Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 22:05:17 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'betaflight/master' into bfdev-configurable-spi-phase-1

Browse source
This commit is contained in:
jflyper 2017-06-26 11:41:43 +09:00
commit 0e573383ec
104 changed files with 3897 additions and 406 deletions
Download patch file Download diff file Expand all files Collapse all files

48
src/main/blackbox/blackbox.c
View file

@ -69,6 +69,7 @@
#include "sensors/gyro.h"
#include "sensors/sonar.h"
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
@ -262,20 +263,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
BLACKBOX_STATE_STOPPED, //1
BLACKBOX_STATE_PREPARE_LOG_FILE, //2
BLACKBOX_STATE_SEND_HEADER, //3
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER, //4
BLACKBOX_STATE_SEND_GPS_H_HEADER, //5
BLACKBOX_STATE_SEND_GPS_G_HEADER, //6
BLACKBOX_STATE_SEND_SLOW_HEADER, //7
BLACKBOX_STATE_SEND_SYSINFO, //8
BLACKBOX_STATE_PAUSED, //9
BLACKBOX_STATE_RUNNING, //10
BLACKBOX_STATE_SHUTTING_DOWN, //11
BLACKBOX_STATE_START_ERASE, //12
BLACKBOX_STATE_ERASING, //13
BLACKBOX_STATE_ERASED //14
BLACKBOX_STATE_STOPPED,
BLACKBOX_STATE_PREPARE_LOG_FILE,
BLACKBOX_STATE_SEND_HEADER,
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
BLACKBOX_STATE_SEND_GPS_H_HEADER,
BLACKBOX_STATE_SEND_GPS_G_HEADER,
BLACKBOX_STATE_SEND_SLOW_HEADER,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_PAUSED,
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN,
BLACKBOX_STATE_START_ERASE,
BLACKBOX_STATE_ERASING,
BLACKBOX_STATE_ERASED
} BlackboxState;
@ -309,7 +310,8 @@ typedef struct blackboxMainState_s {
} blackboxMainState_t;
typedef struct blackboxGpsState_s {
int32_t GPS_home[2], GPS_coord[2];
int32_t GPS_home[2];
int32_t GPS_coord[2];
uint8_t GPS_numSat;
} blackboxGpsState_t;
@ -333,7 +335,6 @@ static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0;
static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
static struct {
uint32_t headerIndex;
@ -352,7 +353,8 @@ static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIteration;
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
static uint16_t blackboxPFrameIndex;
static uint16_t blackboxIFrameIndex;
static uint16_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
@ -623,8 +625,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
static void writeInterframe(void)
{
int32_t deltas[8];
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxMainState_t *blackboxLast = blackboxHistory[1];
@ -638,6 +638,7 @@ static void writeInterframe(void)
*/
blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
int32_t deltas[8];
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
@ -1369,14 +1370,11 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
/* If an arming beep has played since it was last logged, write the time of the arming beep to the log as a synchronization point */
static void blackboxCheckAndLogArmingBeep(void)
{
flightLogEvent_syncBeep_t eventData;
// Use != so that we can still detect a change if the counter wraps
if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
blackboxLastArmingBeep = getArmingBeepTimeMicros();
flightLogEvent_syncBeep_t eventData;
eventData.time = blackboxLastArmingBeep;
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *)&eventData);
}
}
@ -1384,14 +1382,12 @@ static void blackboxCheckAndLogArmingBeep(void)
/* monitor the flight mode event status and trigger an event record if the state changes */
static void blackboxCheckAndLogFlightMode(void)
{
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
// Use != so that we can still detect a change if the counter wraps
if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
eventData.lastFlags = blackboxLastFlightModeFlags;
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
}
}

8
src/main/blackbox/blackbox_io.c
View file

@ -511,6 +511,14 @@ bool isBlackboxDeviceFull(void)
}
}
unsigned int blackboxGetLogNumber()
{
#ifdef USE_SDCARD
return blackboxSDCard.largestLogFileNumber;
#endif
return 0;
}
/**
* Call once every loop iteration in order to maintain the global blackboxHeaderBudget with the number of bytes we can
* transmit this iteration.

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

@ -52,6 +52,7 @@ bool blackboxDeviceBeginLog(void);
bool blackboxDeviceEndLog(bool retainLog);
bool isBlackboxDeviceFull(void);
unsigned int blackboxGetLogNumber();
void blackboxReplenishHeaderBudget();
blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes);

1
src/main/drivers/accgyro/accgyro.h
View file

@ -20,6 +20,7 @@
#include "platform.h"
#include "common/axis.h"
#include "drivers/exti.h"
#include "drivers/bus.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro_mpu.h"
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)

1
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -17,6 +17,7 @@
#pragma once
#include "drivers/bus.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"

2
src/main/drivers/accgyro/accgyro_spi_bmi160.h
View file

@ -34,7 +34,7 @@
#pragma once
#include "drivers/sensor.h"
#include "drivers/bus.h"
enum pios_bmi160_orientation { // clockwise rotation from board forward
PIOS_BMI160_TOP_0DEG,

2
src/main/drivers/accgyro/accgyro_spi_icm20689.h
View file

@ -16,7 +16,7 @@
*/
#pragma once
#include "drivers/sensor.h"
#include "drivers/bus.h"
#define ICM20689_WHO_AM_I_CONST (0x98)
#define ICM20689_BIT_RESET (0x80)

2
src/main/drivers/accgyro/accgyro_spi_mpu6000.h
View file

@ -1,7 +1,7 @@
#pragma once
#include "drivers/sensor.h"
#include "drivers/bus.h"
#define MPU6000_CONFIG 0x1A

2
src/main/drivers/accgyro/accgyro_spi_mpu6500.h
View file

@ -17,7 +17,7 @@
#pragma once
#include "drivers/sensor.h"
#include "drivers/bus.h"
uint8_t mpu6500SpiDetect(const busDevice_t *bus);

2
src/main/drivers/accgyro/accgyro_spi_mpu9250.h
View file

@ -1,7 +1,7 @@
#pragma once
#include "drivers/sensor.h"
#include "drivers/bus.h"
#define mpu9250_CONFIG 0x1A

8
src/main/drivers/bus.h
View file

@ -19,6 +19,14 @@
#include "platform.h"
#include "drivers/io_types.h"
typedef union busDevice_u {
struct deviceSpi_s {
IO_t csnPin;
} spi;
} busDevice_t;
#ifdef TARGET_BUS_INIT
void targetBusInit(void);
#endif

1
src/main/drivers/compass/compass.h
View file

@ -17,6 +17,7 @@
#pragma once
#include "drivers/bus.h"
#include "drivers/sensor.h"
typedef struct magDev_s {

2
src/main/drivers/light_ws2811strip.h
View file

@ -28,7 +28,7 @@
// number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
#define WS2811_DMA_BUFFER_SIZE (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH)
#define WS2811_TIMER_MHZ 24
#define WS2811_TIMER_MHZ 48
#define WS2811_CARRIER_HZ 800000
void ws2811LedStripInit(ioTag_t ioTag);

33
src/main/drivers/pwm_output.c
View file

@ -49,7 +49,7 @@ static uint16_t freqBeep=0;
#endif
bool pwmMotorsEnabled = false;
bool isDigital = false;
bool isDshot = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
@ -160,9 +160,9 @@ static void pwmWriteMultiShot(uint8_t index, float value)
}
#ifdef USE_DSHOT
static void pwmWriteDigital(uint8_t index, float value)
static void pwmWriteDshot(uint8_t index, float value)
{
pwmWriteDigitalInt(index, lrintf(value));
pwmWriteDshotInt(index, lrintf(value));
}
static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet)
@ -277,24 +277,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
break;
#ifdef USE_DSHOT
case PWM_TYPE_PROSHOT1000:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferProshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferDshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
#endif
}
if (!isDigital) {
if (!isDshot) {
pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
}
@ -313,8 +313,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
motors[motorIndex].io = IOGetByTag(tag);
#ifdef USE_DSHOT
if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
if (isDshot) {
pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
motors[motorIndex].enabled = true;
continue;
@ -354,6 +354,11 @@ pwmOutputPort_t *pwmGetMotors(void)
return motors;
}
bool isMotorProtocolDshot(void)
{
return isDshot;
}
#ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
{
@ -374,7 +379,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
void pwmWriteDshotCommand(uint8_t index, uint8_t command)
{
if (isDigital && (command <= DSHOT_MAX_COMMAND)) {
if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats;
@ -395,7 +400,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWriteDigitalInt(index, command);
pwmWriteDshotInt(index, command);
pwmCompleteMotorUpdate(0);
delay(1);

17
src/main/drivers/pwm_output.h
View file

@ -30,6 +30,15 @@
#define DSHOT_MAX_COMMAND 47
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
3D Mode:
0 = stop
48 (low) - 1047 (high) -> negative direction
1048 (low) - 2047 (high) -> positive direction
*/
typedef enum {
DSHOT_CMD_MOTOR_STOP = 0,
DSHOT_CMD_BEEP1,
@ -166,6 +175,8 @@ void servoDevInit(const servoDevConfig_t *servoDevConfig);
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
bool isMotorProtocolDshot(void);
#ifdef USE_DSHOT
typedef uint8_t loadDmaBufferFunc(motorDmaOutput_t *const motor, uint16_t packet); // function pointer used to encode a digital motor value into the DMA buffer representation
@ -175,9 +186,9 @@ extern loadDmaBufferFunc *loadDmaBuffer;
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDshotCommand(uint8_t index, uint8_t command);
void pwmWriteDigitalInt(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
#endif
#ifdef BEEPER

6
src/main/drivers/pwm_output_dshot.c
View file

@ -54,7 +54,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount-1;
}
void pwmWriteDigitalInt(uint8_t index, uint16_t value)
void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
@ -70,7 +70,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
@ -94,7 +94,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
}
}
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;

6
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -49,7 +49,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount - 1;
}
void pwmWriteDigitalInt(uint8_t index, uint16_t value)
void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
@ -74,7 +74,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
}
}
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
}
@ -85,7 +85,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
}
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware;

1
src/main/drivers/resource.c
View file

@ -63,5 +63,6 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
"VTX",
"COMPASS_CS",
"SPI_PREINIT",
"RX_BIND_PLUG",
};

1
src/main/drivers/resource.h
View file

@ -63,6 +63,7 @@ typedef enum {
OWNER_VTX,
OWNER_COMPASS_CS,
OWNER_SPI_PREINIT,
OWNER_RX_BIND_PLUG,
OWNER_TOTAL_COUNT
} resourceOwner_e;

8
src/main/drivers/sensor.h
View file

@ -20,8 +20,6 @@
#include <stdbool.h>
#include <stdint.h>
#include "drivers/io_types.h"
typedef enum {
ALIGN_DEFAULT = 0, // driver-provided alignment
CW0_DEG = 1,
@ -34,12 +32,6 @@ typedef enum {
CW270_DEG_FLIP = 8
} sensor_align_e;
typedef union busDevice_t {
struct deviceSpi_s {
IO_t csnPin;
} spi;
} busDevice_t;
typedef bool (*sensorInitFuncPtr)(void); // sensor init prototype
typedef bool (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef bool (*sensorInterruptFuncPtr)(void);

3
src/main/drivers/serial.h
View file

@ -18,6 +18,7 @@
#pragma once
#include "drivers/io.h"
#include "config/parameter_group.h"
typedef enum portMode_t {
MODE_RX = 1 << 0,
@ -86,6 +87,8 @@ typedef struct serialPinConfig_s {
ioTag_t ioTagInverter[SERIAL_PORT_MAX_INDEX];
} serialPinConfig_t;
PG_DECLARE(serialPinConfig_t, serialPinConfig);
struct serialPortVTable {
void (*serialWrite)(serialPort_t *instance, uint8_t ch);

2
src/main/drivers/vtx_common.h
View file

@ -35,7 +35,7 @@ typedef struct vtxDeviceCapability_s {
} vtxDeviceCapability_t;
typedef struct vtxDevice_s {
const struct vtxVTable_s const *vTable;
const struct vtxVTable_s * const vTable;
vtxDeviceCapability_t capability;

3513
src/main/fc/cli.c.orig Executable file
View file

File diff suppressed because it is too large Load diff

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

@ -91,7 +91,6 @@ PG_DECLARE(ppmConfig_t, ppmConfig);
PG_DECLARE(pwmConfig_t, pwmConfig);
PG_DECLARE(vcdProfile_t, vcdProfile);
PG_DECLARE(sdcardConfig_t, sdcardConfig);
PG_DECLARE(serialPinConfig_t, serialPinConfig);
struct pidProfile_s;
extern struct pidProfile_s *currentPidProfile;

8
src/main/fc/fc_core.c
View file

@ -207,20 +207,22 @@ void mwArm(void)
}
if (!ARMING_FLAG(PREVENT_ARMING)) {
#ifdef USE_DSHOT
if (!feature(FEATURE_3D)) {
//TODO: Use BOXDSHOTREVERSE here
if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
}
if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
}
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);

3
src/main/fc/fc_init.c
View file

@ -315,11 +315,12 @@ void init(void)
}
#endif
#ifdef SPEKTRUM_BIND_PIN
#if defined(USE_SPEKTRUM_BIND) && !defined(SITL)
if (feature(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
case SERIALRX_SRXL:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()

3
src/main/fc/settings.c
View file

@ -357,7 +357,7 @@ const clivalue_t valueTable[] = {
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) },
#endif
#ifdef SPEKTRUM_BIND_PIN
#ifdef USE_SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
#endif
@ -678,6 +678,7 @@ const clivalue_t valueTable[] = {
{ "osd_stat_endbatt", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_END_BATTERY])},
{ "osd_stat_flytime", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_FLYTIME])},
{ "osd_stat_armtime", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_ARMEDTIME])},
{ "osd_stat_bb_no", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_BLACKBOX_NUMBER])},
#endif
// PG_SYSTEM_CONFIG

17
src/main/flight/mixer.c
View file

@ -336,23 +336,6 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
return false;
}
bool isMotorProtocolDshot(void) {
#ifdef USE_DSHOT
switch(motorConfig()->dev.motorPwmProtocol) {
case PWM_TYPE_PROSHOT1000:
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
return true;
default:
return false;
}
#else
return false;
#endif
}
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void) {

19
src/main/flight/mixer.h
View file

@ -25,24 +25,6 @@
#define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 480
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
0 = stop
1-5: beep
6: ESC info request (FW Version and SN sent over the tlm wire)
7: spin direction 1
8: spin direction 2
9: 3d mode off
10: 3d mode on
11: ESC settings request (saved settings over the TLM wire)
12: save Settings
3D Mode:
0 = stop
48 (low) - 1047 (high) -> negative direction
1048 (low) - 2047 (high) -> positive direction
*/
// Digital protocol has fixed values
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
@ -140,6 +122,5 @@ void writeMotors(void);
void stopMotors(void);
void stopPwmAllMotors(void);
bool isMotorProtocolDshot(void);
float convertExternalToMotor(uint16_t externalValue);
uint16_t convertMotorToExternal(float motorValue);

6
src/main/io/osd.c
View file

@ -748,6 +748,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
osdConfig->enabled_stats[OSD_STAT_FLYTIME] = false;
osdConfig->enabled_stats[OSD_STAT_ARMEDTIME] = true;
osdConfig->enabled_stats[OSD_STAT_MAX_DISTANCE] = false;
osdConfig->enabled_stats[OSD_STAT_BLACKBOX_NUMBER] = true;
osdConfig->units = OSD_UNIT_METRIC;
@ -1021,6 +1022,11 @@ static void osdShowStats(void)
osdGetBlackboxStatusString(buff);
osdDisplayStatisticLabel(top++, "BLACKBOX", buff);
}
if (osdConfig()->enabled_stats[OSD_STAT_BLACKBOX_NUMBER] && blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
itoa(blackboxGetLogNumber(), buff, 10);
osdDisplayStatisticLabel(top++, "BB LOG NUM", buff);
}
#endif
/* Reset time since last armed here to ensure this timer is at zero when back at "main" OSD screen */

1
src/main/io/osd.h
View file

@ -80,6 +80,7 @@ typedef enum {
OSD_STAT_FLYTIME,
OSD_STAT_ARMEDTIME,
OSD_STAT_MAX_DISTANCE,
OSD_STAT_BLACKBOX_NUMBER,
OSD_STAT_COUNT // MUST BE LAST
} osd_stats_e;

5
src/main/io/rcsplit.c
View file

@ -40,8 +40,8 @@
// communicate with camera device variables
serialPort_t *rcSplitSerialPort = NULL;
rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
rcsplit_state_e cameraState = RCSPLIT_STATE_UNKNOWN;
rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
rcsplitState_e cameraState = RCSPLIT_STATE_UNKNOWN;
static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
{
@ -138,7 +138,6 @@ bool rcSplitInit(void)
// set init value to true, to avoid the action auto run when the flight board start and the switch is on.
for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
uint8_t switchIndex = i - BOXCAMERA1;
switchStates[switchIndex].boxId = 1 << i;
switchStates[switchIndex].isActivated = true;
}

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

@ -22,15 +22,14 @@
#include "fc/fc_msp.h"
typedef struct {
uint8_t boxId;
bool isActivated;
} rcsplit_switch_state_t;
} rcsplitSwitchState_t;
typedef enum {
RCSPLIT_STATE_UNKNOWN = 0,
RCSPLIT_STATE_INITIALIZING,
RCSPLIT_STATE_IS_READY,
} rcsplit_state_e;
} rcsplitState_e;
// packet header and tail
#define RCSPLIT_PACKET_HEADER 0x55
@ -51,6 +50,6 @@ bool rcSplitInit(void);
void rcSplitProcess(timeUs_t currentTimeUs);
// only for unit test
extern rcsplit_state_e cameraState;
extern rcsplitState_e cameraState;
extern serialPort_t *rcSplitSerialPort;
extern rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
extern rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];

1
src/main/rx/msp.c
View file

@ -24,6 +24,7 @@
#include "common/utils.h"
#include "drivers/io.h"
#include "rx/rx.h"
#include "rx/msp.h"

1
src/main/rx/nrf24_cx10.c
View file

@ -28,6 +28,7 @@
#include "build/build_config.h"
#include "drivers/io.h"
#include "drivers/rx_nrf24l01.h"
#include "drivers/rx_xn297.h"
#include "drivers/time.h"

1
src/main/rx/nrf24_h8_3d.c
View file

@ -30,6 +30,7 @@
#include "common/utils.h"
#include "drivers/io.h"
#include "drivers/rx_nrf24l01.h"
#include "drivers/rx_xn297.h"
#include "drivers/time.h"

1
src/main/rx/nrf24_inav.c
View file

@ -28,6 +28,7 @@
#include "common/utils.h"
#include "drivers/io.h"
#include "drivers/rx_nrf24l01.h"
#include "drivers/time.h"

1
src/main/rx/nrf24_syma.c
View file

@ -28,6 +28,7 @@
#include "build/build_config.h"
#include "drivers/io.h"
#include "drivers/rx_nrf24l01.h"
#include "drivers/time.h"

1
src/main/rx/nrf24_v202.c
View file

@ -30,6 +30,7 @@
#include "common/utils.h"
#include "drivers/io.h"
#include "drivers/rx_nrf24l01.h"
#include "drivers/time.h"

10
src/main/rx/rx.c
View file

@ -108,6 +108,14 @@ static uint8_t rcSampleIndex = 0;
#define RX_MAX_USEC 2115
#define RX_MID_USEC 1500
#ifndef SPEKTRUM_BIND_PIN
#define SPEKTRUM_BIND_PIN NONE
#endif
#ifndef BINDPLUG_PIN
#define BINDPLUG_PIN NONE
#endif
PG_REGISTER_WITH_RESET_FN(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
void pgResetFn_rxConfig(rxConfig_t *rxConfig)
{
@ -116,6 +124,8 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
.serialrx_provider = SERIALRX_PROVIDER,
.rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL,
.sbus_inversion = 1,
.spektrum_bind_pin_override_ioTag = IO_TAG(SPEKTRUM_BIND_PIN),
.spektrum_bind_plug_ioTag = IO_TAG(BINDPLUG_PIN),
.spektrum_sat_bind = 0,
.spektrum_sat_bind_autoreset = 1,
.midrc = RX_MID_USEC,

2
src/main/rx/rx.h
View file

@ -122,6 +122,8 @@ typedef struct rxConfig_s {
uint8_t rx_spi_protocol; // type of nrf24 protocol (0 = v202 250kbps). Must be enabled by FEATURE_RX_NRF24 first.
uint32_t rx_spi_id;
uint8_t rx_spi_rf_channel_count;
ioTag_t spektrum_bind_pin_override_ioTag;
ioTag_t spektrum_bind_plug_ioTag;
uint8_t spektrum_sat_bind; // number of bind pulses for Spektrum satellite receivers
uint8_t spektrum_sat_bind_autoreset; // whenever we will reset (exit) binding mode after hard reboot
uint8_t rssi_channel;

89
src/main/rx/spektrum.c
View file

@ -77,13 +77,6 @@ static volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
static rxRuntimeConfig_t *rxRuntimeConfigPtr;
static serialPort_t *serialPort;
#ifdef SPEKTRUM_BIND_PIN
static IO_t BindPin = DEFIO_IO(NONE);
#ifdef BINDPLUG_PIN
static IO_t BindPlug = DEFIO_IO(NONE);
#endif
#endif
static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX];
static uint8_t telemetryBufLen = 0;
@ -180,12 +173,14 @@ static uint16_t spektrumReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint
return data;
}
#ifdef SPEKTRUM_BIND_PIN
#ifdef USE_SPEKTRUM_BIND
bool spekShouldBind(uint8_t spektrum_sat_bind)
{
#ifdef BINDPLUG_PIN
BindPlug = IOGetByTag(IO_TAG(BINDPLUG_PIN));
#ifdef USE_SPEKTRUM_BIND_PLUG
IO_t BindPlug = IOGetByTag(rxConfig()->spektrum_bind_plug_ioTag);
if (BindPlug) {
IOInit(BindPlug, OWNER_RX_BIND, 0);
IOConfigGPIO(BindPlug, IOCFG_IPU);
@ -194,6 +189,7 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
if (IORead(BindPlug)) {
return false;
}
}
#endif
return !(
@ -202,6 +198,7 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
spektrum_sat_bind > SPEKTRUM_SAT_BIND_MAX
);
}
/* spektrumBind function ported from Baseflight. It's used to bind satellite receiver to TX.
* Function must be called immediately after startup so that we don't miss satellite bind window.
* Known parameters. Tested with DSMX satellite and DX8 radio. Framerate (11ms or 22ms) must be selected from TX.
@ -210,52 +207,92 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
*/
void spektrumBind(rxConfig_t *rxConfig)
{
int i;
if (!spekShouldBind(rxConfig->spektrum_sat_bind)) {
return;
}
// Determine a pin to use
ioTag_t bindPin;
if (rxConfig->spektrum_bind_pin_override_ioTag) {
bindPin = rxConfig->spektrum_bind_pin_override_ioTag;
} else {
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {
return;
}
int index = SERIAL_PORT_IDENTIFIER_TO_INDEX(portConfig->identifier);
ioTag_t txPin = serialPinConfig()->ioTagTx[index];
ioTag_t rxPin = serialPinConfig()->ioTagRx[index];
// Take care half-duplex case
switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL:
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
bindPin = txPin;
}
break;
#endif
default:
bindPin = rxPin;
}
if (!bindPin) {
return;
}
}
IO_t bindIO = IOGetByTag(bindPin);
IOInit(bindIO, OWNER_RX_BIND, 0);
IOConfigGPIO(bindIO, IOCFG_OUT_PP);
LED1_ON;
BindPin = IOGetByTag(IO_TAG(SPEKTRUM_BIND_PIN));
IOInit(BindPin, OWNER_RX_BIND, 0);
IOConfigGPIO(BindPin, IOCFG_OUT_PP);
// RX line, set high
IOWrite(BindPin, true);
IOWrite(bindIO, true);
// Bind window is around 20-140ms after powerup
delay(60);
LED1_OFF;
for (i = 0; i < rxConfig->spektrum_sat_bind; i++) {
for (int i = 0; i < rxConfig->spektrum_sat_bind; i++) {
LED0_OFF;
LED2_OFF;
// RX line, drive low for 120us
IOWrite(BindPin, false);
IOWrite(bindIO, false);
delayMicroseconds(120);
LED0_ON;
LED2_ON;
// RX line, drive high for 120us
IOWrite(BindPin, true);
IOWrite(bindIO, true);
delayMicroseconds(120);
}
#ifndef BINDPLUG_PIN
// Release the bind pin to avoid interference with an actual rx pin,
// when rxConfig->spektrum_bind_pin_override_ioTag is used.
// This happens when the bind pin is connected in parallel to the rx pin.
if (rxConfig->spektrum_bind_pin_override_ioTag) {
delay(50); // Keep it high for 50msec
IOConfigGPIO(bindIO, IOCFG_IN_FLOATING);
}
// If we came here as a result of hard reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config
// Don't reset if hardware bind plug is present
// Reset only when autoreset is enabled
if (rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
if (!rxConfig->spektrum_bind_plug_ioTag && rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
rxConfig->spektrum_sat_bind = 0;
saveConfigAndNotify();
}
#endif
}
#endif // SPEKTRUM_BIND_PIN
#endif // USE_SPEKTRUM_BIND
bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
@ -276,7 +313,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL:
#ifdef TELEMETRY
srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared && rxConfig->serialrx_provider == SERIALRX_SRXL);
srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared);
#endif
case SERIALRX_SPEKTRUM2048:
// 11 bit frames

1
src/main/sensors/gyro.h
View file

@ -19,6 +19,7 @@
#include "common/axis.h"
#include "config/parameter_group.h"
#include "drivers/bus.h"
#include "drivers/sensor.h"
typedef enum {

2
src/main/target/AIR32/target.h
View file

@ -96,8 +96,6 @@
//#define CURRENT_METER_ADC_PIN PA5
#define RSSI_ADC_PIN PB2
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

2
src/main/target/AIRHEROF3/target.h
View file

@ -88,8 +88,6 @@
#define SERIALRX_UART SERIAL_PORT_USART2
#define RX_CHANNELS_TAER
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

4
src/main/target/ALIENFLIGHTF1/target.h
View file

@ -62,8 +62,8 @@
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
#define SPEKTRUM_BIND_PIN PA3
#define USE_SPEKTRUM_BIND
#define USE_SPEKTRUM_BIND_PLUG
#define BINDPLUG_PIN PB5
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP

2
src/main/target/ALIENFLIGHTF3/target.h
View file

@ -114,8 +114,6 @@
// LED strip configuration.
#define LED_STRIP
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define BINDPLUG_PIN PB12
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP

2
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -162,8 +162,6 @@
// LED strip configuration.
#define LED_STRIP
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define BINDPLUG_PIN PB2
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT

2
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -171,8 +171,6 @@
// LED strip configuration.
#define LED_STRIP
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define BINDPLUG_PIN PB2
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT

2
src/main/target/BETAFLIGHTF3/target.h
View file

@ -127,8 +127,6 @@
#define SBUS_TELEMETRY_UART SERIAL_PORT_USART1
#define DEFAULT_FEATURES (FEATURE_TELEMETRY | FEATURE_OSD)
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

2
src/main/target/BLUEJAYF4/target.h
View file

@ -152,8 +152,6 @@
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff

2
src/main/target/CC3D/target.h
View file

@ -93,8 +93,6 @@
#define VBAT_ADC_PIN PA0
#define RSSI_ADC_PIN PB0
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
//#define SONAR

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

@ -107,7 +107,7 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define USE_RX_MSP
#define SPEKTRUM_BIND_PIN PA3 // UART2, PA3
#define USE_SPEKTRUM_BIND
#endif //USE_RX_NRF24

2
src/main/target/CLRACINGF4/target.h
View file

@ -122,8 +122,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES ( FEATURE_OSD )
#define CURRENT_METER_SCALE_DEFAULT 250
#define SPEKTRUM_BIND_PIN UART6_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))

1
src/main/target/CLRACINGF7/target.h
View file

@ -137,7 +137,6 @@
// LED strip configuration.
#define LED_STRIP
#define SPEKTRUM_BIND_PIN UART6_RX_PIN
#define BINDPLUG_PIN PB2
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL

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

@ -130,8 +130,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// !!TODO - check the TARGET_IO_PORTs are correct

2
src/main/target/F4BY/target.h
View file

@ -146,8 +146,6 @@
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#define SPEKTRUM_BIND_PIN UART6_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

2
src/main/target/FF_FORTINIF4/target.h
View file

@ -103,8 +103,6 @@
#define SERIAL_PORT_COUNT 5
//SPECKTRUM BIND
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define CMS
#define USE_MSP_DISPLAYPORT
/*---------------------------------*/

6
src/main/target/FF_PIKOBLX/target.h
View file

@ -94,12 +94,6 @@
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART3
#if defined(FF_RADIANCE)
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#else
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#endif
#define TRANSPONDER
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

2
src/main/target/FF_PIKOF4/target.h
View file

@ -98,8 +98,6 @@
#define UART6_TX_PIN PC6
#define SERIAL_PORT_COUNT 4
//SPECKTRUM BIND
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define CMS
#define USE_MSP_DISPLAYPORT

1
src/main/target/FRSKYF3/config.c
View file

@ -19,6 +19,7 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "drivers/io.h"
#include "rx/rx.h"
#include "io/serial.h"

2
src/main/target/FRSKYF3/target.h
View file

@ -138,8 +138,6 @@
#define TELEMETRY_UART SERIAL_PORT_USART3
#define SERIALRX_UART SERIAL_PORT_USART2
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

1
src/main/target/FRSKYF4/config.c
View file

@ -19,6 +19,7 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "drivers/io.h"
#include "rx/rx.h"
#include "io/serial.h"

2
src/main/target/FRSKYF4/target.h
View file

@ -117,8 +117,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES (FEATURE_OSD)
#define AVOID_UART1_FOR_PWM_PPM
#define SPEKTRUM_BIND_PIN UART1_RX_PIN
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define TELEMETRY_UART SERIAL_PORT_USART6
#define SERIALRX_UART SERIAL_PORT_USART1

2
src/main/target/FURYF3/target.h
View file

@ -169,8 +169,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_ESC_SENSOR

2
src/main/target/FURYF4/target.h
View file

@ -179,8 +179,6 @@
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

6
src/main/target/FURYF7/target.h
View file

@ -138,7 +138,11 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SPEKTRUM_BIND_PIN PB11
// XXX To target maintainer:
// USE_SPEKTRUM_BIND is enabled for this target, and it will use
// RX (or TX if half-duplex) pin of the UART the receiver is connected.
// If PB11 is critical for this target, please resurrect this line.
//#define SPEKTRUM_BIND_PIN PB11
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

2
src/main/target/IMPULSERCF3/target.h
View file

@ -91,8 +91,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART2
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

2
src/main/target/IRCFUSIONF3/target.h
View file

@ -81,8 +81,6 @@
#undef LED_STRIP
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
/*

2
src/main/target/ISHAPEDF3/target.h
View file

@ -105,8 +105,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

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

@ -101,8 +101,6 @@
#define AVOID_UART2_FOR_PWM_PPM
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff

2
src/main/target/KIWIF4/target.h
View file

@ -178,8 +178,6 @@
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART1
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

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

@ -157,8 +157,6 @@
#define DEFAULT_FEATURES (FEATURE_TELEMETRY)
#endif
#define SPEKTRUM_BIND_PIN UART1_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_ESCSERIAL

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

@ -70,7 +70,7 @@
#define USE_I2C_DEVICE_2
#define I2C_DEVICE (I2CDEV_2)
#define SPEKTRUM_BIND_PIN PA3
#define USE_SPEKTRUM_BIND
#define BRUSHED_MOTORS
#define DEFAULT_FEATURES FEATURE_MOTOR_STOP

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

@ -98,8 +98,6 @@
#define USE_ESC_SENSOR
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

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

@ -123,8 +123,6 @@
#define SERIALRX_UART SERIAL_PORT_USART3
#define RX_CHANNELS_TAER
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define BINDPLUG_PIN PA13
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

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

@ -146,7 +146,7 @@
#define RSSI_ADC_PIN PA1
#define EXTERNAL1_ADC_PIN PA5
#define SPEKTRUM_BIND_PIN PA3
#define USE_SPEKTRUM_BIND_PIN
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM

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

@ -128,8 +128,6 @@
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff

4
src/main/target/OMNIBUS/target.h
View file

@ -169,10 +169,6 @@
//#define AVOID_UART3_FOR_PWM_PPM // Disable this for using UART3
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define BINDPLUG_PIN PB0
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

2
src/main/target/OMNIBUSF4/target.h
View file

@ -189,8 +189,6 @@
#define DEFAULT_FEATURES (FEATURE_OSD)
#define AVOID_UART1_FOR_PWM_PPM
#define SPEKTRUM_BIND_PIN UART1_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))

2
src/main/target/RCEXPLORERF3/target.h
View file

@ -109,8 +109,6 @@
#define NAV_GPS_GLITCH_DETECTION
#define NAV_MAX_WAYPOINTS 60
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

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

@ -258,8 +258,6 @@
#define DEFAULT_FEATURES FEATURE_TELEMETRY
#endif
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

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

@ -84,8 +84,6 @@
#define VBAT_ADC_PIN PA6
#define RSSI_ADC_PIN PA5
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff

2
src/main/target/RG_SSD_F3/target.h
View file

@ -144,8 +144,6 @@
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
// IO - stm32f303rc in 64pin package
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff

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

@ -92,8 +92,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART2
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

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

@ -148,8 +148,6 @@
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_OSD)

4
src/main/target/SITL/target.c
View file

@ -392,6 +392,10 @@ pwmOutputPort_t *pwmGetMotors(void) {
bool pwmAreMotorsEnabled(void) {
return pwmMotorsEnabled;
}
bool isMotorProtocolDshot(void)
{
return false;
}
void pwmWriteMotor(uint8_t index, float value) {
motorsPwm[index] = value - idlePulse;
}

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

@ -90,8 +90,6 @@
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
//#define SONAR
//#define SONAR_ECHO_PIN PB1
//#define SONAR_TRIGGER_PIN PA2

2
src/main/target/SPRACINGF3/target.h
View file

@ -189,8 +189,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY)
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

2
src/main/target/SPRACINGF3EVO/target.h
View file

@ -172,8 +172,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY)
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

2
src/main/target/SPRACINGF3MINI/target.h
View file

@ -186,8 +186,6 @@
#define BINDPLUG_PIN BUTTON_B_PIN
#endif
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))

2
src/main/target/SPRACINGF3NEO/target.h
View file

@ -184,8 +184,6 @@
#define BUTTONS // Physically located on the optional OSD/VTX board.
#define BUTTON_A_PIN PD2
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
//#define BINDPLUG_PIN BUTTON_A_PIN

2
src/main/target/SPRACINGF4EVO/target.h
View file

@ -176,8 +176,6 @@
#define TELEMETRY_UART SERIAL_PORT_UART5
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

2
src/main/target/SPRACINGF4NEO/target.h
View file

@ -214,8 +214,6 @@
#define BUTTON_A_PIN PB8
#endif
#define SPEKTRUM_BIND_PIN UART2_RX_PIN
// FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
//#define BINDPLUG_PIN BUTTON_A_PIN

2
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -175,8 +175,6 @@
#define USE_ESC_SENSOR
#define SPEKTRUM_BIND_PIN PA3 // USART2, PA3
#define SONAR
#define SONAR_TRIGGER_PIN PB0
#define SONAR_ECHO_PIN PB1

4
src/main/target/VRRACE/target.h
View file

@ -165,10 +165,6 @@
//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
/*
#define SPEKTRUM_BIND_PIN PB11
*/
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

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

@ -115,8 +115,6 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// IO - stm32f303cc in 48pin package

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

@ -122,6 +122,11 @@
#define VTX_CONTROL
#define VTX_SMARTAUDIO
#define VTX_TRAMP
#ifdef USE_SERIALRX_SPEKTRUM
#define USE_SPEKTRUM_BIND
#define USE_SPEKTRUM_BIND_PLUG
#endif
#endif
#if (FLASH_SIZE > 256)

1
src/test/Makefile
View file

@ -216,6 +216,7 @@ COMMON_FLAGS = \
-g \
-Wall \
-Wextra \
-Werror \
-ggdb3 \
-pthread \
-O0 \

1
src/test/unit/flight_failsafe_unittest.cc
View file

@ -39,6 +39,7 @@ extern "C" {
#include "io/beeper.h"
#include "drivers/io.h"
#include "rx/rx.h"
extern boxBitmask_t rcModeActivationMask;

Some files were not shown because too many files have changed in this diff Show more