rate
},
{
.title = "TPA BRKPT",
.update = update_tpa_brkpt,
.print = print_tpa_brkpt
},
}
},
};
void show_menu(void) {
uint8_t line = 1;
uint16_t pos;
col_t *col;
row_t *row;
int16_t cursor_x = 0;
int16_t cursor_y = 0;
if (activating_menu) {
if (sticks[YAW] < 60 && sticks[YAW] > 40 && sticks[PITCH] > 40 && sticks[PITCH] < 60 && sticks[ROLL] > 40 && sticks[ROLL] < 60)
activating_menu = false;
else
return;
}
if (sticks[YAW] > STICKMAX && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMIN && sticks[PITCH] < STICKMAX) {
if (cursor_row > MAX_MENU_ROWS) {
switch(cursor_col) {
case 0:
in_menu = false;
break;
case 1:
in_menu = false;
#ifdef USE_RTC6705
if (masterConfig.vtx_channel != current_vtx_channel) {
masterConfig.vtx_channel = current_vtx_channel;
rtc6705_set_channel(vtx_freq[current_vtx_channel]);
}
#endif
writeEEPROM();
break;
case 2:
if (current_page < (sizeof(menu_pages) / sizeof(page_t) - 1))
current_page++;
else
current_page = 0;
}
} else {
if (menu_pages[current_page].rows[cursor_row].update)
menu_pages[current_page].rows[cursor_row].update(true, cursor_col);
}
}
if (sticks[YAW] < STICKMIN && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMIN && sticks[PITCH] < STICKMAX) {
if (cursor_row > MAX_MENU_ROWS) {
if (cursor_col == 2 && current_page > 0) {
current_page--;
}
} else {
if (menu_pages[current_page].rows[cursor_row].update)
menu_pages[current_page].rows[cursor_row].update(false, cursor_col);
}
}
if (sticks[PITCH] > STICKMAX && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
if (cursor_row > MAX_MENU_ROWS) {
cursor_row = menu_pages[current_page].rows_number - 1;
cursor_col = 0;
} else {
if (cursor_row > 0)
cursor_row--;
}
}
if (sticks[PITCH] < STICKMIN && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
if (cursor_row < (menu_pages[current_page].rows_number - 1))
cursor_row++;
else
cursor_row = 255;
}
if (sticks[ROLL] > STICKMAX && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
if (cursor_row > MAX_MENU_ROWS) {
if (cursor_col < 2)
cursor_col++;
} else {
if (cursor_col < (menu_pages[current_page].cols_number - 1))
cursor_col++;
}
}
if (sticks[ROLL] < STICKMIN && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
if (cursor_col > 0)
cursor_col--;
}
if (cursor_row > MAX_MENU_ROWS) {
cursor_row = 255;
cursor_y = -1;
switch(cursor_col) {
case 0:
cursor_x = 0;
break;
case 1:
cursor_x = 9;
break;
case 2:
cursor_x = 23;
break;
default:
cursor_x = 0;
}
}
sprintf(string_buffer, "EXIT SAVE+EXIT PAGE");
max7456_write_string(string_buffer, -29);
pos = (OSD_LINE_LENGTH - strlen(menu_pages[current_page].title)) / 2 + line * OSD_LINE_LENGTH;
sprintf(string_buffer, "%s", menu_pages[current_page].title);
max7456_write_string(string_buffer, pos);
line += 2;
for (int i = 0; i < menu_pages[current_page].cols_number; i++){
col = &menu_pages[current_page].cols[i];
if (cursor_col == i && cursor_row < MAX_MENU_ROWS)
cursor_x = col->x_pos - 1;
if (col->title) {
sprintf(string_buffer, "%s", col->title);
max7456_write_string(string_buffer, line * OSD_LINE_LENGTH + col->x_pos);
}
}
line++;
for (int i = 0; i < menu_pages[current_page].rows_number; i++) {
row = &menu_pages[current_page].rows[i];
if (cursor_row == i)
cursor_y = line;
sprintf(string_buffer, "%s", row->title);
max7456_write_string(string_buffer, line * OSD_LINE_LENGTH + 1);
for (int j = 0; j < menu_pages[current_page].cols_number; j++) {
col = &menu_pages[current_page].cols[j];
row->print(line * OSD_LINE_LENGTH + col->x_pos, j);
}
line++;
}
max7456_write_string(">", cursor_x + cursor_y * OSD_LINE_LENGTH);
}
void updateOsd(void)
{
static uint8_t skip = 0;
static bool blink = false;
static uint8_t arming = 0;
uint32_t seconds;
char line[30];
uint32_t now = micros();
bool updateNow = (int32_t)(now - next_osd_update_at) >= 0L;
if (!updateNow) {
return;
}
next_osd_update_at = now + OSD_UPDATE_FREQUENCY;
if ( !(skip % 2))
blink = !blink;
if (skip++ & 1) {
if (ARMING_FLAG(ARMED)) {
if (!armed) {
armed = true;
armed_at = now;
in_menu = false;
arming = 5;
}
} else {
if (armed) {
armed = false;
armed_seconds += ((now - armed_at) / 1000000);
}
for (uint8_t channelIndex = 0; channelIndex < 4; channelIndex++) {
sticks[channelIndex] = (constrain(rcData[channelIndex], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
}
if (!in_menu && sticks[YAW] > STICKMAX && sticks[THROTTLE] > STICKMIN && sticks[THROTTLE] < STICKMAX && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMAX) {
in_menu = true;
cursor_row = 255;
cursor_col = 2;
activating_menu = true;
}
}
if (in_menu) {
show_menu();
} else {
if (batteryWarningVoltage > vbat && blink && masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING] != -1) {
max7456_write_string("LOW VOLTAGE", masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING]);
}
if (arming && blink && masterConfig.osdProfile.item_pos[OSD_ARMED] != -1) {
max7456_write_string("ARMED", masterConfig.osdProfile.item_pos[OSD_ARMED]);
arming--;
}
if (!armed && masterConfig.osdProfile.item_pos[OSD_DISARMED] != -1) {
max7456_write_string("DISARMED", masterConfig.osdProfile.item_pos[OSD_DISARMED]);
}
if (masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE] != -1) {
sprintf(line, "\x01%d.%1d", vbat / 10, vbat % 10);
max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE]);
}
if (masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE] != -1) {
sprintf(line, "\x02%d", rssi / 10);
max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE]);
}
if (masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS] != -1) {
sprintf(line, "\x03%3d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS]);
}
if (masterConfig.osdProfile.item_pos[OSD_TIMER] != -1) {
if (armed) {
seconds = armed_seconds + ((now-armed_at) / 1000000);
sprintf(line, "\x04 %02d:%02d", seconds / 60, seconds % 60);
} else {
seconds = now / 1000000;
sprintf(line, "\x05 %02d:%02d", seconds / 60, seconds % 60);
}
max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_TIMER]);
}
if (masterConfig.osdProfile.item_pos[OSD_CPU_LOAD] != -1) {
print_average_system_load(masterConfig.osdProfile.item_pos[OSD_CPU_LOAD], 0);
}
}
} else {
max7456_draw_screen_fast();
}
}
void osdInit(void)
{
#ifdef USE_RTC6705
rtc6705_init();
current_vtx_channel = masterConfig.vtx_channel;
rtc6705_set_channel(vtx_freq[current_vtx_channel]);
#endif
max7456_init(masterConfig.osdProfile.system);
}
#endif

61
src/main/io/osd.h Normal file
View file

@ -0,0 +1,61 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#define MAX_MENU_ROWS 8
#define MAX_MENU_COLS 3
typedef struct {
const char* title;
uint8_t x_pos;
} col_t;
typedef struct {
const char* title;
void (*update)(bool increase, uint8_t col);
void (*print)(uint16_t pos, uint8_t col);
} row_t;
typedef struct {
const char* title;
uint8_t cols_number;
uint8_t rows_number;
col_t cols[MAX_MENU_COLS];
row_t rows[MAX_MENU_ROWS];
} page_t;
typedef enum {
OSD_MAIN_BATT_VOLTAGE,
OSD_RSSI_VALUE,
OSD_TIMER,
OSD_THROTTLE_POS,
OSD_CPU_LOAD,
OSD_VTX_CHANNEL,
OSD_VOLTAGE_WARNING,
OSD_ARMED,
OSD_DISARMED,
OSD_MAX_ITEMS, // MUST BE LAST
} osd_items;
typedef struct {
uint8_t system;
int16_t item_pos[OSD_MAX_ITEMS];
} osd_profile;
void updateOsd(void);
void osdInit(void);

29
src/main/io/serial_cli.c
View file

@ -60,6 +60,7 @@
#include "io/flashfs.h" #include "io/flashfs.h"
#include "io/beeper.h" #include "io/beeper.h"
#include "io/asyncfatfs/asyncfatfs.h" #include "io/asyncfatfs/asyncfatfs.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "rx/rx.h" #include "rx/rx.h"
@ -446,6 +447,13 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"AIRMODE", "AIRMODE",
"PIDLOOP", "PIDLOOP",
}; };
#ifdef OSD
static const char * const lookupTableOsdType[] = {
"AUTO",
"PAL",
"NTSC"
};
#endif
static const char * const lookupTableSuperExpoYaw[] = { static const char * const lookupTableSuperExpoYaw[] = {
"OFF", "ON", "ALWAYS" "OFF", "ON", "ALWAYS"
@ -482,6 +490,9 @@ typedef enum {
TABLE_DEBUG, TABLE_DEBUG,
TABLE_SUPEREXPO_YAW, TABLE_SUPEREXPO_YAW,
TABLE_MOTOR_PWM_PROTOCOL, TABLE_MOTOR_PWM_PROTOCOL,
#ifdef OSD
TABLE_OSD,
#endif
} lookupTableIndex_e; } lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = { static const lookupTableEntry_t lookupTables[] = {
@ -506,6 +517,9 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) }, { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }, { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
{ lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) }, { lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) },
#ifdef OSD
{ lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
#endif
}; };
#define VALUE_TYPE_OFFSET 0 #define VALUE_TYPE_OFFSET 0
@ -786,6 +800,21 @@ const clivalue_t valueTable[] = {
#ifdef LED_STRIP #ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } }, { "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
#endif #endif
#ifdef USE_RTC6705
{ "vtx_channel", VAR_INT16 | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0, 39 } },
#endif
#ifdef OSD
{ "osd_system", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.system, .config.minmax = { 0, 2 } },
{ "osd_main_voltage_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE], .config.minmax = { -480, 480 } },
{ "osd_rssi_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE], .config.minmax = { -480, 480 } },
{ "osd_timer_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_TIMER], .config.minmax = { -480, 480 } },
{ "osd_throttle_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS], .config.minmax = { -480, 480 } },
{ "osd_cpu_load_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CPU_LOAD], .config.minmax = { -480, 480 } },
{ "osd_vtx_channel_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL], .config.minmax = { -480, 480 } },
{ "osd_voltage_warning_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING], .config.minmax = { -480, 480 } },
{ "osd_armed_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ARMED], .config.minmax = { -480, 480 } },
{ "osd_disarmed_pos", VAR_INT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_DISARMED], .config.minmax = { -480, 480 } },
#endif
}; };
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t)) #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))

33
src/main/io/serial_msp.c
View file

@ -44,6 +44,8 @@
#include "drivers/gyro_sync.h" #include "drivers/gyro_sync.h"
#include "drivers/sdcard.h" #include "drivers/sdcard.h"
#include "drivers/buf_writer.h" #include "drivers/buf_writer.h"
#include "drivers/max7456.h"
#include "drivers/rtc6705.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/msp.h" #include "rx/msp.h"
@ -57,6 +59,7 @@
#include "io/flashfs.h" #include "io/flashfs.h"
#include "io/transponder_ir.h" #include "io/transponder_ir.h"
#include "io/asyncfatfs/asyncfatfs.h" #include "io/asyncfatfs/asyncfatfs.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
@ -1255,7 +1258,9 @@ static bool processInCommand(void)
uint8_t wp_no; uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0; int32_t lat = 0, lon = 0, alt = 0;
#endif #endif
#ifdef OSD
uint8_t addr, font_data[64];
#endif
switch (currentPort->cmdMSP) { switch (currentPort->cmdMSP) {
case MSP_SELECT_SETTING: case MSP_SELECT_SETTING:
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
@ -1516,6 +1521,32 @@ static bool processInCommand(void)
transponderUpdateData(masterConfig.transponderData); transponderUpdateData(masterConfig.transponderData);
break; break;
#endif #endif
#ifdef OSD
case MSP_SET_OSD_CONFIG:
masterConfig.osdProfile.system = read8();
for (i = 0; i < OSD_MAX_ITEMS; i++)
masterConfig.osdProfile.item_pos[i] = read16();
break;
case MSP_OSD_CHAR_WRITE:
addr = read8();
for (i = 0; i < 54; i++) {
font_data[i] = read8();
}
max7456_write_nvm(addr, font_data);
break;
#endif
#ifdef USE_RTC6705
case MSP_SET_VTX_CONFIG:
tmp = read16();
if (tmp < 40)
masterConfig.vtx_channel = tmp;
if (current_vtx_channel != masterConfig.vtx_channel) {
current_vtx_channel = masterConfig.vtx_channel;
rtc6705_set_channel(vtx_freq[current_vtx_channel]);
}
break;
#endif
#ifdef USE_FLASHFS #ifdef USE_FLASHFS
case MSP_DATAFLASH_ERASE: case MSP_DATAFLASH_ERASE:

9
src/main/io/serial_msp.h
View file

@ -168,6 +168,15 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_TRANSPONDER_CONFIG 82 //in message Get transponder settings #define MSP_TRANSPONDER_CONFIG 82 //in message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings #define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings
#define MSP_OSD_CONFIG 84 //in message Get osd settings
#define MSP_SET_OSD_CONFIG 85 //out message Set osd settings
#define MSP_OSD_CHAR_READ 86 //in message Get osd settings
#define MSP_OSD_CHAR_WRITE 87 //out message Set osd settings
#define MSP_VTX_CONFIG 88 //in message Get vtx settings
#define MSP_SET_VTX_CONFIG 89 //out message Set vtx settings
// //
// Baseflight MSP commands (if enabled they exist in Cleanflight) // Baseflight MSP commands (if enabled they exist in Cleanflight)
// //

11
src/main/main.c
View file

@ -72,6 +72,7 @@
#include "io/display.h" #include "io/display.h"
#include "io/asyncfatfs/asyncfatfs.h" #include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h" #include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
@ -134,6 +135,7 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void spektrumBind(rxConfig_t *rxConfig); void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig); const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware); void sonarInit(const sonarHardware_t *sonarHardware);
void osdInit(void);
typedef enum { typedef enum {
SYSTEM_STATE_INITIALISING = 0, SYSTEM_STATE_INITIALISING = 0,
@ -467,6 +469,12 @@ void init(void)
} }
#endif #endif
#ifdef OSD
if (feature(FEATURE_OSD)) {
osdInit();
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
masterConfig.acc_hardware, masterConfig.acc_hardware,
masterConfig.mag_hardware, masterConfig.mag_hardware,
@ -737,6 +745,9 @@ void main_init(void)
#ifdef TRANSPONDER #ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER)); setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif #endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_BST #ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true); setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif #endif

11
src/main/mw.c
View file

@ -65,6 +65,8 @@
#include "io/statusindicator.h" #include "io/statusindicator.h"
#include "io/asyncfatfs/asyncfatfs.h" #include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h" #include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "rx/rx.h" #include "rx/rx.h"
@ -963,3 +965,12 @@ void taskTransponder(void)
} }
} }
#endif #endif
#ifdef OSD
void taskUpdateOsd(void)
{
if (feature(FEATURE_OSD)) {
updateOsd();
}
}
#endif

4
src/main/scheduler.h
View file

@ -79,7 +79,9 @@ typedef enum {
#ifdef TRANSPONDER #ifdef TRANSPONDER
TASK_TRANSPONDER, TASK_TRANSPONDER,
#endif #endif
#ifdef OSD
TASK_OSD,
#endif
#ifdef USE_BST #ifdef USE_BST
TASK_BST_MASTER_PROCESS, TASK_BST_MASTER_PROCESS,
#endif #endif

12
src/main/scheduler_tasks.c
View file

@ -40,6 +40,9 @@ void taskUpdateDisplay(void);
void taskTelemetry(void); void taskTelemetry(void);
void taskLedStrip(void); void taskLedStrip(void);
void taskTransponder(void); void taskTransponder(void);
#ifdef OSD
void taskUpdateOsd(void);
#endif
#ifdef USE_BST #ifdef USE_BST
void taskBstReadWrite(void); void taskBstReadWrite(void);
void taskBstMasterProcess(void); void taskBstMasterProcess(void);
@ -168,7 +171,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif
#ifdef OSD
[TASK_OSD] = {
.taskName = "OSD",
.taskFunc = taskUpdateOsd,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef TELEMETRY #ifdef TELEMETRY
[TASK_TELEMETRY] = { [TASK_TELEMETRY] = {
.taskName = "TELEMETRY", .taskName = "TELEMETRY",

12
src/main/target/ALIENFLIGHTF3/target.mk Normal file
View file

@ -0,0 +1,12 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/compass_ak8963.c \
hardware_revision.c \
drivers/sonar_hcsr04.c

13
src/main/target/ALIENFLIGHTF4/target.mk Normal file
View file

@ -0,0 +1,13 @@
F405_TARGETS += $(TARGET)
FEATURES += SDCARD VCP
TARGET_SRC = \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_spi_mpu9250.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8963.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f4xx.c

7
src/main/target/BLUEJAYF4/target.mk Normal file
View file

@ -0,0 +1,7 @@
F405_TARGETS += $(TARGET)
FEATURES += SDCARD VCP
TARGET_SRC = \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c

0
src/main/target/CC3D/CC3D_OPBL.mk Normal file
View file

13
src/main/target/CC3D/target.mk Normal file
View file

@ -0,0 +1,13 @@
FEATURES = ONBOARDFLASH HIGHEND VCP
F1_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c

5
src/main/target/CHEBUZZF3/target.h
View file

@ -14,13 +14,16 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#pragma once #pragma once
#define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3 #define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
#ifndef STM32F3DISCOVERY
#define STM32F3DISCOVERY
#endif
#define LED0 PE8 // Blue LEDs - PE8/PE12 #define LED0 PE8 // Blue LEDs - PE8/PE12
#define LED0_INVERTED #define LED0_INVERTED
#define LED1 PE10 // Orange LEDs - PE10/PE14 #define LED1 PE10 // Orange LEDs - PE10/PE14

18
src/main/target/CHEBUZZF3/target.mk Normal file
View file

@ -0,0 +1,18 @@
FEATURES = VCP SDCARD
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/light_ws2811strip.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/compass_hmc5883l.c \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c

2
src/main/target/CJMCU/target.h
View file

@ -52,12 +52,12 @@
#define BIND_PIN PA3 #define BIND_PIN PA3
#if (FLASH_SIZE > 64) #if (FLASH_SIZE > 64)
#define BLACKBOX #define BLACKBOX
#define USE_SERVOS #define USE_SERVOS
#else #else
// Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers. // Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
#undef USE_CLI
#define USE_QUAD_MIXER_ONLY #define USE_QUAD_MIXER_ONLY
#define SKIP_TASK_STATISTICS #define SKIP_TASK_STATISTICS
#define SKIP_CLI_COMMAND_HELP #define SKIP_CLI_COMMAND_HELP

11
src/main/target/CJMCU/target.mk Normal file
View file

@ -0,0 +1,11 @@
FLASH_SIZE = 64
F1_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/compass_hmc5883l.c \
hardware_revision.c \
flight/gtune.c \
blackbox/blackbox.c \
blackbox/blackbox_io.c

17
src/main/target/COLIBRI_RACE/target.mk Normal file
View file

@ -0,0 +1,17 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
io/i2c_bst.c \
drivers/bus_bst_stm32f30x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8963.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c

15
src/main/target/DOGE/target.mk Normal file
View file

@ -0,0 +1,15 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/barometer_spi_bmp280.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c

23
src/main/target/EUSTM32F103RC/target.mk Normal file
View file

@ -0,0 +1,23 @@
FEATURES = ONBOARDFLASH HIGHEND
F1_TARGETS += $(TARGET)
DEVICE_FLAGS = -DSTM32F10X_HD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c

15
src/main/target/FURYF3/target.mk Normal file
View file

@ -0,0 +1,15 @@
FEATURES = VCP SDCARD ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/sonar_hcsr04.c \
drivers/serial_softserial.c

8
src/main/target/FURYF4/target.mk Normal file
View file

@ -0,0 +1,8 @@
F405_TARGETS += $(TARGET)
FEATURES += SDCARD VCP
TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c

8
src/main/target/IRCFUSIONF3/target.mk Normal file
View file

@ -0,0 +1,8 @@
FEATURES = VCP ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_FLAGS = -DSPRACINGF3
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c

10
src/main/target/KISSFC/target.mk Normal file
View file

@ -0,0 +1,10 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/display_ug2864hsweg01.c \
drivers/accgyro_mpu6050.c

14
src/main/target/LUX_RACE/target.mk Normal file
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@ -0,0 +1,14 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c

15
src/main/target/MOTOLAB/target.mk Normal file
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@ -0,0 +1,15 @@
FEATURES = VCP ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c

0
src/main/target/NAZE/ALIENFLIGHTF1.mk Normal file
View file

21
src/main/target/NAZE/target.mk Normal file
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@ -0,0 +1,21 @@
FEATURES = ONBOARDFLASH HIGHEND
F1_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
hardware_revision.c

4
src/main/target/NAZE32PRO/target.mk Normal file
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@ -0,0 +1,4 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \

12
src/main/target/OLIMEXINO/target.mk Normal file
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@ -0,0 +1,12 @@
FEATURES = HIGHEND
F1_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c

23
src/main/target/PORT103R/target.mk Normal file
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@ -0,0 +1,23 @@
FEATURES = ONBOARDFLASH HIGHEND
F1_TARGETS += $(TARGET)
DEVICE_FLAGS = -DSTM32F10X_HD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c

0
src/main/target/REVO/REVO_OPBL.mk Normal file
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8
src/main/target/REVO/target.mk Normal file
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@ -0,0 +1,8 @@
F405_TARGETS += $(TARGET)
FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c

13
src/main/target/RMDO/target.mk Normal file
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@ -0,0 +1,13 @@
FEATURES = VCP ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_FLAGS = -DSPRACINGF3
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp280.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c

12
src/main/target/SINGULARITY/target.mk Normal file
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@ -0,0 +1,12 @@
FEATURES = VCP ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/vtx_rtc6705.c

62
src/main/target/SIRINFPV/target.c Normal file
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@ -0,0 +1,62 @@
#include <stdbool.h>
#include <stdint.h>
#include <platform.h>
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
// No PPM
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
const uint16_t multiPWM[] = {
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
const uint16_t airPPM[] = {
// No PPM
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
const uint16_t airPWM[] = {
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2, 0}, // PWM1 - PB6
{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2, 0}, // PWM2 - PB6
{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2, 0}, // PWM3 - PB8
{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2, 0}, // PWM4 - PB9
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2, 0}, // PWM5 - PB0 - *TIM3_CH3
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2, 0}, // PWM6 - PB1 - *TIM3_CH4
};

182
src/main/target/SIRINFPV/target.h Normal file
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@ -0,0 +1,182 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define TARGET_BOARD_IDENTIFIER "SIRF"
#define LED0 PB2
#define BEEPER PA1
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU_INT
#define USE_EXTI
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PA8
#define ENSURE_MPU_DATA_READY_IS_LOW
#define GYRO
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define ACC
#define USE_ACC_SPI_MPU6000
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
// MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define GYRO_MPU6000_ALIGN CW180_DEG
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
// MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define GYRO_MPU6500_ALIGN CW90_DEG
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define USB_IO
#define USE_VCP
#define USE_USART1
#define USE_USART2
#define USE_USART3
#define SERIAL_PORT_COUNT 4
#ifndef UART1_GPIO
#define UART1_TX_PIN GPIO_Pin_9 // PA9
#define UART1_RX_PIN GPIO_Pin_10 // PA10
#define UART1_GPIO GPIOA
#define UART1_GPIO_AF GPIO_AF_7
#define UART1_TX_PINSOURCE GPIO_PinSource9
#define UART1_RX_PINSOURCE GPIO_PinSource10
#endif
#define UART2_TX_PIN GPIO_Pin_2 // PA14 / SWCLK
#define UART2_RX_PIN GPIO_Pin_3 // PA15
#define UART2_GPIO GPIOA
#define UART2_GPIO_AF GPIO_AF_7
#define UART2_TX_PINSOURCE GPIO_PinSource2
#define UART2_RX_PINSOURCE GPIO_PinSource3
#ifndef UART3_GPIO
#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
#define UART3_GPIO_AF GPIO_AF_7
#define UART3_GPIO GPIOB
#define UART3_TX_PINSOURCE GPIO_PinSource10
#define UART3_RX_PINSOURCE GPIO_PinSource11
#endif
#undef USE_I2C
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
#define USE_SPI_DEVICE_3
#define SPI1_NSS_PIN PA4
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define SPI2_NSS_PIN PB12
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define SPI3_NSS_PIN PA15
#define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define USE_MAX7456
#define MAX7456_CS_GPIO GPIOA
#define MAX7456_CS_PIN GPIO_Pin_15
#define MAX7456_SPI_INSTANCE SPI3
#define USE_RTC6705
#define RTC6705_SPIDATA_GPIO GPIOC
#define RTC6705_SPIDATA_PIN Pin_15
#define RTC6705_SPIDATA_PERIPHERAL RCC_AHBPeriph_GPIOC
#define RTC6705_SPILE_GPIO GPIOC
#define RTC6705_SPILE_PIN Pin_14
#define RTC6705_SPILE_PERIPHERAL RCC_AHBPeriph_GPIOC
#define RTC6705_SPICLK_GPIO GPIOC
#define RTC6705_SPICLK_PIN Pin_13
#define RTC6705_SPICLK_PERIPHERAL RCC_AHBPeriph_GPIOC
#define USE_SDCARD
#define USE_SDCARD_SPI2
#define SDCARD_SPI_INSTANCE SPI2
#define SDCARD_SPI_CS_GPIO SPI2_GPIO
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
// Divide to under 25MHz for normal operation:
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2
// Note, this is the same DMA channel as USART1_RX. Luckily we don't use DMA for USART Rx.
#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
// Performance logging for SD card operations:
// #define AFATFS_USE_INTROSPECTIVE_LOGGING
#define USE_ADC
#define BOARD_HAS_VOLTAGE_DIVIDER
#define ADC_INSTANCE ADC1
#define ADC_DMA_CHANNEL DMA1_Channel1
#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA1
#define VBAT_ADC_GPIO GPIOA
#define VBAT_ADC_GPIO_PIN GPIO_Pin_0
#define VBAT_ADC_CHANNEL ADC_Channel_1
//#define USE_QUAD_MIXER_ONLY
#define BLACKBOX
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define TELEMETRY
#define SERIAL_RX
#define USE_CLI
#define OSD
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define USE_SERVOS
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS (TIM_N(3) | TIM_N(4))
#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOB)

16
src/main/target/SIRINFPV/target.mk Normal file
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@ -0,0 +1,16 @@
FEATURES = VCP SDCARD MAX_OSD
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/rtc6705.c

14
src/main/target/SPARKY/target.mk Normal file
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@ -0,0 +1,14 @@
FEATURES = VCP
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c

15
src/main/target/SPRACINGF3/target.mk Normal file
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@ -0,0 +1,15 @@
FEATURES = VCP ONBOARDFLASH
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c

16
src/main/target/SPRACINGF3EVO/target.mk Normal file
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@ -0,0 +1,16 @@
FEATURES = VCP SDCARD
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8963.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
drivers/transponder_ir.c \
drivers/transponder_ir_stm32f30x.c \
io/transponder_ir.c

19
src/main/target/SPRACINGF3MINI/target.mk Normal file
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@ -0,0 +1,19 @@
FEATURES = VCP SDCARD
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/serial_usb_vcp.c \
drivers/sonar_hcsr04.c \
drivers/transponder_ir.c \
drivers/transponder_ir_stm32f30x.c \
io/transponder_ir.c

18
src/main/target/STM32F3DISCOVERY/target.mk Normal file
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@ -0,0 +1,18 @@
FEATURES = VCP SDCARD
F3_TARGETS += $(TARGET)
TARGET_SRC = \
drivers/light_ws2811strip.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/compass_hmc5883l.c \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c

0
src/main/target/stm32_flash_f405_bl.ld → src/main/target/stm32_flash_f405_opbl.ld
View file

0
src/main/target/stm32_flash_f411_bl.ld → src/main/target/stm32_flash_f411_opbl.ld
View file

1
src/main/telemetry/ltm.c
View file

@ -62,6 +62,7 @@
#include "io/gps.h" #include "io/gps.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/beeper.h" #include "io/beeper.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "rx/rx.h" #include "rx/rx.h"

1
src/main/telemetry/smartport.c
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@ -37,6 +37,7 @@
#include "io/gimbal.h" #include "io/gimbal.h"
#include "io/serial.h" #include "io/serial.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/osd.h"
#include "io/vtx.h" #include "io/vtx.h"
#include "sensors/boardalignment.h" #include "sensors/boardalignment.h"

2
top_makefile
View file

@ -15,6 +15,7 @@ ALL_TARGETS += ircfusionf3
ALL_TARGETS += afromini ALL_TARGETS += afromini
ALL_TARGETS += doge ALL_TARGETS += doge
ALL_TARGETS += singularity ALL_TARGETS += singularity
ALL_TARGETS += sirinfpv
CLEAN_TARGETS := $(addprefix clean_, $(ALL_TARGETS)) CLEAN_TARGETS := $(addprefix clean_, $(ALL_TARGETS))
@ -35,6 +36,7 @@ clean_ircfusionf3 ircfusionf3 : opts := TARGET=IRCFUSIONF3
clean_afromini afromini : opts := TARGET=AFROMINI clean_afromini afromini : opts := TARGET=AFROMINI
clean_doge doge : opts := TARGET=DOGE clean_doge doge : opts := TARGET=DOGE
clean_singularity singularity : opts := TARGET=SINGULARITY clean_singularity singularity : opts := TARGET=SINGULARITY
clean_sirinfpv sirinfpv: opts := TARGET=SIRINFPV
.PHONY: all clean .PHONY: all clean