Merge branch 'master' into task_dispatch

Makefile

@@ -415,7 +415,7 @@ CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(STDPERIPH_DIR)/inc \
                    $(CMSIS_DIR)/CM3/CoreSupport \
-                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
+                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
 
 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 
@@ -608,6 +608,7 @@ HIGHEND_SRC = \
             telemetry/smartport.c \
             telemetry/ltm.c \
             telemetry/mavlink.c \
+            telemetry/ibus.c \
             sensors/esc_sensor.c \
             io/vtx_smartaudio.c
 

README.md

@@ -2,24 +2,25 @@
 
 Betaflight is flight controller software (firmware) used to fly multi-rotor craft and fixed wing craft.
 
-This fork differs from baseflight and cleanflight in that it focuses on flight performance and wide target support.
+This fork differs from Baseflight and Cleanflight in that it focuses on flight performance, leading-edge feature additions, and wide target support.
 
 ## Features
 
 Betaflight has the following features:
 
-* Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc)
+* Multi-color RGB LED strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, Initialization Troubleshooting, etc)
-* DSHOT (600, 300 and 150), Oneshot (125 and 42) and Multishot motor protocol support 
+* DShot (600, 300 and 150), Multishot, and Oneshot (125 and 42) motor protocol support
-* Blackbox flight recorder logging (to onboard flash or external SD card - where fitted)
+* Blackbox flight recorder logging (to onboard flash or external microSD card where equipped)
 * Support for targets that use the STM32 F7, F4, F3 and F1 processors
-* PWM, PPM and serial input with failsafe detection
+* PWM, PPM, and Serial (SBus, SumH, SumD, Spektrum 1024/2048, XBus, etc) RX connection with failsafe detection
-* Multiple Telemetry protocols (CRSF, FrSky, HoTT smart-port, MSP etc)
+* Multiple telemetry protocols (CSRF, FrSky, HoTT smart-port, MSP, etc)
-* RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II and X8R.
+* RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II, X8R, X4R-SB, & XSR
-* OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
+* OSD support & configuration without needing third-party OSD software/firmware/comm devices
-* In-flight manual PID tuning and rate adjustment.
+* OLED Displays - Display information on: Battery voltage/current/mAh, profile, rate profile, mode, version, sensors, etc
-* Rate profiles and in-flight selection of them.
+* In-flight manual PID tuning and rate adjustment
-* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
+* Rate profiles and in-flight selection of them
-* and much, much more.
+* Configurable serial ports for Serial RX, Telemetry, MSP, GPS, OSD, Sonar, etc - Use most devices on any port, softserial included
+* and MUCH, MUCH more.
 
 ## Installation & Documentation
 
@@ -48,10 +49,9 @@ https://github.com/betaflight/betaflight-configurator
 Contributions are welcome and encouraged.  You can contribute in many ways:
 
 * Documentation updates and corrections.
-* How-To guides - received help?  help others!
+* How-To guides - received help? Help others!
-* Bug fixes.
+* Bug reporting & fixes.
-* New features.
+* New feature ideas & suggestions.
-* Telling us your ideas and suggestions.
 
 The best place to start is the IRC channel on gitter (see above), drop in, say hi. Next place is the github issue tracker:
 

lib/main/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h

@@ -65,7 +65,7 @@
   * @{
   */  
 /*--------------- STM32F74xxx/STM32F75xxx/STM32F76xxx/STM32F77xxx -------------*/
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) ||\
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) ||\
     defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)   
 /** 
   * @brief   AF 0 selection  
@@ -295,7 +295,7 @@
 /** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index
   * @{
   */
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) ||\
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) ||\
     defined (STM32F767xx) || defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
 #define GPIO_GET_INDEX(__GPIOx__)   (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\
                                               ((__GPIOx__) == (GPIOB))? 1U :\
@@ -359,7 +359,7 @@
                           ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDMMC1)     || \
                           ((AF) == GPIO_AF12_FMC)       || ((AF) == GPIO_AF15_EVENTOUT)  || \
                           ((AF) == GPIO_AF13_DCMI)      || ((AF) == GPIO_AF14_LTDC))
-#elif defined(STM32F745xx)
+#elif defined (STM32F722xx) || defined(STM32F745xx)
 #define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF1_TIM1)       || \
                           ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
                           ((AF) == GPIO_AF0_MCO)       || ((AF) == GPIO_AF1_TIM2)        || \

lib/main/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h

@@ -105,7 +105,7 @@ typedef struct
                             This parameter must be a number between Min_Data = 2 and Max_Data = 15. 
                             This parameter will be used only when PLLI2S is selected as Clock Source SAI */
 
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
     defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
   uint32_t PLLI2SP;    /*!< Specifies the division factor for SPDIF-RX clock.
                             This parameter must be a value of @ref RCCEx_PLLI2SP_Clock_Divider. 
@@ -126,7 +126,7 @@ typedef struct
                             This parameter must be a number between Min_Data = 2 and Max_Data = 15.
                             This parameter will be used only when PLLSAI is selected as Clock Source SAI or LTDC */
   
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
     defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
   uint32_t PLLSAIR;    /*!< specifies the division factor for LTDC clock
                             This parameter must be a number between Min_Data = 2 and Max_Data = 7.
@@ -285,7 +285,7 @@ typedef struct
   * @}
   */
 
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || \
     defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
 /** @defgroup RCCEx_PLLI2SP_Clock_Divider RCCEx PLLI2SP Clock Divider
   * @{
@@ -3181,7 +3181,7 @@ uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk);
                (((VALUE) == RCC_TIMPRES_DESACTIVATED) || \
                 ((VALUE) == RCC_TIMPRES_ACTIVATED))
 
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx)
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx)
 #define IS_RCC_SAI1CLKSOURCE(SOURCE)  (((SOURCE) == RCC_SAI1CLKSOURCE_PLLSAI) || \
                                        ((SOURCE) == RCC_SAI1CLKSOURCE_PLLI2S) || \
                                        ((SOURCE) == RCC_SAI1CLKSOURCE_PIN))

lib/main/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pcd.c

@@ -1258,7 +1258,7 @@ static HAL_StatusTypeDef PCD_WriteEmptyTxFifo(PCD_HandleTypeDef *hpcd, uint32_t
   ep = &hpcd->IN_ep[epnum];
   len = ep->xfer_len - ep->xfer_count;
   
-  if (len > ep->maxpacket)
+  if (len > (int32_t)ep->maxpacket)
   {
     len = ep->maxpacket;
   }
@@ -1273,7 +1273,7 @@ static HAL_StatusTypeDef PCD_WriteEmptyTxFifo(PCD_HandleTypeDef *hpcd, uint32_t
     /* Write the FIFO */
     len = ep->xfer_len - ep->xfer_count;
     
-    if (len > ep->maxpacket)
+    if (len > (int32_t)ep->maxpacket)
     {
       len = ep->maxpacket;
     }

lib/main/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c

@@ -109,7 +109,7 @@
 @endverbatim
   * @{
   */
-#if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || \
+#if defined (STM32F722xx) || defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || \
     defined (STM32F767xx) || defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)  
 /**
   * @brief  Initializes the RCC extended peripherals clocks according to the specified

src/main/config/config_eeprom.c

@@ -55,6 +55,10 @@
         #define FLASH_PAGE_SIZE                 ((uint32_t)0x40000)
     #endif
 
+    #if defined(STM32F722xx)
+        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
+    #endif
+
     #if defined(STM32F40_41xxx)
         #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
     #endif
@@ -77,13 +81,15 @@
 
 #if defined(FLASH_SIZE)
 #if defined(STM32F40_41xxx)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#define FLASH_PAGE_COUNT 4
 #elif defined (STM32F411xE)
-#define FLASH_PAGE_COUNT 3  // just to make calculations work
+#define FLASH_PAGE_COUNT 3
+#elif defined (STM32F722xx)
+#define FLASH_PAGE_COUNT 3
 #elif defined (STM32F745xx)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#define FLASH_PAGE_COUNT 4
 #elif defined (STM32F746xx)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#define FLASH_PAGE_COUNT 4
 #else
 #define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
 #endif
@@ -142,6 +148,9 @@ bool isEEPROMContentValid(void)
     if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
         return false;
 
+    if (strncasecmp(temp->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER)))
+        return false;
+
     // verify integrity of temporary copy
     checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
     if (checksum != 0)

src/main/config/config_eeprom.h

@@ -17,10 +17,9 @@
 
 #pragma once
 
-#define EEPROM_CONF_VERSION 148
+#define EEPROM_CONF_VERSION 150
 
 void initEEPROM(void);
 void writeEEPROM();
 void readEEPROM(void);
 bool isEEPROMContentValid(void);
-

src/main/config/config_master.h

@@ -86,6 +86,7 @@
 #define failsafeConfig(x) (&masterConfig.failsafeConfig)
 #define serialConfig(x) (&masterConfig.serialConfig)
 #define telemetryConfig(x) (&masterConfig.telemetryConfig)
+#define ibusTelemetryConfig(x) (&masterConfig.telemetryConfig)
 #define ppmConfig(x) (&masterConfig.ppmConfig)
 #define pwmConfig(x) (&masterConfig.pwmConfig)
 #define adcConfig(x) (&masterConfig.adcConfig)
@@ -136,6 +137,7 @@ typedef struct master_s {
     pidConfig_t pidConfig;
 
     uint8_t debug_mode;                     // Processing denominator for PID controller vs gyro sampling rate
+    uint8_t task_statistics;
 
     gyroConfig_t gyroConfig;
     compassConfig_t compassConfig;
@@ -241,6 +243,7 @@ typedef struct master_s {
     uint32_t preferred_beeper_off_flags;
 
     char name[MAX_NAME_LENGTH + 1];
+    char boardIdentifier[sizeof(TARGET_BOARD_IDENTIFIER)];
 
     uint8_t magic_ef;                       // magic number, should be 0xEF
     uint8_t chk;                            // XOR checksum

src/main/drivers/accgyro.h

@@ -26,6 +26,10 @@
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
+#if defined(USE_GYRO_SPI_MPU6500) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
+#define GYRO_SUPPORTS_32KHZ
+#endif
+
 #define GYRO_LPF_256HZ      0
 #define GYRO_LPF_188HZ      1
 #define GYRO_LPF_98HZ       2
@@ -35,15 +39,24 @@
 #define GYRO_LPF_5HZ        6
 #define GYRO_LPF_NONE       7
 
+typedef enum {
+    GYRO_RATE_1_kHz,
+    GYRO_RATE_8_kHz,
+    GYRO_RATE_32_kHz,
+} gyroRateKHz_e;
+
 typedef struct gyroDev_s {
     sensorGyroInitFuncPtr init;                             // initialize function
     sensorGyroReadFuncPtr read;                             // read 3 axis data function
     sensorGyroReadDataFuncPtr temperature;                  // read temperature if available
     sensorGyroInterruptStatusFuncPtr intStatus;
+    sensorGyroUpdateFuncPtr update;
     extiCallbackRec_t exti;
     float scale;                                            // scalefactor
-    int16_t gyroADCRaw[XYZ_AXIS_COUNT];
+    volatile int16_t gyroADCRaw[XYZ_AXIS_COUNT];
-    uint16_t lpf;
+    uint8_t lpf;
+    gyroRateKHz_e gyroRateKHz;
+    uint8_t mpuDividerDrops;
     volatile bool dataReady;
     sensor_align_e gyroAlign;
     mpuDetectionResult_t mpuDetectionResult;

src/main/drivers/accgyro_mpu.c

@@ -22,6 +22,7 @@
 
 #include "platform.h"
 
+#include "build/atomic.h"
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -46,7 +47,6 @@
 #include "accgyro_spi_mpu9250.h"
 #include "accgyro_mpu.h"
 
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 mpuResetFuncPtr mpuReset;
 
@@ -220,15 +220,20 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
 #if defined(MPU_INT_EXTI)
 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 {
+#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
+    static uint32_t lastCalledAtUs = 0;
+    const uint32_t nowUs = micros();
+    debug[0] = (uint16_t)(nowUs - lastCalledAtUs);
+    lastCalledAtUs = nowUs;
+#endif
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
     gyro->dataReady = true;
-
+    if (gyro->update) {
+        gyro->update(gyro);
+    }
 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
-    static uint32_t lastCalledAt = 0;
+    const uint32_t now2Us = micros();
-    uint32_t now = micros();
+    debug[1] = (uint16_t)(now2Us - nowUs);
-    uint32_t callDelta = now - lastCalledAt;
-    debug[0] = callDelta;
-    lastCalledAt = now;
 #endif
 }
 #endif
@@ -296,6 +301,13 @@ bool mpuAccRead(accDev_t *acc)
     return true;
 }
 
+void mpuGyroSetIsrUpdate(gyroDev_t *gyro, sensorGyroUpdateFuncPtr updateFn)
+{
+    ATOMIC_BLOCK(NVIC_PRIO_MPU_INT_EXTI) {
+        gyro->update = updateFn;
+    }
+}
+
 bool mpuGyroRead(gyroDev_t *gyro)
 {
     uint8_t data[6];

src/main/drivers/accgyro_mpu.h

@@ -18,6 +18,13 @@
 #pragma once
 
 #include "exti.h"
+#include "sensor.h"
+
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
+#define GYRO_USES_SPI
+#endif
 
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
@@ -190,3 +197,5 @@ bool mpuAccRead(struct accDev_s *acc);
 bool mpuGyroRead(struct gyroDev_s *gyro);
 mpuDetectionResult_t *mpuDetect(struct gyroDev_s *gyro);
 bool mpuCheckDataReady(struct gyroDev_s *gyro);
+void mpuGyroSetIsrUpdate(struct gyroDev_s *gyro, sensorGyroUpdateFuncPtr updateFn);
+

src/main/drivers/accgyro_mpu6050.c

@@ -82,7 +82,7 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
     gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
     gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
     delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
     gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec

src/main/drivers/accgyro_mpu6500.c

@@ -63,13 +63,14 @@ void mpu6500GyroInit(gyroDev_t *gyro)
     delay(100);
     gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
+    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
     delay(15);
     gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
     gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration

src/main/drivers/accgyro_spi_icm20689.c

@@ -138,13 +138,14 @@ void icm20689GyroInit(gyroDev_t *gyro)
 //    delay(100);
     gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
+    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
     delay(15);
     gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
     gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration

src/main/drivers/accgyro_spi_mpu6000.c

@@ -45,7 +45,7 @@
 
 #include "accgyro_spi_mpu6000.h"
 
-static void mpu6000AccAndGyroInit(void);
+static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
 
 static bool mpuSpi6000InitDone = false;
 
@@ -128,7 +128,7 @@ void mpu6000SpiGyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    mpu6000AccAndGyroInit();
+    mpu6000AccAndGyroInit(gyro);
 
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
 
@@ -201,7 +201,7 @@ bool mpu6000SpiDetect(void)
     return false;
 }
 
-static void mpu6000AccAndGyroInit(void)
+static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
 {
     if (mpuSpi6000InitDone) {
         return;
@@ -229,7 +229,7 @@ static void mpu6000AccAndGyroInit(void)
 
     // Accel Sample Rate 1kHz
     // Gyroscope Output Rate =  1kHz when the DLPF is enabled
-    mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
+    mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
     delayMicroseconds(15);
 
     // Gyro +/- 1000 DPS Full Scale

src/main/drivers/accgyro_spi_mpu9250.c

@@ -46,7 +46,7 @@
 #include "accgyro_mpu.h"
 #include "accgyro_spi_mpu9250.h"
 
-static void mpu9250AccAndGyroInit(uint8_t lpf);
+static void mpu9250AccAndGyroInit(gyroDev_t *gyro);
 
 static bool mpuSpi9250InitDone = false;
 
@@ -100,7 +100,7 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    mpu9250AccAndGyroInit(gyro->lpf);
+    mpu9250AccAndGyroInit(gyro);
 
     spiResetErrorCounter(MPU9250_SPI_INSTANCE);
 
@@ -140,7 +140,7 @@ bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
     return false;
 }
 
-static void mpu9250AccAndGyroInit(uint8_t lpf) {
+static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
 
     if (mpuSpi9250InitDone) {
         return;
@@ -153,17 +153,19 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
 
     verifympu9250WriteRegister(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 
-    verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
+    //Fchoice_b defaults to 00 which makes fchoice 11
+    const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
+    verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, raGyroConfigData);
 
-    if (lpf == 4) {
+    if (gyro->lpf == 4) {
         verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
-    } else if (lpf < 4) {
+    } else if (gyro->lpf < 4) {
         verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
-    } else if (lpf > 4) {
+    } else if (gyro->lpf > 4) {
         verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
     }
 
-    verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
 
     verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
     verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN

src/main/drivers/adc_impl.h

@@ -51,6 +51,10 @@ typedef struct adcDevice_s {
 #else
     DMA_Channel_TypeDef* DMAy_Channelx;
 #endif
+#if defined(STM32F7)
+    ADC_HandleTypeDef ADCHandle;
+    DMA_HandleTypeDef DmaHandle;
+#endif
 } adcDevice_t;
 
 extern const adcDevice_t adcHardware[];

src/main/drivers/adc_stm32f7xx.c

@@ -85,9 +85,6 @@ ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 
 void adcInit(adcConfig_t *config)
 {
-    DMA_HandleTypeDef DmaHandle;
-    ADC_HandleTypeDef ADCHandle;
-
     uint8_t i;
     uint8_t configuredAdcChannels = 0;
 
@@ -136,47 +133,47 @@ void adcInit(adcConfig_t *config)
     RCC_ClockCmd(adc.rccADC, ENABLE);
     dmaInit(dmaGetIdentifier(adc.DMAy_Streamx), OWNER_ADC, 0);
 
-    ADCHandle.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV8;
+    adc.ADCHandle.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV8;
-    ADCHandle.Init.ContinuousConvMode    = ENABLE;
+    adc.ADCHandle.Init.ContinuousConvMode    = ENABLE;
-    ADCHandle.Init.Resolution            = ADC_RESOLUTION_12B;
+    adc.ADCHandle.Init.Resolution            = ADC_RESOLUTION_12B;
-    ADCHandle.Init.ExternalTrigConv      = ADC_EXTERNALTRIGCONV_T1_CC1;
+    adc.ADCHandle.Init.ExternalTrigConv      = ADC_EXTERNALTRIGCONV_T1_CC1;
-    ADCHandle.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
+    adc.ADCHandle.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
-    ADCHandle.Init.DataAlign             = ADC_DATAALIGN_RIGHT;
+    adc.ADCHandle.Init.DataAlign             = ADC_DATAALIGN_RIGHT;
-    ADCHandle.Init.NbrOfConversion       = configuredAdcChannels;
+    adc.ADCHandle.Init.NbrOfConversion       = configuredAdcChannels;
-    ADCHandle.Init.ScanConvMode          = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
+    adc.ADCHandle.Init.ScanConvMode          = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
-    ADCHandle.Init.DiscontinuousConvMode = DISABLE;
+    adc.ADCHandle.Init.DiscontinuousConvMode = DISABLE;
-    ADCHandle.Init.NbrOfDiscConversion   = 0;
+    adc.ADCHandle.Init.NbrOfDiscConversion   = 0;
-    ADCHandle.Init.DMAContinuousRequests = ENABLE;
+    adc.ADCHandle.Init.DMAContinuousRequests = ENABLE;
-    ADCHandle.Init.EOCSelection          = DISABLE;
+    adc.ADCHandle.Init.EOCSelection          = DISABLE;
-    ADCHandle.Instance = adc.ADCx;
+    adc.ADCHandle.Instance = adc.ADCx;
 
     /*##-1- Configure the ADC peripheral #######################################*/
-    if (HAL_ADC_Init(&ADCHandle) != HAL_OK)
+    if (HAL_ADC_Init(&adc.ADCHandle) != HAL_OK)
     {
       /* Initialization Error */
     }
 
-    DmaHandle.Init.Channel = adc.channel;
+    adc.DmaHandle.Init.Channel = adc.channel;
-    DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    adc.DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+    adc.DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
-    DmaHandle.Init.MemInc = configuredAdcChannels > 1 ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
+    adc.DmaHandle.Init.MemInc = configuredAdcChannels > 1 ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
-    DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    adc.DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    adc.DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
-    DmaHandle.Init.Mode = DMA_CIRCULAR;
+    adc.DmaHandle.Init.Mode = DMA_CIRCULAR;
-    DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
+    adc.DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
-    DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    adc.DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+    adc.DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
+    adc.DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
-    DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
+    adc.DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
-    DmaHandle.Instance = adc.DMAy_Streamx;
+    adc.DmaHandle.Instance = adc.DMAy_Streamx;
 
     /*##-2- Initialize the DMA stream ##########################################*/
-    if (HAL_DMA_Init(&DmaHandle) != HAL_OK)
+    if (HAL_DMA_Init(&adc.DmaHandle) != HAL_OK)
     {
         /* Initialization Error */
     }
 
-    __HAL_LINKDMA(&ADCHandle, DMA_Handle, DmaHandle);
+    __HAL_LINKDMA(&adc.ADCHandle, DMA_Handle, adc.DmaHandle);
 
     uint8_t rank = 1;
     for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
@@ -190,14 +187,15 @@ void adcInit(adcConfig_t *config)
         sConfig.Offset       = 0;
 
         /*##-3- Configure ADC regular channel ######################################*/
-        if (HAL_ADC_ConfigChannel(&ADCHandle, &sConfig) != HAL_OK)
+        if (HAL_ADC_ConfigChannel(&adc.ADCHandle, &sConfig) != HAL_OK)
         {
           /* Channel Configuration Error */
         }
     }
 
+    HAL_CLEANINVALIDATECACHE((uint32_t*)&adcValues, configuredAdcChannels);
     /*##-4- Start the conversion process #######################################*/
-    if(HAL_ADC_Start_DMA(&ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK)
+    if(HAL_ADC_Start_DMA(&adc.ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK)
     {
         /* Start Conversation Error */
     }

src/main/drivers/bus_i2c.h

@@ -33,7 +33,9 @@ typedef enum I2CDevice {
     I2CDEV_1   = 0,
     I2CDEV_2,
     I2CDEV_3,
+#ifdef USE_I2C4
     I2CDEV_4,
+#endif
     I2CDEV_COUNT
 } I2CDevice;
 

src/main/drivers/bus_i2c_hal.c

@@ -28,7 +28,7 @@
 #include "io_impl.h"
 #include "rcc.h"
 
-#ifndef SOFT_I2C
+#if !defined(SOFT_I2C) && defined(USE_I2C)
 
 #define CLOCKSPEED 800000    // i2c clockspeed 400kHz default (conform specs), 800kHz  and  1200kHz (Betaflight default)
 
@@ -62,18 +62,22 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #define I2C3_SDA PB4
 #endif
 
+#if defined(USE_I2C4) 
 #ifndef I2C4_SCL
 #define I2C4_SCL PD12
 #endif
 #ifndef I2C4_SDA
 #define I2C4_SDA PD13
 #endif
+#endif
 
 static i2cDevice_t i2cHardwareMap[] = {
     { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = I2C1_OVERCLOCK, .ev_irq = I2C1_EV_IRQn, .er_irq = I2C1_ER_IRQn, .af = GPIO_AF4_I2C1 },
     { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn, .af = GPIO_AF4_I2C2 },
     { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn, .af = GPIO_AF4_I2C3 },
+#if defined(USE_I2C4)
     { .dev = I2C4, .scl = IO_TAG(I2C4_SCL), .sda = IO_TAG(I2C4_SDA), .rcc = RCC_APB1(I2C4), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C4_EV_IRQn, .er_irq = I2C4_ER_IRQn, .af = GPIO_AF4_I2C4 }
+#endif
 };
 
 
@@ -112,6 +116,7 @@ void I2C3_EV_IRQHandler(void)
     HAL_I2C_EV_IRQHandler(&i2cHandle[I2CDEV_3].Handle);
 }
 
+#ifdef USE_I2C4
 void I2C4_ER_IRQHandler(void)
 {
     HAL_I2C_ER_IRQHandler(&i2cHandle[I2CDEV_4].Handle);
@@ -121,6 +126,7 @@ void I2C4_EV_IRQHandler(void)
 {
     HAL_I2C_EV_IRQHandler(&i2cHandle[I2CDEV_4].Handle);
 }
+#endif
 
 static volatile uint16_t i2cErrorCount = 0;
 
@@ -192,9 +198,11 @@ void i2cInit(I2CDevice device)
     case I2CDEV_3:
         __HAL_RCC_I2C3_CLK_ENABLE();
         break;
+#ifdef USE_I2C4        
     case I2CDEV_4:
         __HAL_RCC_I2C4_CLK_ENABLE();
         break;
+#endif
     default:
         break;
     }

src/main/drivers/display_ug2864hsweg01.c

@@ -25,8 +25,12 @@
 
 #include "display_ug2864hsweg01.h"
 
-#ifndef OLED_I2C_INSTANCE
+#if !defined(OLED_I2C_INSTANCE)
+#if defined(I2C_DEVICE)
 #define OLED_I2C_INSTANCE I2C_DEVICE
+#else
+#define OLED_I2C_INSTANCE I2C_NONE
+#endif
 #endif
 
 #define INVERSE_CHAR_FORMAT 0x7f // 0b01111111
@@ -250,7 +254,6 @@ void i2c_OLED_send_string(const char *string)
 /**
 * according to http://www.adafruit.com/datasheets/UG-2864HSWEG01.pdf Chapter 4.4 Page 15
 */
-#if 1
 bool ug2864hsweg01InitI2C(void)
 {
 
@@ -286,42 +289,3 @@ bool ug2864hsweg01InitI2C(void)
 
     return true;
 }
-#else
-void ug2864hsweg01InitI2C(void)
-{
-    i2c_OLED_send_cmd(0xae);    //display off
-    i2c_OLED_send_cmd(0xa4);          //SET All pixels OFF
-//  i2c_OLED_send_cmd(0xa5);            //SET ALL pixels ON
-    delay(50);
-
-//    i2c_OLED_send_cmd(0x8D); // charge pump
-//    i2c_OLED_send_cmd(0x14); // enable
-    i2c_OLED_send_cmd(0x20);            //Set Memory Addressing Mode
-    i2c_OLED_send_cmd(0x02); //Set Memory Addressing Mode to Page addressing mode(RESET)
-//  i2c_OLED_send_cmd(0xa0);      //colum address 0 mapped to SEG0 (POR)*** wires at bottom
-    i2c_OLED_send_cmd(0xa1); //colum address 127 mapped to SEG0 (POR) ** wires at top of board
-//  i2c_OLED_send_cmd(0xC0);            // Scan from Right to Left (POR)         *** wires at bottom
-    i2c_OLED_send_cmd(0xC8); // Scan from Left to Right               ** wires at top
-    i2c_OLED_send_cmd(0xa6);            // Set WHITE chars on BLACK backround
-//  i2c_OLED_send_cmd(0xa7);            // Set BLACK chars on WHITE backround
-    i2c_OLED_send_cmd(0x81); // Setup CONTRAST CONTROL, following byte is the contrast Value
-    i2c_OLED_send_cmd(0xaf); // contrast value between 1 ( == dull) to 256 ( == bright)
-//  i2c_OLED_send_cmd(0xd3);            // Display Offset :
-//  i2c_OLED_send_cmd(0x0);            // 0
-//  delay(20);
-//  i2c_OLED_send_cmd(0x40);            // Display start line [0;63] -> [0x40;0x7f]
-//  delay(20);
-#ifdef DISPLAY_FONT_DSIZE
-    i2c_OLED_send_cmd(0xd6);            // zoom
-    i2c_OLED_send_cmd(0x01);// on
-#else
-//    i2c_OLED_send_cmd(0xd6);            // zoom
-//    i2c_OLED_send_cmd(0x00);            // off
-#endif
-    delay(20);
-    i2c_OLED_send_cmd(0xaf);          //display on
-    delay(20);
-    i2c_OLED_clear_display();
-}
-
-#endif

src/main/drivers/dma.c

@@ -105,3 +105,13 @@ dmaIdentifier_e dmaGetIdentifier(const DMA_Channel_TypeDef* channel)
     }
     return 0;
 }
+
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Channel_TypeDef* channel)
+{
+    for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
+        if (dmaDescriptors[i].channel == channel) {
+            return &dmaDescriptors[i];
+        }
+    }
+    return NULL;
+}

src/main/drivers/dma.h

@@ -38,11 +38,12 @@ typedef struct dmaChannelDescriptor_s {
     uint8_t                     resourceIndex;
 } dmaChannelDescriptor_t;
 
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F7)
-
 #define HAL_CLEANINVALIDATECACHE(addr, size) (SCB_CleanInvalidateDCache_by_Addr((uint32_t*)((uint32_t)addr & ~0x1f), ((uint32_t)(addr + size + 0x1f) & ~0x1f) - ((uint32_t)addr & ~0x1f)))
 #define HAL_CLEANCACHE(addr, size) (SCB_CleanDCache_by_Addr((uint32_t*)((uint32_t)addr & ~0x1f), ((uint32_t)(addr + size + 0x1f) & ~0x1f) - ((uint32_t)addr & ~0x1f)))
+#endif
 
+#if defined(STM32F4) || defined(STM32F7)
 uint32_t dmaFlag_IT_TCIF(const DMA_Stream_TypeDef *stream);
 
 typedef enum {
@@ -87,6 +88,7 @@ typedef enum {
 #define DMA_IT_FEIF         ((uint32_t)0x00000001)
 
 dmaIdentifier_e dmaGetIdentifier(const DMA_Stream_TypeDef* stream);
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Stream_TypeDef* stream);
 
 #else
 
@@ -127,7 +129,7 @@ typedef enum {
 #define DMA_IT_TEIF         ((uint32_t)0x00000008)
 
 dmaIdentifier_e dmaGetIdentifier(const DMA_Channel_TypeDef* channel);
-
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Channel_TypeDef* channel);
 #endif
 
 void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex);

src/main/drivers/dma_stm32f4xx.c

@@ -124,3 +124,13 @@ dmaIdentifier_e dmaGetIdentifier(const DMA_Stream_TypeDef* stream)
     }
     return 0;
 }
+
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Stream_TypeDef* stream)
+{
+    for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
+        if (dmaDescriptors[i].stream == stream) {
+            return &dmaDescriptors[i];
+        }
+    }
+    return NULL;
+}

src/main/drivers/gyro_sync.c

@@ -14,7 +14,6 @@
 #include "accgyro.h"
 #include "gyro_sync.h"
 
-static uint8_t mpuDividerDrops;
 
 bool gyroSyncCheckUpdate(gyroDev_t *gyro)
 {
@@ -23,24 +22,37 @@ bool gyroSyncCheckUpdate(gyroDev_t *gyro)
     return gyro->intStatus(gyro);
 }
 
-uint32_t gyroSetSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator)
+uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz)
 {
-    int gyroSamplePeriod;
+#ifndef GYRO_SUPPORTS_32KHZ
+    if (gyro_use_32khz) {
+        gyro_use_32khz = false;
+    }
+#endif
+
+    float gyroSamplePeriod;
 
     if (lpf == GYRO_LPF_256HZ || lpf == GYRO_LPF_NONE) {
-        gyroSamplePeriod = 125;
+        if (gyro_use_32khz) {
+            gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+            gyroSamplePeriod = 31.5f;
         } else {
-        gyroSamplePeriod = 1000;
+            gyro->gyroRateKHz = GYRO_RATE_8_kHz;
+            gyroSamplePeriod = 125.0f;
+        }
+    } else {
+        gyro->gyroRateKHz = GYRO_RATE_1_kHz;
+        gyroSamplePeriod = 1000.0f;
         gyroSyncDenominator = 1; // Always full Sampling 1khz
     }
 
     // calculate gyro divider and targetLooptime (expected cycleTime)
-    mpuDividerDrops  = gyroSyncDenominator - 1;
+    gyro->mpuDividerDrops  = gyroSyncDenominator - 1;
-    const uint32_t targetLooptime = gyroSyncDenominator * gyroSamplePeriod;
+    const uint32_t targetLooptime = (uint32_t)(gyroSyncDenominator * gyroSamplePeriod);
     return targetLooptime;
 }
 
-uint8_t gyroMPU6xxxGetDividerDrops(void)
+uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro)
 {
-    return mpuDividerDrops;
+    return gyro->mpuDividerDrops;
 }

src/main/drivers/gyro_sync.h

@@ -5,8 +5,8 @@
  *      Author: borisb
  */
 
-struct gyroDev_s;
+#include "drivers/accgyro.h"
 
-bool gyroSyncCheckUpdate(struct gyroDev_s *gyro);
+bool gyroSyncCheckUpdate(gyroDev_t *gyro);
-uint8_t gyroMPU6xxxGetDividerDrops(void);
+uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro);
-uint32_t gyroSetSampleRate(uint8_t lpf, uint8_t gyroSyncDenominator);
+uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz);

src/main/drivers/nvic.h

@@ -6,7 +6,7 @@
 #define NVIC_PRIO_MAX                      NVIC_BUILD_PRIORITY(0, 1)
 #define NVIC_PRIO_TIMER                    NVIC_BUILD_PRIORITY(1, 1)
 #define NVIC_PRIO_BARO_EXTI                NVIC_BUILD_PRIORITY(0x0f, 0x0f)
-#define NVIC_PRIO_SONAR_EXTI               NVIC_BUILD_PRIORITY(2, 0)  // maybe increate slightly
+#define NVIC_PRIO_SONAR_EXTI               NVIC_BUILD_PRIORITY(2, 0)  // maybe increase slightly
 #define NVIC_PRIO_TRANSPONDER_DMA          NVIC_BUILD_PRIORITY(3, 0)
 #define NVIC_PRIO_MPU_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)
 #define NVIC_PRIO_MAG_INT_EXTI             NVIC_BUILD_PRIORITY(0x0f, 0x0f)

src/main/drivers/pwm_output.c

@@ -223,6 +223,8 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
         idlePulse = 0;
         break;
 #ifdef USE_DSHOT
+    case PWM_TYPE_DSHOT1200:
+    case PWM_TYPE_DSHOT900:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
@@ -284,6 +286,25 @@ pwmOutputPort_t *pwmGetMotors(void)
     return motors;
 }
 
+#ifdef USE_DSHOT
+uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
+{
+    switch (pwmProtocolType) {
+        case(PWM_TYPE_DSHOT1200):
+            return MOTOR_DSHOT1200_MHZ * 1000000;
+        case(PWM_TYPE_DSHOT900):
+            return MOTOR_DSHOT900_MHZ * 1000000;
+        case(PWM_TYPE_DSHOT600):
+            return MOTOR_DSHOT600_MHZ * 1000000;
+        case(PWM_TYPE_DSHOT300):
+            return MOTOR_DSHOT300_MHZ * 1000000;
+        default:
+        case(PWM_TYPE_DSHOT150):
+            return MOTOR_DSHOT150_MHZ * 1000000;
+    }
+}
+#endif
+
 #ifdef USE_SERVOS
 void pwmWriteServo(uint8_t index, uint16_t value)
 {

src/main/drivers/pwm_output.h

@@ -20,6 +20,7 @@
 #include "io/motors.h"
 #include "io/servos.h"
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 typedef enum {
     PWM_TYPE_STANDARD = 0,
@@ -27,14 +28,30 @@ typedef enum {
     PWM_TYPE_ONESHOT42,
     PWM_TYPE_MULTISHOT,
     PWM_TYPE_BRUSHED,
-    PWM_TYPE_DSHOT600,
-    PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT150,
+    PWM_TYPE_DSHOT300,
+    PWM_TYPE_DSHOT600,
+    PWM_TYPE_DSHOT900,
+    PWM_TYPE_DSHOT1200,
     PWM_TYPE_MAX
 } motorPwmProtocolTypes_e;
 
 #define PWM_TIMER_MHZ         1
 
+#ifdef USE_DSHOT
+#define MAX_DMA_TIMERS        8
+
+#define MOTOR_DSHOT1200_MHZ   24
+#define MOTOR_DSHOT900_MHZ    18
+#define MOTOR_DSHOT600_MHZ    12
+#define MOTOR_DSHOT300_MHZ    6
+#define MOTOR_DSHOT150_MHZ    3
+
+#define MOTOR_BIT_0           7
+#define MOTOR_BIT_1           14
+#define MOTOR_BITLENGTH       19
+#endif
+
 #if defined(STM32F40_41xxx) // must be multiples of timer clock
 #define ONESHOT125_TIMER_MHZ  12
 #define ONESHOT42_TIMER_MHZ   21
@@ -70,6 +87,7 @@ typedef struct {
 #else
     uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #endif
+    dmaChannelDescriptor_t* dmaDescriptor;
 #if defined(STM32F7)
     TIM_HandleTypeDef TimHandle;
     DMA_HandleTypeDef hdma_tim;
@@ -98,6 +116,7 @@ void servoInit(const servoConfig_t *servoConfig);
 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
 #ifdef USE_DSHOT
+uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
 void pwmWriteDigital(uint8_t index, uint16_t value);
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType);
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);

src/main/drivers/pwm_output_stm32f3xx.c

@@ -32,16 +32,6 @@
 
 #ifdef USE_DSHOT
 
-#define MAX_DMA_TIMERS 8
-
-#define MOTOR_DSHOT600_MHZ    24
-#define MOTOR_DSHOT300_MHZ    12
-#define MOTOR_DSHOT150_MHZ    6
-
-#define MOTOR_BIT_0     14
-#define MOTOR_BIT_1     29
-#define MOTOR_BITLENGTH 39
-
 static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
@@ -94,7 +84,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    DMA_Cmd(motor->timerHardware->dmaChannel, DISABLE);
+    TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
     DMA_SetCurrDataCounter(motor->timerHardware->dmaChannel, MOTOR_DMA_BUFFER_SIZE);
+    DMA_CLEAR_FLAG(motor->dmaDescriptor, DMA_IT_TCIF);
     DMA_Cmd(motor->timerHardware->dmaChannel, ENABLE);
 }
 
@@ -112,16 +105,6 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
     }
 }
 
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->channel, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -146,20 +129,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         TIM_Cmd(timer, DISABLE);
 
-        uint32_t hz;
+        TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / getDshotHz(pwmProtocolType)) - 1);
-        switch (pwmProtocolType) {
-            case(PWM_TYPE_DSHOT600):
-                hz = MOTOR_DSHOT600_MHZ * 1000000;
-                break;
-            case(PWM_TYPE_DSHOT300):
-                hz = MOTOR_DSHOT300_MHZ * 1000000;
-                break;
-            default:
-            case(PWM_TYPE_DSHOT150):
-                hz = MOTOR_DSHOT150_MHZ * 1000000;
-        }
-
-        TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / hz) - 1);
         TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
         TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
@@ -201,9 +171,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     }
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+    motor->dmaDescriptor = getDmaDescriptor(channel);
 
-    DMA_Cmd(channel, DISABLE);
     DMA_DeInit(channel);
     DMA_StructInit(&DMA_InitStructure);
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerChCCR(timerHardware);
@@ -219,8 +188,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
 
     DMA_Init(channel, &DMA_InitStructure);
-
-    DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
 }
 
 #endif

src/main/drivers/pwm_output_stm32f4xx.c

@@ -31,16 +31,6 @@
 
 #ifdef USE_DSHOT
 
-#define MAX_DMA_TIMERS 8
-
-#define MOTOR_DSHOT600_MHZ    12
-#define MOTOR_DSHOT300_MHZ    6
-#define MOTOR_DSHOT150_MHZ    3
-
-#define MOTOR_BIT_0     7
-#define MOTOR_BIT_1     14
-#define MOTOR_BITLENGTH 19
-
 static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
@@ -92,7 +82,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
     DMA_SetCurrDataCounter(motor->timerHardware->dmaStream, MOTOR_DMA_BUFFER_SIZE);
+    DMA_CLEAR_FLAG(motor->dmaDescriptor, DMA_IT_TCIF);
     DMA_Cmd(motor->timerHardware->dmaStream, ENABLE);
 }
 
@@ -110,16 +102,6 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
     }
 }
 
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->stream, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -144,20 +126,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         TIM_Cmd(timer, DISABLE);
 
-        uint32_t hz;
+        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / getDshotHz(pwmProtocolType)) - 1;
-        switch (pwmProtocolType) {
-            case(PWM_TYPE_DSHOT600):
-                hz = MOTOR_DSHOT600_MHZ * 1000000;
-                break;
-            case(PWM_TYPE_DSHOT300):
-                hz = MOTOR_DSHOT300_MHZ * 1000000;
-                break;
-            default:
-            case(PWM_TYPE_DSHOT150):
-                hz = MOTOR_DSHOT150_MHZ * 1000000;
-        }
-
-        TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
         TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
         TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
@@ -199,7 +168,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     }
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+    motor->dmaDescriptor = getDmaDescriptor(stream);
 
     DMA_Cmd(stream, DISABLE);
     DMA_DeInit(stream);
@@ -222,9 +191,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
 
     DMA_Init(stream, &DMA_InitStructure);
-
-    DMA_ITConfig(stream, DMA_IT_TC, ENABLE);
-    DMA_ClearITPendingBit(stream, dmaFlag_IT_TCIF(timerHardware->dmaStream));
 }
 
 #endif

src/main/drivers/pwm_output_stm32f7xx.c

@@ -30,16 +30,6 @@
 
 #ifdef USE_DSHOT
 
-#define MAX_DMA_TIMERS 8
-
-#define MOTOR_DSHOT600_MHZ    12
-#define MOTOR_DSHOT300_MHZ    6
-#define MOTOR_DSHOT150_MHZ    3
-
-#define MOTOR_BIT_0     7
-#define MOTOR_BIT_1     14
-#define MOTOR_BITLENGTH 19
-
 static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
@@ -62,7 +52,6 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
 
 void pwmWriteDigital(uint8_t index, uint16_t value)
 {
-
     if (!pwmMotorsEnabled) {
         return;
     }
@@ -92,6 +81,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    /* may not be required */
+    HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
+
     if(HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
     {
       /* Starting PWM generation Error */
@@ -102,34 +94,8 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
-
-    if (!pwmMotorsEnabled) {
-        return;
-    }
-
-    for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
-        //TIM_SetCounter(dmaMotorTimers[i].timer, 0);
-        //TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
-    }
 }
 
-
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
-{
-    motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-    HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
-}
-
-/*static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->stream, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}*/
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
@@ -149,21 +115,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     if (configureTimer) {
         RCC_ClockCmd(timerRCC(timer), ENABLE);
 
-        uint32_t hz;
-        switch (pwmProtocolType) {
-            case(PWM_TYPE_DSHOT600):
-                hz = MOTOR_DSHOT600_MHZ * 1000000;
-                break;
-            case(PWM_TYPE_DSHOT300):
-                hz = MOTOR_DSHOT300_MHZ * 1000000;
-                break;
-            default:
-            case(PWM_TYPE_DSHOT150):
-                hz = MOTOR_DSHOT150_MHZ * 1000000;
-        }
-
         motor->TimHandle.Instance = timerHardware->tim;
-        motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;;
+        motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / getDshotHz(pwmProtocolType)) - 1;;
         motor->TimHandle.Init.Period = MOTOR_BITLENGTH;
         motor->TimHandle.Init.RepetitionCounter = 0;
         motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
@@ -180,21 +133,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         motor->TimHandle = dmaMotors[timerIndex].TimHandle;
     }
 
-    switch (timerHardware->channel) {
+    motor->timerDmaSource = timerDmaSource(timerHardware->channel);
-        case TIM_CHANNEL_1:
-            motor->timerDmaSource = TIM_DMA_ID_CC1;
-            break;
-        case TIM_CHANNEL_2:
-            motor->timerDmaSource = TIM_DMA_ID_CC2;
-            break;
-        case TIM_CHANNEL_3:
-            motor->timerDmaSource = TIM_DMA_ID_CC3;
-            break;
-        case TIM_CHANNEL_4:
-            motor->timerDmaSource = TIM_DMA_ID_CC4;
-            break;
-    }
-
     dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
 
     /* Set the parameters to be configured */
@@ -223,7 +162,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     __HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaSource], motor->hdma_tim);
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 
     /* Initialize TIMx DMA handle */
     if(HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK)

src/main/drivers/sensor.h

@@ -38,5 +38,6 @@ typedef bool (*sensorAccReadFuncPtr)(struct accDev_s *acc);
 struct gyroDev_s;
 typedef void (*sensorGyroInitFuncPtr)(struct gyroDev_s *gyro);
 typedef bool (*sensorGyroReadFuncPtr)(struct gyroDev_s *gyro);
+typedef bool (*sensorGyroUpdateFuncPtr)(struct gyroDev_s *gyro);
 typedef bool (*sensorGyroReadDataFuncPtr)(struct gyroDev_s *gyro, int16_t *data);
 typedef bool (*sensorGyroInterruptStatusFuncPtr)(struct gyroDev_s *gyro);

src/main/drivers/timer_def.h

@@ -112,17 +112,21 @@
 
 #ifdef REMAP_TIM16_DMA
 #define DEF_TIM_DMA__TIM16_CH1   DMA1_CH6
+#define DEF_TIM_DMA__TIM16_CH1N  DMA1_CH6
 #define DEF_TIM_DMA__TIM16_UP    DMA1_CH6
 #else
 #define DEF_TIM_DMA__TIM16_CH1   DMA1_CH3
+#define DEF_TIM_DMA__TIM16_CH1N  DMA1_CH3
 #define DEF_TIM_DMA__TIM16_UP    DMA1_CH3
 #endif
 
 #ifdef REMAP_TIM17_DMA
 #define DEF_TIM_DMA__TIM17_CH1   DMA1_CH7
+#define DEF_TIM_DMA__TIM17_CH1N  DMA1_CH7
 #define DEF_TIM_DMA__TIM17_UP    DMA1_CH7
 #else
 #define DEF_TIM_DMA__TIM17_CH1   DMA1_CH1
+#define DEF_TIM_DMA__TIM17_CH1N  DMA1_CH1
 #define DEF_TIM_DMA__TIM17_UP    DMA1_CH1
 #endif
 
@@ -199,6 +203,8 @@
 #define GPIO_AF__PB9_TIM4_CH4     GPIO_AF_2
 #define GPIO_AF__PB15_TIM15_CH1N  GPIO_AF_2
 
+#define GPIO_AF__PB5_TIM8_CH3N    GPIO_AF_3
+
 #define GPIO_AF__PB0_TIM8_CH2N    GPIO_AF_4
 #define GPIO_AF__PB1_TIM8_CH3N    GPIO_AF_4
 #define GPIO_AF__PB3_TIM8_CH1N    GPIO_AF_4

src/main/fc/config.c

@@ -181,7 +181,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->levelSensitivity = 100;  // 100 degrees at full stick
     pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
-    pidProfile->yawRateAccelLimit = 20.0f;
+    pidProfile->yawRateAccelLimit = 10.0f;
     pidProfile->rateAccelLimit = 0.0f;
     pidProfile->itermThrottleThreshold = 350;
 }
@@ -439,10 +439,11 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
 
 void resetSerialConfig(serialConfig_t *serialConfig)
 {
-    uint8_t index;
     memset(serialConfig, 0, sizeof(serialConfig_t));
+    serialConfig->serial_update_rate_hz =  100;
+    serialConfig->reboot_character = 'R';
 
-    for (index = 0; index < SERIAL_PORT_COUNT; index++) {
+    for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
@@ -451,13 +452,10 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     }
 
     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
-
 #if defined(USE_VCP)
     // This allows MSP connection via USART & VCP so the board can be reconfigured.
     serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
 #endif
-
-    serialConfig->reboot_character = 'R';
 }
 
 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
@@ -620,6 +618,7 @@ void createDefaultConfig(master_t *config)
     config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
 
     config->debug_mode = DEBUG_MODE;
+    config->task_statistics = true;
 
     resetAccelerometerTrims(&config->accelerometerConfig.accZero);
 
@@ -692,6 +691,7 @@ void createDefaultConfig(master_t *config)
     config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
     config->rxConfig.rssi_ppm_invert = 0;
     config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
+    config->rxConfig.rcInterpolationChannels = 0;
     config->rxConfig.rcInterpolationInterval = 19;
     config->rxConfig.fpvCamAngleDegrees = 0;
     config->rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
@@ -837,6 +837,9 @@ void createDefaultConfig(master_t *config)
 
     resetStatusLedConfig(&config->statusLedConfig);
 
+    /* merely to force a reset if the person inadvertently flashes the wrong target */
+    strncpy(config->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER));
+    
 #if defined(TARGET_CONFIG)
     targetConfiguration(config);
 #endif
@@ -1043,6 +1046,25 @@ void validateAndFixGyroConfig(void)
 
     float samplingTime = 0.000125f;
 
+    if (gyroConfig()->gyro_use_32khz) {
+#ifdef GYRO_SUPPORTS_32KHZ
+        samplingTime = 0.00003125;
+        // F1 and F3 can't handle high pid speed.
+#if defined(STM32F1)
+        pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 16, 16);
+#endif
+#if defined(STM32F3)
+        pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 4, 16);
+#endif
+#else
+        gyroConfig()->gyro_use_32khz = false;
+#endif
+    }
+
+#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
+    gyroConfig()->gyro_isr_update = false;
+#endif
+
     if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
         pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
         gyroConfig()->gyro_sync_denom = 1;
@@ -1063,9 +1085,12 @@ void validateAndFixGyroConfig(void)
             motorUpdateRestriction = 0.0001f;
             break;
         case (PWM_TYPE_DSHOT150):
-            motorUpdateRestriction = 0.000125f;
+            motorUpdateRestriction = 0.000250f;
             break;
         case (PWM_TYPE_DSHOT300):
+            motorUpdateRestriction = 0.0001f;
+            break;
+        case (PWM_TYPE_DSHOT600):
             motorUpdateRestriction = 0.0000625f;
             break;
         default:
@@ -1076,7 +1101,7 @@ void validateAndFixGyroConfig(void)
         pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
 
     // Prevent overriding the max rate of motors
-    if(motorConfig()->useUnsyncedPwm) {
+    if(motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
         uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 
         if(motorConfig()->motorPwmRate > maxEscRate)

src/main/fc/fc_init.c

@@ -570,4 +570,3 @@ void init(void)
     fcTasksInit();
     systemState |= SYSTEM_STATE_READY;
 }
-

src/main/fc/fc_main.c

@@ -82,8 +82,6 @@ enum {
 
 #define AIRMODE_THOTTLE_THRESHOLD 1350 // Make configurable in the future. ~35% throttle should be fine
 
-uint16_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
-
 int16_t magHold;
 int16_t headFreeModeHold;
 
@@ -94,15 +92,10 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 
 static float throttlePIDAttenuation;
 
-uint16_t filteredCycleTime;
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
 static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
 
-float getThrottlePIDAttenuation(void) {
-    return throttlePIDAttenuation;
-}
-
 float getSetpointRate(int axis) {
     return setpointRate[axis];
 }
@@ -157,7 +150,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (rcExpo) {
         float expof = rcExpo / 100.0f;
-        rcCommandf = rcCommandf * power3(rcDeflection[axis]) * expof + rcCommandf * (1-expof);
+        rcCommandf = rcCommandf * power3(rcDeflectionAbs[axis]) * expof + rcCommandf * (1-expof);
     }
 
     angleRate = 200.0f * rcRate * rcCommandf;
@@ -216,6 +209,7 @@ void processRcCommand(void)
     static int16_t deltaRC[4] = { 0, 0, 0, 0 };
     static int16_t factor, rcInterpolationFactor;
     static uint16_t currentRxRefreshRate;
+    const uint8_t interpolationChannels = rxConfig()->rcInterpolationChannels + 1;
     uint16_t rxRefreshRate;
     bool readyToCalculateRate = false;
 
@@ -247,7 +241,7 @@ void processRcCommand(void)
                 debug[3] = rxRefreshRate;
             }
 
-            for (int channel=0; channel < 4; channel++) {
+            for (int channel=ROLL; channel <= interpolationChannels; channel++) {
                 deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
                 lastCommand[channel] = rcCommand[channel];
             }
@@ -259,7 +253,8 @@ void processRcCommand(void)
 
         // Interpolate steps of rcCommand
         if (factor > 0) {
-            for (int channel=0; channel < 4; channel++) rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
+            for (int channel=ROLL; channel <= interpolationChannels; channel++)
+                rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
         } else {
             factor = 0;
         }
@@ -689,25 +684,22 @@ void processRx(timeUs_t currentTimeUs)
 #endif
 }
 
-void subTaskPidController(void)
+static void subTaskPidController(void)
 {
     uint32_t startTime;
-    if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {startTime = micros();}
+    if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
     // PID - note this is function pointer set by setPIDController()
-    pidController(
+    pidController(&currentProfile->pidProfile, &accelerometerConfig()->accelerometerTrims, throttlePIDAttenuation);
-        &currentProfile->pidProfile,
+    DEBUG_SET(DEBUG_PIDLOOP, 1, micros() - startTime);
-        &accelerometerConfig()->accelerometerTrims
-    );
-    if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
 }
 
-void subTaskMainSubprocesses(void)
+static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
 {
+    uint32_t startTime;
+    if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
 
-    const uint32_t startTime = micros();
+    // Read out gyro temperature if used for telemmetry
-
+    if (feature(FEATURE_TELEMETRY) && gyro.dev.temperature) {
-    // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
-    if (gyro.dev.temperature) {
         gyro.dev.temperature(&gyro.dev, &telemTemperature1);
     }
 
@@ -717,10 +709,6 @@ void subTaskMainSubprocesses(void)
     }
 #endif
 
-#ifdef GTUNE
-        updateGtuneState();
-#endif
-
 #if defined(BARO) || defined(SONAR)
     // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
     updateRcCommands();
@@ -768,25 +756,28 @@ void subTaskMainSubprocesses(void)
 
 #ifdef BLACKBOX
     if (!cliMode && feature(FEATURE_BLACKBOX)) {
-        handleBlackbox(startTime);
+        handleBlackbox(currentTimeUs);
     }
 #endif
 
 #ifdef TRANSPONDER
-    transponderUpdate(startTime);
+    transponderUpdate(currentTimeUs);
 #endif
     DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
 }
 
-void subTaskMotorUpdate(void)
+static void subTaskMotorUpdate(void)
 {
-    const uint32_t startTime = micros();
+    uint32_t startTime;
     if (debugMode == DEBUG_CYCLETIME) {
+        startTime = micros();
         static uint32_t previousMotorUpdateTime;
         const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
         debug[2] = currentDeltaTime;
         debug[3] = currentDeltaTime - targetPidLooptime;
         previousMotorUpdateTime = startTime;
+    } else if (debugMode == DEBUG_PIDLOOP) {
+        startTime = micros();
     }
 
     mixTable(&currentProfile->pidProfile);
@@ -818,20 +809,16 @@ uint8_t setPidUpdateCountDown(void)
 // Function for loop trigger
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-    UNUSED(currentTimeUs);
-
     static bool runTaskMainSubprocesses;
     static uint8_t pidUpdateCountdown;
 
-    cycleTime = getTaskDeltaTime(TASK_SELF);
-
     if (debugMode == DEBUG_CYCLETIME) {
-        debug[0] = cycleTime;
+        debug[0] = getTaskDeltaTime(TASK_SELF);
         debug[1] = averageSystemLoadPercent;
     }
 
     if (runTaskMainSubprocesses) {
-        subTaskMainSubprocesses();
+        subTaskMainSubprocesses(currentTimeUs);
         runTaskMainSubprocesses = false;
     }
 
@@ -841,9 +828,9 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // 2 - subTaskMainSubprocesses()
     // 3 - subTaskMotorUpdate()
     uint32_t startTime;
-    if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {startTime = micros();}
+    if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
     gyroUpdate();
-    if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[0] = micros() - startTime;}
+    DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime);
 
     if (pidUpdateCountdown) {
         pidUpdateCountdown--;

src/main/fc/fc_main.h

@@ -34,7 +34,6 @@ void updateLEDs(void);
 void updateRcCommands(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
-float getThrottlePIDAttenuation(void);
 float getSetpointRate(int axis);
 float getRcDeflection(int axis);
 float getRcDeflectionAbs(int axis);

src/main/fc/fc_msp.c

@@ -614,7 +614,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         break;
 
     case MSP_STATUS_EX:
-        sbufWriteU16(dst, cycleTime);
+        sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
 #ifdef USE_I2C
         sbufWriteU16(dst, i2cGetErrorCounter());
 #else
@@ -638,7 +638,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         break;
 
     case MSP_STATUS:
-        sbufWriteU16(dst, cycleTime);
+        sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
 #ifdef USE_I2C
         sbufWriteU16(dst, i2cGetErrorCounter());
 #else
@@ -1140,6 +1140,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
         sbufWriteU16(dst, motorConfig()->motorPwmRate);
         sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
+        sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
+        //!!TODO gyro_isr_update to be added pending decision
+        //sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
         break;
 
     case MSP_FILTER_CONFIG :
@@ -1483,6 +1486,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         if (dataSize > 7) {
             motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
         }
+        if (sbufBytesRemaining(src)) {
+            gyroConfig()->gyro_use_32khz = sbufReadU8(src);
+        }
+        //!!TODO gyro_isr_update to be added pending decision
+        /*if (sbufBytesRemaining(src)) {
+            gyroConfig()->gyro_isr_update = sbufReadU8(src);
+        }*/
+        validateAndFixGyroConfig();
         break;
 
     case MSP_SET_FILTER_CONFIG:

src/main/fc/fc_tasks.c

@@ -231,6 +231,7 @@ void fcTasksInit(void)
 
     setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
     setTaskEnabled(TASK_SERIAL, true);
+    rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
     setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
     setTaskEnabled(TASK_RX, true);
 
@@ -310,7 +311,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .taskName = "SYSTEM",
         .taskFunc = taskSystem,
         .desiredPeriod = TASK_PERIOD_HZ(10),        // 10Hz, every 100 ms
-        .staticPriority = TASK_PRIORITY_HIGH,
+        .staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
     },
 
     [TASK_GYROPID] = {

src/main/fc/rc_controls.c

@@ -615,10 +615,12 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
             newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->dtermSetpointWeight = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
+            break;
         case ADJUSTMENT_D_SETPOINT_TRANSITION:
             newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->setpointRelaxRatio = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
+            break;
         default:
             break;
     };

src/main/fc/serial_cli.c

@@ -105,8 +105,6 @@ uint8_t cliMode = 0;
 #include "telemetry/frsky.h"
 #include "telemetry/telemetry.h"
 
-extern uint16_t cycleTime; // FIXME dependency on mw.c
-
 static serialPort_t *cliPort;
 static bufWriter_t *cliWriter;
 static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
@@ -335,7 +333,7 @@ static const char * const lookupTableSuperExpoYaw[] = {
 static const char * const lookupTablePwmProtocol[] = {
     "OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
 #ifdef USE_DSHOT
-    "DSHOT600", "DSHOT300", "DSHOT150"
+    "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT900", "DSHOT1200",
 #endif
 };
 
@@ -343,6 +341,10 @@ static const char * const lookupTableRcInterpolation[] = {
     "OFF", "PRESET", "AUTO", "MANUAL"
 };
 
+static const char * const lookupTableRcInterpolationChannels[] = {
+    "RP", "RPY", "RPYT"
+};
+
 static const char * const lookupTableLowpassType[] = {
     "PT1", "BIQUAD", "FIR"
 };
@@ -390,6 +392,7 @@ typedef enum {
     TABLE_SUPEREXPO_YAW,
     TABLE_MOTOR_PWM_PROTOCOL,
     TABLE_RC_INTERPOLATION,
+    TABLE_RC_INTERPOLATION_CHANNELS,
     TABLE_LOWPASS_TYPE,
     TABLE_FAILSAFE,
 #ifdef OSD
@@ -431,6 +434,7 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
     { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
     { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
+    { lookupTableRcInterpolationChannels, sizeof(lookupTableRcInterpolationChannels) / sizeof(char *) },    
     { lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
     { lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
 #ifdef OSD
@@ -486,12 +490,16 @@ typedef struct {
 } clivalue_t;
 
 const clivalue_t valueTable[] = {
+#ifndef SKIP_TASK_STATISTICS
+    { "task_statistics",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.task_statistics, .config.lookup = { TABLE_OFF_ON } },
+#endif
     { "mid_rc",                     VAR_UINT16 | MASTER_VALUE,  &rxConfig()->midrc, .config.minmax = { 1200,  1700 } },
     { "min_check",                  VAR_UINT16 | MASTER_VALUE,  &rxConfig()->mincheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "max_check",                  VAR_UINT16 | MASTER_VALUE,  &rxConfig()->maxcheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "rssi_channel",               VAR_INT8   | MASTER_VALUE,  &rxConfig()->rssi_channel, .config.minmax = { 0,  MAX_SUPPORTED_RC_CHANNEL_COUNT } },
     { "rssi_scale",                 VAR_UINT8  | MASTER_VALUE,  &rxConfig()->rssi_scale, .config.minmax = { RSSI_SCALE_MIN,  RSSI_SCALE_MAX } },
     { "rc_interpolation",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
+    { "rc_interpolation_channels",  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rcInterpolationChannels, .config.lookup = { TABLE_RC_INTERPOLATION_CHANNELS } },
     { "rc_interpolation_interval",  VAR_UINT8  | MASTER_VALUE,  &rxConfig()->rcInterpolationInterval, .config.minmax = { 1,  50 } },
     { "rssi_ppm_invert",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &rxConfig()->rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
 #if defined(USE_PWM)
@@ -524,6 +532,7 @@ const clivalue_t valueTable[] = {
     { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE,  &airplaneConfig()->fixedwing_althold_dir, .config.minmax = { -1,  1 } },
 
     { "reboot_character",           VAR_UINT8  | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48,  126 } },
+    { "serial_update_rate_hz",      VAR_UINT16 | MASTER_VALUE, &serialConfig()->serial_update_rate_hz, .config.minmax = { 100,  2000 } },
 
 #ifdef GPS
     { "gps_provider",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } },
@@ -575,6 +584,9 @@ const clivalue_t valueTable[] = {
     { "frsky_vfas_cell_voltage",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
     { "hott_alarm_sound_interval",  VAR_UINT8  | MASTER_VALUE,  &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0,  120 } },
     { "pid_values_as_telemetry",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
+#if defined(TELEMETRY_IBUS)
+    { "ibus_report_cell_voltage",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &ibusTelemetryConfig()->report_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
+#endif
 #endif
 
     { "battery_capacity",           VAR_UINT16 | MASTER_VALUE,  &batteryConfig()->batteryCapacity, .config.minmax = { 0,  20000 } },
@@ -601,7 +613,13 @@ const clivalue_t valueTable[] = {
     { "align_board_yaw",            VAR_INT16  | MASTER_VALUE,  &boardAlignment()->yawDegrees, .config.minmax = { -180,  360 } },
 
     { "gyro_lpf",                   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
-    { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &gyroConfig()->gyro_sync_denom, .config.minmax = { 1,  8 } },
+    { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &gyroConfig()->gyro_sync_denom, .config.minmax = { 1,  32 } },
+#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
+    { "gyro_isr_update",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_isr_update, .config.lookup = { TABLE_OFF_ON } },
+#endif
+#ifdef GYRO_SUPPORTS_32KHZ
+    { "gyro_use_32khz",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_use_32khz, .config.lookup = { TABLE_OFF_ON } },
+#endif
     { "gyro_lowpass_type",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "gyro_lowpass",               VAR_UINT8  | MASTER_VALUE,  &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0,  255 } },
     { "gyro_notch1_hz",             VAR_UINT16 | MASTER_VALUE,  &gyroConfig()->gyro_soft_notch_hz_1, .config.minmax = { 0,  1000 } },
@@ -3163,33 +3181,22 @@ static void cliStatus(char *cmdline)
 {
     UNUSED(cmdline);
 
-    cliPrintf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s), CPU:%d%%\r\n",
+    cliPrintf("System Uptime: %d seconds\r\n", millis() / 1000);
-        millis() / 1000,
+    cliPrintf("Voltage: %d * 0.1V (%dS battery - %s)\r\n", getVbat(), batteryCellCount, getBatteryStateString());
-        getVbat(),
-        batteryCellCount,
-        getBatteryStateString(),
-        constrain(averageSystemLoadPercent, 0, 100)
-    );
 
     cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
 
 #if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
-    uint32_t mask;
+    const uint32_t detectedSensorsMask = sensorsMask();
-    uint32_t detectedSensorsMask = sensorsMask();
-
     for (uint32_t i = 0; ; i++) {
-
+        if (sensorTypeNames[i] == NULL) {
-        if (sensorTypeNames[i] == NULL)
             break;
-
+        }
-        mask = (1 << i);
+        const uint32_t mask = (1 << i);
         if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
-            const char *sensorHardware;
+            const uint8_t sensorHardwareIndex = detectedSensors[i];
-            uint8_t sensorHardwareIndex = detectedSensors[i];
+            const char *sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
-            sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
-
             cliPrintf(", %s=%s", sensorTypeNames[i], sensorHardware);
-
             if (mask == SENSOR_ACC && acc.dev.revisionCode) {
                 cliPrintf(".%c", acc.dev.revisionCode);
             }
@@ -3198,10 +3205,14 @@ static void cliStatus(char *cmdline)
 #endif
     cliPrint("\r\n");
 
+#ifdef USE_SDCARD
+    cliSdInfo(NULL);
+#endif
+
 #ifdef USE_I2C
-    uint16_t i2cErrorCounter = i2cGetErrorCounter();
+    const uint16_t i2cErrorCounter = i2cGetErrorCounter();
 #else
-    uint16_t i2cErrorCounter = 0;
+    const uint16_t i2cErrorCounter = 0;
 #endif
 
 #ifdef STACK_CHECK
@@ -3209,11 +3220,14 @@ static void cliStatus(char *cmdline)
 #endif
     cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
 
-    cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
+    cliPrintf("I2C Errors: %d, config size: %d\r\n", i2cErrorCounter, sizeof(master_t));
+
+    const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
+    const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
+    const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
+    cliPrintf("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d\r\n",
+            constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYROPID), gyroRate, rxRate, systemRate);
 
-#ifdef USE_SDCARD
-    cliSdInfo(NULL);
-#endif
 }
 
 #ifndef SKIP_TASK_STATISTICS
@@ -3224,7 +3238,11 @@ static void cliTasks(char *cmdline)
     int averageLoadSum = 0;
 
 #ifndef CLI_MINIMAL_VERBOSITY
+    if (masterConfig.task_statistics) {
         cliPrintf("Task list           rate/hz  max/us  avg/us maxload avgload     total/ms\r\n");
+    } else {
+        cliPrintf("Task list           rate/hz\r\n");
+    }
 #endif
     for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
         cfTaskInfo_t taskInfo;
@@ -3233,7 +3251,7 @@ static void cliTasks(char *cmdline)
             int taskFrequency;
             int subTaskFrequency;
             if (taskId == TASK_GYROPID) {
-                subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
+                subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
                 taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
                 if (pidConfig()->pid_process_denom > 1) {
                     cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
@@ -3242,27 +3260,33 @@ static void cliTasks(char *cmdline)
                     cliPrintf("%02d - (%9s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
                 }
             } else {
-                taskFrequency = (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
+                taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
                 cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
             }
-            const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
+            const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
-            const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
+            const int averageLoad = taskInfo.averageExecutionTime == 0 ? 0 : (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
             if (taskId != TASK_SERIAL) {
                 maxLoadSum += maxLoad;
                 averageLoadSum += averageLoad;
             }
+            if (masterConfig.task_statistics) {
                 cliPrintf("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d\r\n",
                         taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
                         maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
+            } else {
+                cliPrintf("%6d\r\n", taskFrequency);
+            }
             if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
                 cliPrintf("   - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
             }
         }
     }
+    if (masterConfig.task_statistics) {
         cfCheckFuncInfo_t checkFuncInfo;
         getCheckFuncInfo(&checkFuncInfo);
         cliPrintf("RX Check Function %17d %7d %25d\r\n", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
         cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
+    }
 }
 #endif
 
@@ -3698,9 +3722,12 @@ static void cliHelp(char *cmdline);
 const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
     CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
+#ifdef BEEPER
+    CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
+        "\t<+|->[name]", cliBeeper),
+#endif
 #ifdef LED_STRIP
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
-    CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
 #endif
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
     CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
@@ -3708,6 +3735,9 @@ const clicmd_t cmdTable[] = {
         "[master|profile|rates|all] {showdefaults}", cliDiff),
     CLI_COMMAND_DEF("dump", "dump configuration",
         "[master|profile|rates|all] {showdefaults}", cliDump),
+#ifdef USE_ESCSERIAL
+    CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki/cc]> <index>", cliEscPassthrough),
+#endif
     CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
     CLI_COMMAND_DEF("feature", "configure features",
         "list\r\n"
@@ -3720,13 +3750,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
 #endif
 #endif
-    CLI_COMMAND_DEF("get", "get variable value",
+    CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),
-            "[name]", cliGet),
 #ifdef GPS
     CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
-#endif
-#ifdef USE_ESCSERIAL
-    CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki/cc]> <index>", cliEscPassthrough),
 #endif
     CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
 #ifdef LED_STRIP
@@ -3735,16 +3761,19 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("map", "configure rc channel order",
         "[<map>]", cliMap),
 #ifndef USE_QUAD_MIXER_ONLY
-    CLI_COMMAND_DEF("mixer", "configure mixer",
+    CLI_COMMAND_DEF("mixer", "configure mixer", "list\r\n"
-        "list\r\n"
         "\t<name>", cliMixer),
 #endif
     CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
+#ifdef LED_STRIP
+    CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
+#endif
     CLI_COMMAND_DEF("motor",  "get/set motor",
        "<index> [<value>]", cliMotor),
+    CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),
 #if (FLASH_SIZE > 128)
     CLI_COMMAND_DEF("play_sound", NULL,
-        "[<index>]\r\n", cliPlaySound),
+        "[<index>]", cliPlaySound),
 #endif
     CLI_COMMAND_DEF("profile", "change profile",
         "[<index>]", cliProfile),
@@ -3752,43 +3781,34 @@ const clicmd_t cmdTable[] = {
 #if (FLASH_SIZE > 64)
     CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
 #endif
-    CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
     CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
+    CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
     CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
+#ifdef USE_SDCARD
+    CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
+#endif
     CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
 #ifndef SKIP_SERIAL_PASSTHROUGH
-    CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port",
+    CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
-                    "<id> [baud] [mode] : passthrough to serial",
-                    cliSerialPassthrough),
 #endif
 #ifdef USE_SERVOS
     CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
 #endif
-    CLI_COMMAND_DEF("set", "change setting",
+    CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
-        "[<name>=<value>]", cliSet),
 #ifdef USE_SERVOS
-    CLI_COMMAND_DEF("smix", "servo mixer",
+    CLI_COMMAND_DEF("smix", "servo mixer", "<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
-        "<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
         "\treset\r\n"
         "\tload <mixer>\r\n"
         "\treverse <servo> <source> r|n", cliServoMix),
-#endif
-#ifdef USE_SDCARD
-    CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
 #endif
     CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
 #ifndef SKIP_TASK_STATISTICS
     CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
 #endif
     CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
-#ifdef BEEPER
-    CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
-            "\t<+|->[name]", cliBeeper),
-#endif
 #ifdef VTX
     CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
 #endif
-    CLI_COMMAND_DEF("name", "Name of craft", NULL, cliName),
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
 
@@ -3927,6 +3947,8 @@ void cliEnter(serialPort_t *serialPort)
     setPrintfSerialPort(cliPort);
     cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
 
+    schedulerSetCalulateTaskStatistics(masterConfig.task_statistics);
+
 #ifndef CLI_MINIMAL_VERBOSITY
     cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
 #else

src/main/flight/mixer.c

@@ -247,11 +247,19 @@ uint8_t getMotorCount()
 
 bool isMotorProtocolDshot(void) {
 #ifdef USE_DSHOT
-    if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
+    switch(motorConfig->motorPwmProtocol) {
+    case PWM_TYPE_DSHOT1200:
+    case PWM_TYPE_DSHOT900:
+    case PWM_TYPE_DSHOT600:
+    case PWM_TYPE_DSHOT300:
+    case PWM_TYPE_DSHOT150:
         return true;
-    else
+    default:
-#endif
         return false;        
+    }
+#else
+    return false;
+#endif
 }
 
 // Add here scaled ESC outputs for digital protol

src/main/flight/pid.c

@@ -157,7 +157,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
     maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
 }
 
-float calcHorizonLevelStrength(void) {
+static float calcHorizonLevelStrength(void) {
     float horizonLevelStrength = 0.0f;
     if (horizonTransition > 0.0f) {
         const float mostDeflectedPos = MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
@@ -167,7 +167,7 @@ float calcHorizonLevelStrength(void) {
     return horizonLevelStrength;
 }
 
-float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
+static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
     // calculate error angle and limit the angle to the max inclination
     float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
 #ifdef GPS
@@ -187,7 +187,7 @@ float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims
     return currentPidSetpoint;
 }
 
-float accelerationLimit(int axis, float currentPidSetpoint) {
+static float accelerationLimit(int axis, float currentPidSetpoint) {
     static float previousSetpoint[3];
     const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
 
@@ -200,14 +200,12 @@ float accelerationLimit(int axis, float currentPidSetpoint) {
 
 // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
 // Based on 2DOF reference design (matlab)
-void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
+void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float tpaFactor)
 {
     static float previousRateError[2];
     static float previousSetpoint[3];
 
     // ----------PID controller----------
-    const float tpaFactor = getThrottlePIDAttenuation();
-
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
         float currentPidSetpoint = getSetpointRate(axis);
 

src/main/flight/pid.h

@@ -20,15 +20,15 @@
 #include <stdbool.h>
 
 #define PID_CONTROLLER_BETAFLIGHT 1
-#define PID_MIXER_SCALING 900.0f
+#define PID_MIXER_SCALING 100.0f
 #define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
 #define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
 #define PIDSUM_LIMIT 0.5f
 
 // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
-#define PTERM_SCALE 0.032029f
+#define PTERM_SCALE 0.003558774f
-#define ITERM_SCALE 0.244381f
+#define ITERM_SCALE 0.027153417f
-#define DTERM_SCALE 0.000529f
+#define DTERM_SCALE 0.000058778f
 
 typedef enum {
     PIDROLL,
@@ -88,7 +88,7 @@ typedef struct pidConfig_s {
 } pidConfig_t;
 
 union rollAndPitchTrims_u;
-void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
+void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, float tpaFactor);
 
 extern float axisPIDf[3];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

src/main/io/serial.h

@@ -35,10 +35,10 @@ typedef enum {
     FUNCTION_TELEMETRY_SMARTPORT = (1 << 5),  // 32
     FUNCTION_RX_SERIAL           = (1 << 6),  // 64
     FUNCTION_BLACKBOX            = (1 << 7),  // 128
-
     FUNCTION_TELEMETRY_MAVLINK   = (1 << 9),  // 512
-    FUNCTION_ESC_SENSOR          = (1 << 10),// 1024
+    FUNCTION_ESC_SENSOR          = (1 << 10), // 1024
-    FUNCTION_VTX_CONTROL         = (1 << 11),// 2048
+    FUNCTION_VTX_CONTROL         = (1 << 11), // 2048
+    FUNCTION_TELEMETRY_IBUS      = (1 << 12)  // 4096
 } serialPortFunction_e;
 
 typedef enum {
@@ -96,8 +96,8 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
 // configuration
 //
 typedef struct serialPortConfig_s {
-    serialPortIdentifier_e identifier;
     uint16_t functionMask;
+    serialPortIdentifier_e identifier;
     uint8_t msp_baudrateIndex;
     uint8_t gps_baudrateIndex;
     uint8_t blackbox_baudrateIndex;
@@ -105,8 +105,9 @@ typedef struct serialPortConfig_s {
 } serialPortConfig_t;
 
 typedef struct serialConfig_s {
-    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
     serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
+    uint16_t serial_update_rate_hz;
+    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 } serialConfig_t;
 
 typedef void serialConsumer(uint8_t);

src/main/msp/msp_protocol.h

@@ -59,7 +59,7 @@
 #define MSP_PROTOCOL_VERSION                0
 
 #define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   24 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   26 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
 
 #define API_VERSION_LENGTH                  2
 

src/main/platform.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#if defined(STM32F745xx) || defined(STM32F746xx)
+#if defined(STM32F745xx) || defined(STM32F746xx) || defined(STM32F722xx)
 #include "stm32f7xx.h"
 #include "stm32f7xx_hal.h"
 
@@ -27,9 +27,9 @@
 #define U_ID_2 (*(uint32_t*)0x1ff0f428)
 
 #define STM32F7
-#endif
 
-#if defined(STM32F40_41xxx) || defined (STM32F411xE)
+#elif defined(STM32F40_41xxx) || defined (STM32F411xE)
+
 #include "stm32f4xx_conf.h"
 #include "stm32f4xx_rcc.h"
 #include "stm32f4xx_gpio.h"
@@ -41,9 +41,8 @@
 #define U_ID_2 (*(uint32_t*)0x1fff7a18)
 
 #define STM32F4
-#endif
 
-#ifdef STM32F303xC
+#elif defined(STM32F303xC)
 #include "stm32f30x_conf.h"
 #include "stm32f30x_rcc.h"
 #include "stm32f30x_gpio.h"
@@ -55,9 +54,8 @@
 #define U_ID_2 (*(uint32_t*)0x1FFFF7B4)
 
 #define STM32F3
-#endif
 
-#ifdef STM32F10X
+#elif defined(STM32F10X)
 
 #include "stm32f10x_conf.h"
 #include "stm32f10x_gpio.h"
@@ -69,7 +67,10 @@
 #define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
 
 #define STM32F1
-#endif // STM32F10X
+
+#else // STM32F10X
+#error "Invalid chipset specified. Update platform.h"
+#endif
 
 #include "target/common.h"
 #include "target.h"

src/main/rx/rx.h

@@ -126,6 +126,7 @@ typedef struct rxConfig_s {
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
     uint8_t rcInterpolation;
+    uint8_t rcInterpolationChannels;
     uint8_t rcInterpolationInterval;
     uint8_t fpvCamAngleDegrees;             // Camera angle to be scaled into rc commands
     uint8_t max_aux_channel;

src/main/scheduler/scheduler.c

@@ -44,6 +44,7 @@ static cfTask_t *currentTask = NULL;
 static uint32_t totalWaitingTasks;
 static uint32_t totalWaitingTasksSamples;
 
+static bool calculateTaskStatistics;
 uint16_t averageSystemLoadPercent = 0;
 
 
@@ -156,8 +157,11 @@ void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
 
 void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
 {
-    if (taskId == TASK_SELF || taskId < TASK_COUNT) {
+    if (taskId == TASK_SELF) {
-        cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
+        cfTask_t *task = currentTask;
+        task->desiredPeriod = MAX(SCHEDULER_DELAY_LIMIT, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
+    } else if (taskId < TASK_COUNT) {
+        cfTask_t *task = &cfTasks[taskId];
         task->desiredPeriod = MAX(SCHEDULER_DELAY_LIMIT, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
     }
 }
@@ -185,8 +189,31 @@ uint32_t getTaskDeltaTime(cfTaskId_e taskId)
     }
 }
 
+void schedulerSetCalulateTaskStatistics(bool calculateTaskStatisticsToUse)
+{
+    calculateTaskStatistics = calculateTaskStatisticsToUse;
+}
+
+void schedulerResetTaskStatistics(cfTaskId_e taskId)
+{
+#ifdef SKIP_TASK_STATISTICS
+    UNUSED(taskId);
+#else
+    if (taskId == TASK_SELF) {
+        currentTask->movingSumExecutionTime = 0;
+        currentTask->totalExecutionTime = 0;
+        currentTask->maxExecutionTime = 0;
+    } else if (taskId < TASK_COUNT) {
+        cfTasks[taskId].movingSumExecutionTime = 0;
+        cfTasks[taskId].totalExecutionTime = 0;
+        cfTasks[taskId].totalExecutionTime = 0;
+    }
+#endif
+}
+
 void schedulerInit(void)
 {
+    calculateTaskStatistics = true;
     queueClear();
     queueAdd(&cfTasks[TASK_SYSTEM]);
 }
@@ -217,24 +244,28 @@ void scheduler(void)
     uint16_t waitingTasks = 0;
     for (cfTask_t *task = queueFirst(); task != NULL; task = queueNext()) {
         // Task has checkFunc - event driven
-        if (task->checkFunc != NULL) {
+        if (task->checkFunc) {
+#if defined(SCHEDULER_DEBUG)
             const timeUs_t currentTimeBeforeCheckFuncCall = micros();
+#else
+            const timeUs_t currentTimeBeforeCheckFuncCall = currentTimeUs;
+#endif
             // Increase priority for event driven tasks
             if (task->dynamicPriority > 0) {
                 task->taskAgeCycles = 1 + ((currentTimeUs - task->lastSignaledAt) / task->desiredPeriod);
                 task->dynamicPriority = 1 + task->staticPriority * task->taskAgeCycles;
                 waitingTasks++;
             } else if (task->checkFunc(currentTimeBeforeCheckFuncCall, currentTimeBeforeCheckFuncCall - task->lastExecutedAt)) {
-#if defined(SCHEDULER_DEBUG) || !defined(SKIP_TASK_STATISTICS)
-                const uint32_t checkFuncExecutionTime = micros() - currentTimeBeforeCheckFuncCall;
-#endif
 #if defined(SCHEDULER_DEBUG)
-                DEBUG_SET(DEBUG_SCHEDULER, 3, checkFuncExecutionTime);
+                DEBUG_SET(DEBUG_SCHEDULER, 3, micros() - currentTimeBeforeCheckFuncCall);
 #endif
 #ifndef SKIP_TASK_STATISTICS
+                if (calculateTaskStatistics) {
+                    const uint32_t checkFuncExecutionTime = micros() - currentTimeBeforeCheckFuncCall;
                     checkFuncMovingSumExecutionTime += checkFuncExecutionTime - checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
                     checkFuncTotalExecutionTime += checkFuncExecutionTime;   // time consumed by scheduler + task
                     checkFuncMaxExecutionTime = MAX(checkFuncMaxExecutionTime, checkFuncExecutionTime);
+                }
 #endif
                 task->lastSignaledAt = currentTimeBeforeCheckFuncCall;
                 task->taskAgeCycles = 1;
@@ -270,21 +301,27 @@ void scheduler(void)
 
     currentTask = selectedTask;
 
-    if (selectedTask != NULL) {
+    if (selectedTask) {
         // Found a task that should be run
         selectedTask->taskLatestDeltaTime = currentTimeUs - selectedTask->lastExecutedAt;
         selectedTask->lastExecutedAt = currentTimeUs;
         selectedTask->dynamicPriority = 0;
 
         // Execute task
+#ifdef SKIP_TASK_STATISTICS
+        selectedTask->taskFunc(currentTimeUs);
+#else
+        if (calculateTaskStatistics) {
             const timeUs_t currentTimeBeforeTaskCall = micros();
             selectedTask->taskFunc(currentTimeBeforeTaskCall);
-
-#ifndef SKIP_TASK_STATISTICS
             const timeUs_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
             selectedTask->movingSumExecutionTime += taskExecutionTime - selectedTask->movingSumExecutionTime / MOVING_SUM_COUNT;
             selectedTask->totalExecutionTime += taskExecutionTime;   // time consumed by scheduler + task
             selectedTask->maxExecutionTime = MAX(selectedTask->maxExecutionTime, taskExecutionTime);
+        } else {
+            selectedTask->taskFunc(currentTimeUs);
+        }
+
 #endif
 #if defined(SCHEDULER_DEBUG)
         DEBUG_SET(DEBUG_SCHEDULER, 2, micros() - currentTimeUs - taskExecutionTime); // time spent in scheduler

src/main/scheduler/scheduler.h

@@ -23,6 +23,7 @@ typedef enum {
     TASK_PRIORITY_IDLE = 0,     // Disables dynamic scheduling, task is executed only if no other task is active this cycle
     TASK_PRIORITY_LOW = 1,
     TASK_PRIORITY_MEDIUM = 3,
+    TASK_PRIORITY_MEDIUM_HIGH = 4,
     TASK_PRIORITY_HIGH = 5,
     TASK_PRIORITY_REALTIME = 6,
     TASK_PRIORITY_MAX = 255
@@ -145,6 +146,8 @@ void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
 void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
 void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
 uint32_t getTaskDeltaTime(cfTaskId_e taskId);
+void schedulerSetCalulateTaskStatistics(bool calculateTaskStatistics);
+void schedulerResetTaskStatistics(cfTaskId_e taskId);
 
 void schedulerInit(void);
 void scheduler(void);

src/main/sensors/esc_sensor.c

@@ -94,7 +94,7 @@ typedef enum {
 #define ESC_BOOTTIME 5000               // 5 seconds
 #define ESC_REQUEST_TIMEOUT 100         // 100 ms (data transfer takes only 900us)
 
-static bool tlmFrameDone = false;
+static volatile bool tlmFramePending = false;
 static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, };
 static uint8_t tlmFramePosition = 0;
 
@@ -159,15 +159,16 @@ static void escSensorDataReceive(uint16_t c)
     // KISS ESC sends some data during startup, ignore this for now (maybe future use)
     // startup data could be firmware version and serialnumber
 
-    if (escSensorTriggerState == ESC_SENSOR_TRIGGER_STARTUP || tlmFrameDone) {
+    if (!tlmFramePending) {
         return;
     }
 
     tlm[tlmFramePosition] = (uint8_t)c;
 
     if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) {
-        tlmFrameDone = true;
         tlmFramePosition = 0;
+
+        tlmFramePending = false;
     } else {
         tlmFramePosition++;
     }
@@ -213,7 +214,7 @@ static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
 
 static uint8_t decodeEscFrame(void)
 {
-    if (!tlmFrameDone) {
+    if (tlmFramePending) {
         return ESC_SENSOR_FRAME_PENDING;
     }
 
@@ -236,8 +237,6 @@ static uint8_t decodeEscFrame(void)
         frameStatus = ESC_SENSOR_FRAME_FAILED;
     }
 
-    tlmFrameDone = false;
-
     return frameStatus;
 }
 
@@ -277,6 +276,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
         case ESC_SENSOR_TRIGGER_READY:
             escTriggerTimestamp = currentTimeMs;
 
+            tlmFramePending = true;
             motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor);
             motor->requestTelemetry = true;
             escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;

src/main/sensors/gyro.c

@@ -54,6 +54,8 @@
 #include "io/beeper.h"
 #include "io/statusindicator.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
@@ -240,7 +242,8 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
     if (!gyroDetect(&gyro.dev)) {
         return false;
     }
-    gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom);    // Set gyro sample rate before initialisation
+    // Must set gyro sample rate before initialisation
+    gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom, gyroConfig->gyro_use_32khz);
     gyro.dev.lpf = gyroConfig->gyro_lpf;
     gyro.dev.init(&gyro.dev);
     gyroInitFilters();
@@ -358,19 +361,55 @@ static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
     }
 
     if (isOnFinalGyroCalibrationCycle()) {
+        schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
         beeper(BEEPER_GYRO_CALIBRATED);
     }
     calibratingG--;
 
 }
 
+#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
+static bool gyroUpdateISR(gyroDev_t* gyroDev)
+{
+    if (!gyroDev->dataReady || !gyroDev->read(gyroDev)) {
+        return false;
+    }
+#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
+    debug[2] = (uint16_t)(micros() & 0xffff);
+#endif
+    gyroDev->dataReady = false;
+    // move gyro data into 32-bit variables to avoid overflows in calculations
+    gyroADC[X] = gyroDev->gyroADCRaw[X];
+    gyroADC[Y] = gyroDev->gyroADCRaw[Y];
+    gyroADC[Z] = gyroDev->gyroADCRaw[Z];
+
+    alignSensors(gyroADC, gyroDev->gyroAlign);
+
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        gyroADC[axis] -= gyroZero[axis];
+        // scale gyro output to degrees per second
+        float gyroADCf = (float)gyroADC[axis] * gyroDev->scale;
+        gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
+        gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
+        gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
+        gyro.gyroADCf[axis] = gyroADCf;
+    }
+    return true;
+}
+#endif
+
 void gyroUpdate(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
+    if (gyro.dev.update) {
+        // if the gyro update function is set then return, since the gyro is read in gyroUpdateISR
+        return;
+    }
     if (!gyro.dev.read(&gyro.dev)) {
         return;
     }
     gyro.dev.dataReady = false;
+    // move gyro data into 32-bit variables to avoid overflows in calculations
     gyroADC[X] = gyro.dev.gyroADCRaw[X];
     gyroADC[Y] = gyro.dev.gyroADCRaw[Y];
     gyroADC[Z] = gyro.dev.gyroADCRaw[Z];
@@ -378,27 +417,40 @@ void gyroUpdate(void)
     alignSensors(gyroADC, gyro.dev.gyroAlign);
 
     const bool calibrationComplete = isGyroCalibrationComplete();
-    if (!calibrationComplete) {
+    if (calibrationComplete) {
+#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
+        // SPI-based gyro so can read and update in ISR
+        if (gyroConfig->gyro_isr_update) {
+            mpuGyroSetIsrUpdate(&gyro.dev, gyroUpdateISR);
+            return;
+        }
+#endif
+#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
+        debug[3] = (uint16_t)(micros() & 0xffff);
+#endif
+    } else {
         performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
     }
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         gyroADC[axis] -= gyroZero[axis];
         // scale gyro output to degrees per second
-        gyro.gyroADCf[axis] = (float)gyroADC[axis] * gyro.dev.scale;
+        float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale;
 
-        DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyro.gyroADCf[axis]));
+        // Apply LPF
+        DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
+        gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
 
-        gyro.gyroADCf[axis] = softLpfFilterApplyFn(softLpfFilter[axis], gyro.gyroADCf[axis]);
+        // Apply Notch filtering
-
+        DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));
-        DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyro.gyroADCf[axis]));
+        gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
-
+        gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
-        gyro.gyroADCf[axis] = notchFilter1ApplyFn(notchFilter1[axis], gyro.gyroADCf[axis]);
+        gyro.gyroADCf[axis] = gyroADCf;
-
+    }
-        gyro.gyroADCf[axis] = notchFilter2ApplyFn(notchFilter2[axis], gyro.gyroADCf[axis]);
 
     if (!calibrationComplete) {
-            gyroADC[axis] = lrintf(gyro.gyroADCf[axis] / gyro.dev.scale);
+        gyroADC[X] = lrintf(gyro.gyroADCf[X] / gyro.dev.scale);
-        }
+        gyroADC[Y] = lrintf(gyro.gyroADCf[Y] / gyro.dev.scale);
+        gyroADC[Z] = lrintf(gyro.gyroADCf[Z] / gyro.dev.scale);
     }
 }

src/main/sensors/gyro.h

@@ -51,6 +51,8 @@ typedef struct gyroConfig_s {
     uint8_t  gyro_lpf;                         // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint8_t  gyro_soft_lpf_type;
     uint8_t  gyro_soft_lpf_hz;
+    bool     gyro_isr_update;
+    bool     gyro_use_32khz;
     uint16_t gyro_soft_notch_hz_1;
     uint16_t gyro_soft_notch_cutoff_1;
     uint16_t gyro_soft_notch_hz_2;

src/main/sensors/sensors.h

@@ -25,6 +25,7 @@ typedef enum {
     SENSOR_INDEX_COUNT
 } sensorIndex_e;
 
+extern int16_t telemTemperature1; //FIXME move to temp sensor...?
 extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
 
 typedef struct int16_flightDynamicsTrims_s {

src/main/startup/startup_stm32f722xx.s

@@ -0,0 +1,551 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32f722xx.s
+  * @author    MCD Application Team
+  * @version   nil - pending release
+  * @date      
+  * @brief     STM32F722xx Devices vector table for GCC toolchain based application. 
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M7 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+  .syntax unified
+  .cpu cortex-m7
+  .fpu softvfp
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section. 
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */  
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called. 
+ * @param  None
+ * @retval : None
+*/
+
+  .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:  
+/* Copy the data segment initializers from flash to SRAM */  
+  movs  r1, #0
+  b  LoopCopyDataInit
+
+CopyDataInit:
+  ldr  r3, =_sidata
+  ldr  r3, [r3, r1]
+  str  r3, [r0, r1]
+  adds  r1, r1, #4
+    
+LoopCopyDataInit:
+  ldr  r0, =_sdata
+  ldr  r3, =_edata
+  adds  r2, r0, r1
+  cmp  r2, r3
+  bcc  CopyDataInit
+  ldr  r2, =_sbss
+  b  LoopFillZerobss
+/* Zero fill the bss segment. */  
+FillZerobss:
+  movs  r3, #0
+  str  r3, [r2], #4
+    
+LoopFillZerobss:
+  ldr  r3, = _ebss
+  cmp  r2, r3
+  bcc  FillZerobss
+
+/*FPU settings*/
+  ldr  r0, =0xE000ED88           /* Enable CP10,CP11 */
+  ldr  r1,[r0]
+  orr  r1,r1,#(0xF << 20)
+  str  r1,[r0]
+
+/* Call the clock system initialization function.*/
+  bl  SystemInit   
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr    
+
+LoopForever:
+  b LoopForever
+
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an 
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None     
+ * @retval None       
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M7. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+* 
+*******************************************************************************/
+  .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+  .size  g_pfnVectors, .-g_pfnVectors
+    
+    
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+  
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
+  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
+  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
+  .word     RCC_IRQHandler                    /* RCC                          */                                            
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
+  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
+  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
+  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
+  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
+  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
+  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
+  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
+  .word     TIM2_IRQHandler                   /* TIM2                         */                   
+  .word     TIM3_IRQHandler                   /* TIM3                         */                   
+  .word     TIM4_IRQHandler                   /* TIM4                         */                   
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
+  .word     SPI1_IRQHandler                   /* SPI1                         */                   
+  .word     SPI2_IRQHandler                   /* SPI2                         */                   
+  .word     USART1_IRQHandler                 /* USART1                       */                   
+  .word     USART2_IRQHandler                 /* USART2                       */                   
+  .word     USART3_IRQHandler                 /* USART3                       */                   
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
+  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
+  .word     FMC_IRQHandler                    /* FMC                          */                   
+  .word     SDMMC1_IRQHandler                 /* SDMMC1                       */                   
+  .word     TIM5_IRQHandler                   /* TIM5                         */                   
+  .word     SPI3_IRQHandler                   /* SPI3                         */                   
+  .word     UART4_IRQHandler                  /* UART4                        */                   
+  .word     UART5_IRQHandler                  /* UART5                        */                   
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
+  .word     ETH_IRQHandler                    /* Ethernet                     */                   
+  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */                     
+  .word     0                                 /* CAN2 TX                      */                          
+  .word     0                                 /* CAN2 RX0                     */                          
+  .word     0                                 /* CAN2 RX1                     */                          
+  .word     0                                 /* CAN2 SCE                     */                          
+  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
+  .word     USART6_IRQHandler                 /* USART6                       */                    
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
+  .word     DCMI_IRQHandler                   /* DCMI                         */                   
+  .word     0                                 /* Reserved                     */                   
+  .word     RNG_IRQHandler                    /* Rng                          */
+  .word     FPU_IRQHandler                    /* FPU                          */
+  .word     0                                 /* UART7                        */      
+  .word     0                                 /* UART8                        */
+  .word     0                                 /* SPI4                         */
+  .word     0                                 /* SPI5                         */
+  .word     0                                 /* SPI6                         */
+  .word     SAI1_IRQHandler                   /* SAI1                         */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     DMA2D_IRQHandler                  /* DMA2D                        */
+  .word     SAI2_IRQHandler                   /* SAI2                         */
+  .word     QUADSPI_IRQHandler                /* QUADSPI                      */
+  .word     0                                 /* LPTIM1                       */
+  .word     CEC_IRQHandler                    /* HDMI_CEC                     */
+  .word     0                                 /* I2C4 Event                   */
+  .word     0                                 /* I2C4 Error                   */
+  .word     SPDIF_RX_IRQHandler               /* SPDIF_RX                     */  
+  
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler. 
+* As they are weak aliases, any function with the same name will override 
+* this definition.
+* 
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+  
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+  
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+  
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler              
+  
+   .weak      WWDG_IRQHandler                   
+   .thumb_set WWDG_IRQHandler,Default_Handler      
+                  
+   .weak      PVD_IRQHandler      
+   .thumb_set PVD_IRQHandler,Default_Handler
+               
+   .weak      TAMP_STAMP_IRQHandler            
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+            
+   .weak      RTC_WKUP_IRQHandler                  
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+            
+   .weak      FLASH_IRQHandler         
+   .thumb_set FLASH_IRQHandler,Default_Handler
+                  
+   .weak      RCC_IRQHandler      
+   .thumb_set RCC_IRQHandler,Default_Handler
+                  
+   .weak      EXTI0_IRQHandler         
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+                  
+   .weak      EXTI1_IRQHandler         
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+                     
+   .weak      EXTI2_IRQHandler         
+   .thumb_set EXTI2_IRQHandler,Default_Handler 
+                 
+   .weak      EXTI3_IRQHandler         
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+                        
+   .weak      EXTI4_IRQHandler         
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream0_IRQHandler               
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+         
+   .weak      DMA1_Stream1_IRQHandler               
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream2_IRQHandler               
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream3_IRQHandler               
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
+                 
+   .weak      DMA1_Stream4_IRQHandler              
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream5_IRQHandler               
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream6_IRQHandler               
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      ADC_IRQHandler      
+   .thumb_set ADC_IRQHandler,Default_Handler
+               
+   .weak      CAN1_TX_IRQHandler   
+   .thumb_set CAN1_TX_IRQHandler,Default_Handler
+            
+   .weak      CAN1_RX0_IRQHandler                  
+   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN1_RX1_IRQHandler                  
+   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+            
+   .weak      CAN1_SCE_IRQHandler                  
+   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+            
+   .weak      EXTI9_5_IRQHandler   
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+            
+   .weak      TIM1_BRK_TIM9_IRQHandler            
+   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+            
+   .weak      TIM1_UP_TIM10_IRQHandler            
+   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+
+   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
+   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+      
+   .weak      TIM1_CC_IRQHandler   
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+                  
+   .weak      TIM2_IRQHandler            
+   .thumb_set TIM2_IRQHandler,Default_Handler
+                  
+   .weak      TIM3_IRQHandler            
+   .thumb_set TIM3_IRQHandler,Default_Handler
+                  
+   .weak      TIM4_IRQHandler            
+   .thumb_set TIM4_IRQHandler,Default_Handler
+                  
+   .weak      I2C1_EV_IRQHandler   
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+                     
+   .weak      I2C1_ER_IRQHandler   
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+                     
+   .weak      I2C2_EV_IRQHandler   
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+                  
+   .weak      I2C2_ER_IRQHandler   
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+                           
+   .weak      SPI1_IRQHandler            
+   .thumb_set SPI1_IRQHandler,Default_Handler
+                        
+   .weak      SPI2_IRQHandler            
+   .thumb_set SPI2_IRQHandler,Default_Handler
+                  
+   .weak      USART1_IRQHandler      
+   .thumb_set USART1_IRQHandler,Default_Handler
+                     
+   .weak      USART2_IRQHandler      
+   .thumb_set USART2_IRQHandler,Default_Handler
+                     
+   .weak      USART3_IRQHandler      
+   .thumb_set USART3_IRQHandler,Default_Handler
+                  
+   .weak      EXTI15_10_IRQHandler               
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+               
+   .weak      RTC_Alarm_IRQHandler               
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+            
+   .weak      OTG_FS_WKUP_IRQHandler         
+   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      TIM8_BRK_TIM12_IRQHandler         
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+         
+   .weak      TIM8_UP_TIM13_IRQHandler            
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+         
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+      
+   .weak      TIM8_CC_IRQHandler   
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream7_IRQHandler               
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+                     
+   .weak      FMC_IRQHandler            
+   .thumb_set FMC_IRQHandler,Default_Handler
+                     
+   .weak      SDMMC1_IRQHandler            
+   .thumb_set SDMMC1_IRQHandler,Default_Handler
+                     
+   .weak      TIM5_IRQHandler            
+   .thumb_set TIM5_IRQHandler,Default_Handler
+                     
+   .weak      SPI3_IRQHandler            
+   .thumb_set SPI3_IRQHandler,Default_Handler
+                     
+   .weak      UART4_IRQHandler         
+   .thumb_set UART4_IRQHandler,Default_Handler
+                  
+   .weak      UART5_IRQHandler         
+   .thumb_set UART5_IRQHandler,Default_Handler
+                  
+   .weak      TIM6_DAC_IRQHandler                  
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+               
+   .weak      TIM7_IRQHandler            
+   .thumb_set TIM7_IRQHandler,Default_Handler
+         
+   .weak      DMA2_Stream0_IRQHandler               
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+               
+   .weak      DMA2_Stream1_IRQHandler               
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream2_IRQHandler               
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream3_IRQHandler               
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream4_IRQHandler               
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+   
+   .weak      ETH_IRQHandler   
+   .thumb_set ETH_IRQHandler,Default_Handler
+   
+   .weak      ETH_WKUP_IRQHandler   
+   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
+                           
+   .weak      OTG_FS_IRQHandler      
+   .thumb_set OTG_FS_IRQHandler,Default_Handler
+                     
+   .weak      DMA2_Stream5_IRQHandler               
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream6_IRQHandler               
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream7_IRQHandler               
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+                  
+   .weak      USART6_IRQHandler      
+   .thumb_set USART6_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_EV_IRQHandler   
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_ER_IRQHandler   
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+                        
+   .weak      OTG_HS_EP1_OUT_IRQHandler         
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_EP1_IN_IRQHandler            
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_WKUP_IRQHandler         
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      OTG_HS_IRQHandler      
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+                  
+   .weak      DCMI_IRQHandler            
+   .thumb_set DCMI_IRQHandler,Default_Handler
+
+   .weak      RNG_IRQHandler            
+   .thumb_set RNG_IRQHandler,Default_Handler   
+
+   .weak      FPU_IRQHandler                  
+   .thumb_set FPU_IRQHandler,Default_Handler
+
+   .weak      SAI1_IRQHandler            
+   .thumb_set SAI1_IRQHandler,Default_Handler
+
+   .weak      DMA2D_IRQHandler            
+   .thumb_set DMA2D_IRQHandler,Default_Handler   
+
+   .weak      SAI2_IRQHandler            
+   .thumb_set SAI2_IRQHandler,Default_Handler
+   
+   .weak      QUADSPI_IRQHandler            
+   .thumb_set QUADSPI_IRQHandler,Default_Handler
+ 
+   .weak      CEC_IRQHandler            
+   .thumb_set CEC_IRQHandler,Default_Handler
+   
+   .weak      SPDIF_RX_IRQHandler            
+   .thumb_set SPDIF_RX_IRQHandler,Default_Handler 
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/        
+ 

src/main/target/ANYFCF7/target.c

@@ -34,16 +34,16 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,   0,  0 ), // S5_IN
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,   0,  0 ), // S6_IN
 
-    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR,   1,  0 ), // S10_OUT 1
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR,   1,  0 ), // S10_OUT 1 DMA1_ST7
-    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,   1,  0 ), // S6_OUT  2
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,   1,  0 ), // S6_OUT  2 DMA1_ST1
-    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,   1,  0 ), // S1_OUT  4
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,   1,  0 ), // S2_OUT  3 DMA1_ST4
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR | TIM_USE_LED,   1,  0 ), // S2_OUT
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,   1,  1 ), // S1_OUT  4 DMA1_ST7 DMA1_ST6
-    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR,   1,  0 ), // S4_OUT
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR | TIM_USE_LED,   1,  0 ), // S4_OUT DMA1_ST5
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,   1,  0 ), // S7_OUT
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,   1,  0 ), // S7_OUT DMA1_ST2
-    DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR,   1,  0 ), // S5_OUT  3
+    DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR,   1,  0 ), // S5_OUT
     DEF_TIM(TIM9, CH2, PE6, TIM_USE_MOTOR,   1,  0 ), // S3_OUT
-    DEF_TIM(TIM2, CH2, PB3, TIM_USE_MOTOR,   1,  0 ), // S8_OUT
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_MOTOR,   1,  0 ), // S8_OUT DMA1_ST6
-    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR,   1,  0 ), // S9_OUT
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR,   1,  0 ), // S9_OUT DMA1_ST4
 };
 #else
 // STANDARD LAYOUT

src/main/target/ANYFCF7/target.h

@@ -131,6 +131,7 @@
 #define SDCARD_DMA_CHANNEL                  DMA_CHANNEL_4
 
 #define USE_I2C
+#define USE_I2C4
 #define I2C_DEVICE (I2CDEV_4)
 //#define I2C_DEVICE_EXT (I2CDEV_2)
 

src/main/target/BETAFLIGHTF3/target.c

@@ -28,12 +28,12 @@
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                 TIMER_INPUT_ENABLED), // PPM IN
     DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM1
-    DEF_TIM(TIM1, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2
+    DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2
     DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM3
     DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM4
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM5
+    DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM6
+    DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6
     DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM7
-    DEF_TIM(TIM15,CH1, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM8
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM8
     DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED_STRIP --requires resource remap with dshot (remap to motor 5??)--
 };

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -45,6 +45,8 @@
 #include "rx/rx.h"
 #include "rx/msp.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
@@ -269,7 +271,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 
 extern volatile uint8_t CRC8;
 extern volatile bool coreProReady;
-extern uint16_t cycleTime; // FIXME dependency on mw.c
 
 // this is calculated at startup based on enabled features.
 static uint8_t activeBoxIds[CHECKBOX_ITEM_COUNT];
@@ -562,7 +563,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
             break;
 
         case BST_STATUS:
-            bstWrite16(cycleTime);
+            bstWrite16(getTaskDeltaTime(TASK_GYROPID));
 #ifdef USE_I2C
             bstWrite16(i2cGetErrorCounter());
 #else
@@ -691,7 +692,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
             break;
         case BST_LOOP_TIME:
             //bstWrite16(masterConfig.looptime);
-            bstWrite16(cycleTime);
+            bstWrite16(getTaskDeltaTime(TASK_GYROPID));
             break;
         case BST_RC_TUNING:
             bstWrite8(currentControlRateProfile->rcRate8);
@@ -1043,7 +1044,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
             break;
         case BST_SET_LOOP_TIME:
             //masterConfig.looptime = bstRead16();
-            cycleTime = bstRead16();
+            bstRead16();
             break;
         case BST_SET_PID_CONTROLLER:
             break;

src/main/target/COLIBRI_RACE/target.h

@@ -114,10 +114,10 @@
 
 #define LED_STRIP
 
-#define DEFAULT_FEATURES        (FEATURE_RX_PPM | FEATURE_VBAT | FEATURE_FAILSAFE | FEATURE_AIRMODE | FEATURE_LED_STRIP)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_FAILSAFE | FEATURE_AIRMODE | FEATURE_LED_STRIP)
-#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART3
+#define SERIALRX_UART           SERIAL_PORT_USART2
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/FURYF3/target.h

@@ -148,9 +148,9 @@
 
 #define LED_STRIP
 
-//#define SONAR
+#define SONAR
-//#define SONAR_ECHO_PIN          PB1
+#define SONAR_ECHO_PIN          PB1
-//#define SONAR_TRIGGER_PIN       PB0
+#define SONAR_TRIGGER_PIN       PB0
 
 #define DEFAULT_FEATURES        FEATURE_BLACKBOX
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM

src/main/target/FURYF7/stm32f7xx_hal_conf.h

@@ -1,438 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32f7xx_hal_conf.h
-  * @brief   HAL configuration file.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __STM32F7xx_HAL_CONF_H
-#define __STM32F7xx_HAL_CONF_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* Exported types ------------------------------------------------------------*/
-/* Exported constants --------------------------------------------------------*/
-
-/* ########################## Module Selection ############################## */
-/**
-  * @brief This is the list of modules to be used in the HAL driver
-  */
-#define HAL_MODULE_ENABLED
-
-#define HAL_ADC_MODULE_ENABLED
-/* #define HAL_CAN_MODULE_ENABLED   */
-/* #define HAL_CEC_MODULE_ENABLED   */
-/* #define HAL_CRC_MODULE_ENABLED   */
-/* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_DAC_MODULE_ENABLED   */
-/* #define HAL_DCMI_MODULE_ENABLED   */
-/* #define HAL_DMA2D_MODULE_ENABLED   */
-/* #define HAL_ETH_MODULE_ENABLED   */
-/* #define HAL_NAND_MODULE_ENABLED   */
-/* #define HAL_NOR_MODULE_ENABLED   */
-/* #define HAL_SRAM_MODULE_ENABLED   */
-/* #define HAL_SDRAM_MODULE_ENABLED   */
-/* #define HAL_HASH_MODULE_ENABLED   */
-/* #define HAL_I2S_MODULE_ENABLED   */
-/* #define HAL_IWDG_MODULE_ENABLED   */
-/* #define HAL_LPTIM_MODULE_ENABLED   */
-/* #define HAL_LTDC_MODULE_ENABLED   */
-/* #define HAL_QSPI_MODULE_ENABLED   */
-/* #define HAL_RNG_MODULE_ENABLED   */
-/* #define HAL_RTC_MODULE_ENABLED   */
-/* #define HAL_SAI_MODULE_ENABLED   */
-/* #define HAL_SD_MODULE_ENABLED   */
-/* #define HAL_SPDIFRX_MODULE_ENABLED   */
-#define HAL_SPI_MODULE_ENABLED
-#define HAL_TIM_MODULE_ENABLED
-#define HAL_UART_MODULE_ENABLED
-#define HAL_USART_MODULE_ENABLED
-/* #define HAL_IRDA_MODULE_ENABLED   */
-/* #define HAL_SMARTCARD_MODULE_ENABLED   */
-/* #define HAL_WWDG_MODULE_ENABLED   */
-#define HAL_PCD_MODULE_ENABLED
-/* #define HAL_HCD_MODULE_ENABLED   */
-/* #define HAL_DFSDM_MODULE_ENABLED   */
-/* #define HAL_DSI_MODULE_ENABLED   */
-/* #define HAL_JPEG_MODULE_ENABLED   */
-/* #define HAL_MDIOS_MODULE_ENABLED   */
-#define HAL_GPIO_MODULE_ENABLED
-#define HAL_DMA_MODULE_ENABLED
-#define HAL_RCC_MODULE_ENABLED
-#define HAL_FLASH_MODULE_ENABLED
-#define HAL_PWR_MODULE_ENABLED
-#define HAL_I2C_MODULE_ENABLED
-#define HAL_CORTEX_MODULE_ENABLED
-
-/* ########################## HSE/HSI Values adaptation ##################### */
-/**
-  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
-  *        This value is used by the RCC HAL module to compute the system frequency
-  *        (when HSE is used as system clock source, directly or through the PLL).
-  */
-#if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */
-#endif /* HSE_VALUE */
-
-#if !defined  (HSE_STARTUP_TIMEOUT)
-  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100U)   /*!< Time out for HSE start up, in ms */
-#endif /* HSE_STARTUP_TIMEOUT */
-
-/**
-  * @brief Internal High Speed oscillator (HSI) value.
-  *        This value is used by the RCC HAL module to compute the system frequency
-  *        (when HSI is used as system clock source, directly or through the PLL).
-  */
-#if !defined  (HSI_VALUE)
-  #define HSI_VALUE    ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
-#endif /* HSI_VALUE */
-
-/**
-  * @brief Internal Low Speed oscillator (LSI) value.
-  */
-#if !defined  (LSI_VALUE)
- #define LSI_VALUE  ((uint32_t)32000U)       /*!< LSI Typical Value in Hz*/
-#endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
-                                             The real value may vary depending on the variations
-                                             in voltage and temperature.  */
-/**
-  * @brief External Low Speed oscillator (LSE) value.
-  */
-#if !defined  (LSE_VALUE)
- #define LSE_VALUE  ((uint32_t)32768U)    /*!< Value of the External Low Speed oscillator in Hz */
-#endif /* LSE_VALUE */
-
-#if !defined  (LSE_STARTUP_TIMEOUT)
-  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000U)   /*!< Time out for LSE start up, in ms */
-#endif /* LSE_STARTUP_TIMEOUT */
-
-/**
-  * @brief External clock source for I2S peripheral
-  *        This value is used by the I2S HAL module to compute the I2S clock source
-  *        frequency, this source is inserted directly through I2S_CKIN pad.
-  */
-#if !defined  (EXTERNAL_CLOCK_VALUE)
-  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000U) /*!< Value of the Internal oscillator in Hz*/
-#endif /* EXTERNAL_CLOCK_VALUE */
-
-/* Tip: To avoid modifying this file each time you need to use different HSE,
-   ===  you can define the HSE value in your toolchain compiler preprocessor. */
-
-/* ########################### System Configuration ######################### */
-/**
-  * @brief This is the HAL system configuration section
-  */
-#define  VDD_VALUE                    ((uint32_t)3300U) /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            ((uint32_t)0U) /*!< tick interrupt priority */
-#define  USE_RTOS                     0U
-#define  PREFETCH_ENABLE              0U
-#define  ART_ACCLERATOR_ENABLE        0U /* To enable instruction cache and prefetch */
-
-/* ########################## Assert Selection ############################## */
-/**
-  * @brief Uncomment the line below to expanse the "assert_param" macro in the
-  *        HAL drivers code
-  */
-/* #define USE_FULL_ASSERT    1 */
-
-/* ################## Ethernet peripheral configuration ##################### */
-
-/* Section 1 : Ethernet peripheral configuration */
-
-/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
-#define MAC_ADDR0   2U
-#define MAC_ADDR1   0U
-#define MAC_ADDR2   0U
-#define MAC_ADDR3   0U
-#define MAC_ADDR4   0U
-#define MAC_ADDR5   0U
-
-/* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
-#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
-#define ETH_RXBUFNB                    ((uint32_t)4U)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
-#define ETH_TXBUFNB                    ((uint32_t)4U)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
-
-/* Section 2: PHY configuration section */
-
-/* DP83848_PHY_ADDRESS Address*/
-#define DP83848_PHY_ADDRESS           0x01U
-/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
-#define PHY_RESET_DELAY                 ((uint32_t)0x000000FFU)
-/* PHY Configuration delay */
-#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFFU)
-
-#define PHY_READ_TO                     ((uint32_t)0x0000FFFFU)
-#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFFU)
-
-/* Section 3: Common PHY Registers */
-
-#define PHY_BCR                         ((uint16_t)0x0000U)    /*!< Transceiver Basic Control Register   */
-#define PHY_BSR                         ((uint16_t)0x0001U)    /*!< Transceiver Basic Status Register    */
-
-#define PHY_RESET                       ((uint16_t)0x8000U)  /*!< PHY Reset */
-#define PHY_LOOPBACK                    ((uint16_t)0x4000U)  /*!< Select loop-back mode */
-#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100U)  /*!< Set the full-duplex mode at 100 Mb/s */
-#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000U)  /*!< Set the half-duplex mode at 100 Mb/s */
-#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100U)  /*!< Set the full-duplex mode at 10 Mb/s  */
-#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000U)  /*!< Set the half-duplex mode at 10 Mb/s  */
-#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000U)  /*!< Enable auto-negotiation function     */
-#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200U)  /*!< Restart auto-negotiation function    */
-#define PHY_POWERDOWN                   ((uint16_t)0x0800U)  /*!< Select the power down mode           */
-#define PHY_ISOLATE                     ((uint16_t)0x0400U)  /*!< Isolate PHY from MII                 */
-
-#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020U)  /*!< Auto-Negotiation process completed   */
-#define PHY_LINKED_STATUS               ((uint16_t)0x0004U)  /*!< Valid link established               */
-#define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
-
-/* Section 4: Extended PHY Registers */
-#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
-
-#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
-#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
-
-/* ################## SPI peripheral configuration ########################## */
-
-/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
-* Activated: CRC code is present inside driver
-* Deactivated: CRC code cleaned from driver
-*/
-
-#define USE_SPI_CRC                     0U
-
-/* Includes ------------------------------------------------------------------*/
-/**
-  * @brief Include module's header file
-  */
-
-#ifdef HAL_RCC_MODULE_ENABLED
-  #include "stm32f7xx_hal_rcc.h"
-#endif /* HAL_RCC_MODULE_ENABLED */
-
-#ifdef HAL_GPIO_MODULE_ENABLED
-  #include "stm32f7xx_hal_gpio.h"
-#endif /* HAL_GPIO_MODULE_ENABLED */
-
-#ifdef HAL_DMA_MODULE_ENABLED
-  #include "stm32f7xx_hal_dma.h"
-#endif /* HAL_DMA_MODULE_ENABLED */
-
-#ifdef HAL_CORTEX_MODULE_ENABLED
-  #include "stm32f7xx_hal_cortex.h"
-#endif /* HAL_CORTEX_MODULE_ENABLED */
-
-#ifdef HAL_ADC_MODULE_ENABLED
-  #include "stm32f7xx_hal_adc.h"
-#endif /* HAL_ADC_MODULE_ENABLED */
-
-#ifdef HAL_CAN_MODULE_ENABLED
-  #include "stm32f7xx_hal_can.h"
-#endif /* HAL_CAN_MODULE_ENABLED */
-
-#ifdef HAL_CEC_MODULE_ENABLED
-  #include "stm32f7xx_hal_cec.h"
-#endif /* HAL_CEC_MODULE_ENABLED */
-
-#ifdef HAL_CRC_MODULE_ENABLED
-  #include "stm32f7xx_hal_crc.h"
-#endif /* HAL_CRC_MODULE_ENABLED */
-
-#ifdef HAL_CRYP_MODULE_ENABLED
-  #include "stm32f7xx_hal_cryp.h"
-#endif /* HAL_CRYP_MODULE_ENABLED */
-
-#ifdef HAL_DMA2D_MODULE_ENABLED
-  #include "stm32f7xx_hal_dma2d.h"
-#endif /* HAL_DMA2D_MODULE_ENABLED */
-
-#ifdef HAL_DAC_MODULE_ENABLED
-  #include "stm32f7xx_hal_dac.h"
-#endif /* HAL_DAC_MODULE_ENABLED */
-
-#ifdef HAL_DCMI_MODULE_ENABLED
-  #include "stm32f7xx_hal_dcmi.h"
-#endif /* HAL_DCMI_MODULE_ENABLED */
-
-#ifdef HAL_ETH_MODULE_ENABLED
-  #include "stm32f7xx_hal_eth.h"
-#endif /* HAL_ETH_MODULE_ENABLED */
-
-#ifdef HAL_FLASH_MODULE_ENABLED
-  #include "stm32f7xx_hal_flash.h"
-#endif /* HAL_FLASH_MODULE_ENABLED */
-
-#ifdef HAL_SRAM_MODULE_ENABLED
-  #include "stm32f7xx_hal_sram.h"
-#endif /* HAL_SRAM_MODULE_ENABLED */
-
-#ifdef HAL_NOR_MODULE_ENABLED
-  #include "stm32f7xx_hal_nor.h"
-#endif /* HAL_NOR_MODULE_ENABLED */
-
-#ifdef HAL_NAND_MODULE_ENABLED
-  #include "stm32f7xx_hal_nand.h"
-#endif /* HAL_NAND_MODULE_ENABLED */
-
-#ifdef HAL_SDRAM_MODULE_ENABLED
-  #include "stm32f7xx_hal_sdram.h"
-#endif /* HAL_SDRAM_MODULE_ENABLED */
-
-#ifdef HAL_HASH_MODULE_ENABLED
- #include "stm32f7xx_hal_hash.h"
-#endif /* HAL_HASH_MODULE_ENABLED */
-
-#ifdef HAL_I2C_MODULE_ENABLED
- #include "stm32f7xx_hal_i2c.h"
-#endif /* HAL_I2C_MODULE_ENABLED */
-
-#ifdef HAL_I2S_MODULE_ENABLED
- #include "stm32f7xx_hal_i2s.h"
-#endif /* HAL_I2S_MODULE_ENABLED */
-
-#ifdef HAL_IWDG_MODULE_ENABLED
- #include "stm32f7xx_hal_iwdg.h"
-#endif /* HAL_IWDG_MODULE_ENABLED */
-
-#ifdef HAL_LPTIM_MODULE_ENABLED
- #include "stm32f7xx_hal_lptim.h"
-#endif /* HAL_LPTIM_MODULE_ENABLED */
-
-#ifdef HAL_LTDC_MODULE_ENABLED
- #include "stm32f7xx_hal_ltdc.h"
-#endif /* HAL_LTDC_MODULE_ENABLED */
-
-#ifdef HAL_PWR_MODULE_ENABLED
- #include "stm32f7xx_hal_pwr.h"
-#endif /* HAL_PWR_MODULE_ENABLED */
-
-#ifdef HAL_QSPI_MODULE_ENABLED
- #include "stm32f7xx_hal_qspi.h"
-#endif /* HAL_QSPI_MODULE_ENABLED */
-
-#ifdef HAL_RNG_MODULE_ENABLED
- #include "stm32f7xx_hal_rng.h"
-#endif /* HAL_RNG_MODULE_ENABLED */
-
-#ifdef HAL_RTC_MODULE_ENABLED
- #include "stm32f7xx_hal_rtc.h"
-#endif /* HAL_RTC_MODULE_ENABLED */
-
-#ifdef HAL_SAI_MODULE_ENABLED
- #include "stm32f7xx_hal_sai.h"
-#endif /* HAL_SAI_MODULE_ENABLED */
-
-#ifdef HAL_SD_MODULE_ENABLED
- #include "stm32f7xx_hal_sd.h"
-#endif /* HAL_SD_MODULE_ENABLED */
-
-#ifdef HAL_SPDIFRX_MODULE_ENABLED
- #include "stm32f7xx_hal_spdifrx.h"
-#endif /* HAL_SPDIFRX_MODULE_ENABLED */
-
-#ifdef HAL_SPI_MODULE_ENABLED
- #include "stm32f7xx_hal_spi.h"
-#endif /* HAL_SPI_MODULE_ENABLED */
-
-#ifdef HAL_TIM_MODULE_ENABLED
- #include "stm32f7xx_hal_tim.h"
-#endif /* HAL_TIM_MODULE_ENABLED */
-
-#ifdef HAL_UART_MODULE_ENABLED
- #include "stm32f7xx_hal_uart.h"
-#endif /* HAL_UART_MODULE_ENABLED */
-
-#ifdef HAL_USART_MODULE_ENABLED
- #include "stm32f7xx_hal_usart.h"
-#endif /* HAL_USART_MODULE_ENABLED */
-
-#ifdef HAL_IRDA_MODULE_ENABLED
- #include "stm32f7xx_hal_irda.h"
-#endif /* HAL_IRDA_MODULE_ENABLED */
-
-#ifdef HAL_SMARTCARD_MODULE_ENABLED
- #include "stm32f7xx_hal_smartcard.h"
-#endif /* HAL_SMARTCARD_MODULE_ENABLED */
-
-#ifdef HAL_WWDG_MODULE_ENABLED
- #include "stm32f7xx_hal_wwdg.h"
-#endif /* HAL_WWDG_MODULE_ENABLED */
-
-#ifdef HAL_PCD_MODULE_ENABLED
- #include "stm32f7xx_hal_pcd.h"
-#endif /* HAL_PCD_MODULE_ENABLED */
-
-#ifdef HAL_HCD_MODULE_ENABLED
- #include "stm32f7xx_hal_hcd.h"
-#endif /* HAL_HCD_MODULE_ENABLED */
-
-#ifdef HAL_DFSDM_MODULE_ENABLED
- #include "stm32f7xx_hal_dfsdm.h"
-#endif /* HAL_DFSDM_MODULE_ENABLED */
-
-#ifdef HAL_DSI_MODULE_ENABLED
- #include "stm32f7xx_hal_dsi.h"
-#endif /* HAL_DSI_MODULE_ENABLED */
-
-#ifdef HAL_JPEG_MODULE_ENABLED
- #include "stm32f7xx_hal_jpeg.h"
-#endif /* HAL_JPEG_MODULE_ENABLED */
-
-#ifdef HAL_MDIOS_MODULE_ENABLED
- #include "stm32f7xx_hal_mdios.h"
-#endif /* HAL_MDIOS_MODULE_ENABLED */
-
-/* Exported macro ------------------------------------------------------------*/
-#ifdef  USE_FULL_ASSERT
-/**
-  * @brief  The assert_param macro is used for function's parameters check.
-  * @param  expr: If expr is false, it calls assert_failed function
-  *         which reports the name of the source file and the source
-  *         line number of the call that failed.
-  *         If expr is true, it returns no value.
-  * @retval None
-  */
-  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
-/* Exported functions ------------------------------------------------------- */
-  void assert_failed(uint8_t* file, uint32_t line);
-#else
-  #define assert_param(expr) ((void)0U)
-#endif /* USE_FULL_ASSERT */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __STM32F7xx_HAL_CONF_H */
-
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

src/main/target/IMPULSERCF3/target.c

@@ -26,10 +26,10 @@
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM2, CH1,PA15, TIM_USE_PPM,                 TIMER_INPUT_ENABLED), // PPM IN
-    DEF_TIM(TIM8,CH2N, PB4, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM1
+    DEF_TIM(TIM16,CH1, PB4, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM1
     DEF_TIM(TIM17,CH1, PB5, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM2
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM3
+    DEF_TIM(TIM8,CH3N, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM3
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM4
+    DEF_TIM(TIM8,CH2N, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM4
     DEF_TIM(TIM16,CH1, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM5
     DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM6
     DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                 TIMER_OUTPUT_ENABLED), // LED_STRIP

src/main/target/IMPULSERCF3/target.h

@@ -48,6 +48,7 @@
 
 #define USE_ESC_SENSOR
 #define REMAP_TIM17_DMA
+#define REMAP_TIM16_DMA
 
 #define USE_VCP
 #define USE_UART1

src/main/target/NAZE/target.h

@@ -49,6 +49,7 @@
 
 #define USE_EXTI
 #define MAG_INT_EXTI            PC14
+#define MPU_INT_EXTI            PC13
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 //#define DEBUG_MAG_DATA_READY_INTERRUPT

src/main/target/NERO/target.c

@@ -0,0 +1,37 @@
+/*
+ * 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 <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/dma.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_PPM,                 TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 1 ),
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ),
+};

src/main/target/NERO/target.h

@@ -0,0 +1,140 @@
+/*
+ * 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 "NERO"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08060000) 
+
+#define USBD_PRODUCT_STRING     "NERO"
+
+#define HW_PIN                  PB2
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define LED0                    PB6
+#define LED1                    PB5
+#define LED2                    PB4
+
+#define BEEPER                  PC1
+#define BEEPER_INVERTED
+
+// MPU6500 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PB2
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#define MPU6500_CS_PIN          PC4
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+#define GYRO
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PA15
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF1_5
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_CHANNEL_0
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)
+
+#define USE_VCP
+//#define VBUS_SENSING_PIN PA8
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       4
+
+//#define USE_ESCSERIAL //TODO: make ESC serial F7 compatible
+//#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PC4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_ADC
+#define VBAT_ADC_PIN            PC3
+
+//#define USE_ESC_SENSOR
+#define LED_STRIP
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define SPEKTRUM_BIND
+#define BIND_PIN                PB11
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9) )

src/main/target/NERO/target.mk

@@ -0,0 +1,8 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES       += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_hal.c

src/main/target/OMNIBUS/target.h

@@ -45,19 +45,21 @@
 #define BMP280_SPI_INSTANCE     SPI1
 #define BMP280_CS_PIN           PA13
 
-//#define BARO
+#define BARO
-//#define USE_BARO_BMP280
+#define USE_BARO_BMP280
-//#define USE_BARO_SPI_BMP280
+#define USE_BARO_SPI_BMP280
 
-//#define MAG // External
+#define MAG // External
-//#define USE_MAG_AK8963
+#define USE_MAG_AK8963
-//#define USE_MAG_AK8975
+#define USE_MAG_AK8975
-//#define USE_MAG_HMC5883
+#define USE_MAG_HMC5883
 
 //#define SONAR
 //#define SONAR_ECHO_PIN          PB1
 //#define SONAR_TRIGGER_PIN       PB0
 
+#undef GPS
+
 #define USB_IO
 #define USB_CABLE_DETECTION
 #define USB_DETECT_PIN          PB5

src/main/target/RCEXPLORERF3/target.h

@@ -109,15 +109,15 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART1
 
-//#define NAV
+#define NAV
-//#define NAV_AUTO_MAG_DECLINATION
+#define NAV_AUTO_MAG_DECLINATION
-//#define NAV_GPS_GLITCH_DETECTION
+#define NAV_GPS_GLITCH_DETECTION
-//#define NAV_MAX_WAYPOINTS               60
+#define NAV_MAX_WAYPOINTS               60
-//#define GPS
+#define GPS
 #define BLACKBOX
 #define TELEMETRY
 #define SERIAL_RX
-//#define AUTOTUNE
+#define AUTOTUNE
 #define USE_SERVOS
 #define USE_CLI
 

src/main/target/REVO/target.h

@@ -31,6 +31,10 @@
 #define TARGET_BOARD_IDENTIFIER "SOUL"
 #define USBD_PRODUCT_STRING     "DemonSoulF4"
 
+#elif defined(PODIUMF4)
+#define TARGET_BOARD_IDENTIFIER "PODI"
+#define USBD_PRODUCT_STRING     "PodiumF4"
+
 #else
 #define TARGET_BOARD_IDENTIFIER "REVO"
 #define USBD_PRODUCT_STRING     "Revolution"
@@ -44,6 +48,11 @@
 #define USE_ESC_SENSOR
 
 #define LED0                    PB5
+#if defined(PODIUMF4)
+#define LED1                    PB4
+#define LED2                    PB6
+#endif
+
 // Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
 #if defined(AIRBOTF4)
 #define BEEPER                  PB4
@@ -78,7 +87,7 @@
 #define USE_GYRO_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW180_DEG
 
-#elif defined(REVOLT)
+#elif defined(REVOLT) || defined(PODIUMF4)
 
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
@@ -112,7 +121,7 @@
 #define MPU_INT_EXTI            PC4
 #define USE_MPU_DATA_READY_SIGNAL
 
-#if !defined(AIRBOTF4) && !defined(REVOLT) && !defined(SOULF4)
+#if !defined(AIRBOTF4) && !defined(REVOLT) && !defined(SOULF4) && !defined(PODIUMF4)
 #define MAG
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
@@ -129,7 +138,11 @@
 #define USE_FLASH_M25P16
 
 #define USE_VCP
+#if defined(PODIUMF4)
+#define VBUS_SENSING_PIN        PA8
+#else
 #define VBUS_SENSING_PIN        PC5
+#endif
 
 #define USE_UART1
 #define UART1_RX_PIN            PA10
@@ -163,16 +176,26 @@
 #define I2C_DEVICE              (I2CDEV_1)
 
 #define USE_ADC
+#if !defined(PODIUMF4)
 #define CURRENT_METER_ADC_PIN   PC1
 #define VBAT_ADC_PIN            PC2
-//#define RSSI_ADC_PIN            PA0
+#else
+#define VBAT_ADC_PIN           PC3
+#define VBAT_ADC_CHANNEL       ADC_Channel_13
+#endif
 
 #define LED_STRIP
 
 #define SENSORS_SET             (SENSOR_ACC)
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#if defined(PODIUMF4)
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+#define DEFAULT_FEATURES        FEATURE_TELEMETRY
+#else
 #define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
+#endif
 
 #define SPEKTRUM_BIND
 // USART3,

src/main/target/SIRINFPV/target.c

@@ -25,13 +25,13 @@
 #include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MOTOR, 1), // PWM1 - PB6
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_PPM,                 TIMER_INPUT_ENABLED), // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
-    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MOTOR, 1), // PWM2 - PB6
+    DEF_TIM(TIM16,CH1N,PB6,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM1 - PB6
-    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MOTOR, 1), // PWM3 - PB8
+    DEF_TIM(TIM3, CH4, PB7,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM2 - PB6
-    DEF_TIM(TIM4, CH4, PB9,  TIM_USE_MOTOR, 1), // PWM4 - PB9
+    DEF_TIM(TIM8, CH2, PB8,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM3 - PB8
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR, 1), // PWM5 - PB0  - *TIM3_CH3
+    DEF_TIM(TIM17,CH1, PB9,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM4 - PB9
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR, 1), // PWM6 - PB1  - *TIM3_CH4
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM5 - PB0  - *TIM3_CH3
-    DEF_TIM(TIM2, CH4, PB11, TIM_USE_PPM,   0), // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)y
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM6 - PB1  - *TIM3_CH4
 };
 
 

src/main/target/SIRINFPV/target.h

@@ -95,6 +95,9 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
+#define REMAP_TIM16_DMA
+#define REMAP_TIM17_DMA
+
 #define USE_MAX7456
 #define MAX7456_SPI_INSTANCE    SPI3
 #define MAX7456_SPI_CS_PIN      PA15

src/main/target/SPRACINGF3NEO/target.h

@@ -168,6 +168,7 @@
 
 #define OSD
 
+#undef GPS
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define DEFAULT_FEATURES        (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_OSD)
@@ -193,4 +194,3 @@
 
 #define USABLE_TIMER_CHANNEL_COUNT 12 // 2xPPM, 6xPWM, UART3 RX/TX, LED Strip, IR.
 #define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15) | TIM_N(16))
-

src/main/target/common.h

@@ -43,7 +43,6 @@
 #define STM_FAST_TARGET
 #define USE_DSHOT
 #define I2C3_OVERCLOCK true
-#define GPS
 #endif
 
 #ifdef STM32F3
@@ -82,6 +81,7 @@
 
 #if (FLASH_SIZE > 64)
 #define BLACKBOX
+#define GPS
 #define TELEMETRY
 #define TELEMETRY_FRSKY
 #define TELEMETRY_HOTT
@@ -99,6 +99,7 @@
 #define TELEMETRY_SRXL
 #define TELEMETRY_JETIEXBUS
 #define TELEMETRY_MAVLINK
+#define TELEMETRY_IBUS
 #define USE_RX_MSP
 #define USE_SERIALRX_JETIEXBUS
 #define VTX_CONTROL

src/main/target/link/stm32_flash_f722.ld

@@ -0,0 +1,29 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f722.ld
+**
+**  Abstract    : Linker script for STM32F722RETx Device with
+**                512KByte FLASH, 256KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Specify the memory areas */
+MEMORY
+{
+    FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 384K
+    FLASH_CONFIG (r)  : ORIGIN = 0x08060000, LENGTH = 128K
+
+    TCM (rwx)         : ORIGIN = 0x20000000, LENGTH = 64K
+    RAM (rwx)         : ORIGIN = 0x20010000, LENGTH = 192K
+    MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+/* note TCM could be used for stack */
+REGION_ALIAS("STACKRAM", TCM)
+
+INCLUDE "stm32_flash.ld"

src/main/target/system_stm32f7xx.c

@@ -66,13 +66,22 @@
 #include "stm32f7xx.h"
 
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
+  #define HSE_VALUE    ((uint32_t)8000000) /*!< Default value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSI_VALUE)
   #define HSI_VALUE    ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
 #endif /* HSI_VALUE */
 
+#define PLL_M     8
+#define PLL_N     432
+#define PLL_P     RCC_PLLP_DIV2 /* 2 */
+#define PLL_Q     9
+
+#define PLL_SAIN  384
+#define PLL_SAIQ  7
+#define PLL_SAIP  RCC_PLLSAIP_DIV8
+
 /**
   * @}
   */
@@ -122,7 +131,7 @@
                is no need to call the 2 first functions listed above, since SystemCoreClock
                variable is updated automatically.
   */
-  uint32_t SystemCoreClock = 216000000;
+  uint32_t SystemCoreClock = (PLL_N / PLL_P) * 1000000;
   const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
   const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
 
@@ -152,10 +161,10 @@
       RCC_OscInitStruct.HSEState = RCC_HSE_ON;
       RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
       RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-      RCC_OscInitStruct.PLL.PLLM = 8;
+      RCC_OscInitStruct.PLL.PLLM = PLL_M;
-      RCC_OscInitStruct.PLL.PLLN = 432;
+      RCC_OscInitStruct.PLL.PLLN = PLL_N;
-      RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+      RCC_OscInitStruct.PLL.PLLP = PLL_P;
-      RCC_OscInitStruct.PLL.PLLQ = 9;
+      RCC_OscInitStruct.PLL.PLLQ = PLL_Q;
 
       ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
       if(ret != HAL_OK)
@@ -172,9 +181,9 @@
       /* Select PLLSAI output as USB clock source */
       PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CLK48;
       PeriphClkInitStruct.Clk48ClockSelection = RCC_CLK48SOURCE_PLLSAIP;
-      PeriphClkInitStruct.PLLSAI.PLLSAIN = 384;
+      PeriphClkInitStruct.PLLSAI.PLLSAIN = PLL_SAIN;
-      PeriphClkInitStruct.PLLSAI.PLLSAIQ = 7;
+      PeriphClkInitStruct.PLLSAI.PLLSAIQ = PLL_SAIQ;
-      PeriphClkInitStruct.PLLSAI.PLLSAIP = RCC_PLLSAIP_DIV8;
+      PeriphClkInitStruct.PLLSAI.PLLSAIP = PLL_SAIP;
       if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct)  != HAL_OK)
       {
         while(1) {};

src/main/telemetry/frsky.c

@@ -79,8 +79,6 @@ static portSharing_e frskyPortSharing;
 
 extern batteryConfig_t *batteryConfig;
 
-extern int16_t telemTemperature1; // FIXME dependency on mw.c
-
 #define CYCLETIME             125
 
 #define PROTOCOL_HEADER       0x5E

src/main/telemetry/ibus.c

@@ -0,0 +1,426 @@
+/*
+ * 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/>.
+ *
+ * FlySky iBus telemetry implementation by CraigJPerry.
+ * Unit tests and some additions by Unitware
+ *
+ * Many thanks to Dave Borthwick's iBus telemetry dongle converter for
+ * PIC 12F1572 (also distributed under GPLv3) which was referenced to
+ * clarify the protocol.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "platform.h"
+#include "common/utils.h"
+
+#if defined(TELEMETRY) && defined(TELEMETRY_IBUS)
+
+#include "config/config_master.h"
+
+#include "common/axis.h"
+
+#include "drivers/system.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/serial.h"
+
+#include "sensors/sensors.h"
+#include "sensors/acceleration.h"
+#include "sensors/battery.h"
+#include "sensors/barometer.h"
+
+#include "io/serial.h"
+#include "fc/rc_controls.h"
+#include "scheduler/scheduler.h"
+
+#include "telemetry/telemetry.h"    
+#include "telemetry/ibus.h"
+
+/*
+ * iBus Telemetry is a half-duplex serial protocol. It shares 1 line for
+ * both TX and RX. It runs at a fixed baud rate of 115200. Queries are sent
+ * every 7ms by the iBus receiver. Multiple sensors can be daisy chained with
+ * ibus but this is implemented but not tested because i don't have one of the
+ * sensors to test with
+ *
+ *     _______
+ *    /       \                                             /---------\
+ *    | STM32 |--UART TX-->[Bi-directional @ 115200 baud]<--| IBUS RX |
+ *    |  uC   |--UART RX--x[not connected]                  \---------/
+ *    \_______/
+ *
+ *
+ * The protocol is driven by the iBus receiver, currently either an IA6B or
+ * IA10. All iBus traffic is little endian. It begins with the iBus rx
+ * querying for a sensor on the iBus:
+ *
+ *
+ *  /---------\
+ *  | IBUS RX | > Hello sensor at address 1, are you there?
+ *  \---------/     [ 0x04, 0x81, 0x7A, 0xFF ]
+ *
+ *     0x04       - Packet Length
+ *     0x81       - bits 7-4 Command (1000 = discover sensor)
+ *                  bits 3-0 Address (0001 = address 1)
+ *     0x7A, 0xFF - Checksum, 0xFFFF - (0x04 + 0x81)
+ *
+ *
+ * Due to the daisy-chaining, this hello also serves to inform the sensor
+ * of its address (position in the chain). There are 16 possible addresses
+ * in iBus, however address 0 is reserved for the rx's internally measured
+ * voltage leaving 0x1 to 0xF remaining.
+ *
+ * Having learned it's address, the sensor simply echos the message back:
+ *
+ *
+ *                                                      /--------\
+ *                              Yes, i'm here, hello! < | Sensor |
+ *                       [ 0x04, 0x81, 0x7A, 0xFF ]     \--------/
+ *
+ *     0x04, 0x81, 0x7A, 0xFF - Echo back received packet
+ *
+ *
+ * On receipt of a response, the iBus rx next requests the sensor's type:
+ *
+ *
+ *  /---------\
+ *  | IBUS RX | > Sensor at address 1, what type are you?
+ *  \---------/     [ 0x04, 0x91, 0x6A, 0xFF ]
+ *
+ *     0x04       - Packet Length
+ *     0x91       - bits 7-4 Command (1001 = request sensor type)
+ *                  bits 3-0 Address (0001 = address 1)
+ *     0x6A, 0xFF - Checksum, 0xFFFF - (0x04 + 0x91)
+ *
+ *
+ * To which the sensor responds with its details:
+ *
+ *
+ *                                                      /--------\
+ *                              Yes, i'm here, hello! < | Sensor |
+ *                [ 0x06 0x91 0x00 0x02 0x66 0xFF ]     \--------/
+ *
+ *     0x06       - Packet Length
+ *     0x91       - bits 7-4 Command (1001 = request sensor type)
+ *                  bits 3-0 Address (0001 = address 1)
+ *     0x00       - Measurement type (0 = internal voltage)
+ *     0x02       - Unknown, always 0x02
+ *     0x66, 0xFF - Checksum, 0xFFFF - (0x06 + 0x91 + 0x00 + 0x02)
+ *
+ *
+ * The iBus rx continues the discovery process by querying the next
+ * address. Discovery stops at the first address which does not respond.
+ *
+ * The iBus rx then begins a continual loop, requesting measurements from
+ * each sensor discovered:
+ *
+ *
+ *  /---------\
+ *  | IBUS RX | > Sensor at address 1, please send your measurement
+ *  \---------/     [ 0x04, 0xA1, 0x5A, 0xFF ]
+ *
+ *     0x04       - Packet Length
+ *     0xA1       - bits 7-4 Command (1010 = request measurement)
+ *                  bits 3-0 Address (0001 = address 1)
+ *     0x5A, 0xFF - Checksum, 0xFFFF - (0x04 + 0xA1)
+ *
+ *
+ *                                                      /--------\
+ *                                I'm reading 0 volts < | Sensor |
+ *                [ 0x06 0xA1 0x00 0x00 0x5E 0xFF ]     \--------/
+ *
+ *     0x06       - Packet Length
+ *     0xA1       - bits 7-4 Command (1010 = request measurement)
+ *                  bits 3-0 Address (0001 = address 1)
+ *     0x00, 0x00 - The measurement
+ *     0x58, 0xFF - Checksum, 0xFFFF - (0x06 + 0xA1 + 0x00 + 0x00)
+ *
+ *
+ * Due to the limited telemetry data types possible with ibus, we
+ * simply send everything which can be represented. Currently this
+ * is voltage and temperature.
+ *
+ */
+
+/*
+PG_REGISTER_WITH_RESET_TEMPLATE(ibusTelemetryConfig_t, ibusTelemetryConfig, PG_IBUS_TELEMETRY_CONFIG, 0);
+
+PG_RESET_TEMPLATE(ibusTelemetryConfig_t, ibusTelemetryConfig,
+                  .report_cell_voltage = false,
+                 );
+*/
+
+#define IBUS_TASK_PERIOD_US (500)
+
+#define IBUS_UART_MODE     (MODE_RXTX)
+#define IBUS_BAUDRATE      (115200)
+#define IBUS_CYCLE_TIME_MS (8)
+
+#define IBUS_CHECKSUM_SIZE (2)
+
+#define IBUS_MIN_LEN       (2 + IBUS_CHECKSUM_SIZE)
+#define IBUS_MAX_TX_LEN    (6)
+#define IBUS_MAX_RX_LEN    (4)
+#define IBUS_RX_BUF_LEN    (IBUS_MAX_RX_LEN)
+
+#define IBUS_TEMPERATURE_OFFSET  (400)
+
+
+typedef uint8_t ibusAddress_t;
+
+typedef enum {
+    IBUS_COMMAND_DISCOVER_SENSOR      = 0x80,
+    IBUS_COMMAND_SENSOR_TYPE          = 0x90,
+    IBUS_COMMAND_MEASUREMENT          = 0xA0
+} ibusCommand_e;
+
+typedef enum {
+    IBUS_SENSOR_TYPE_TEMPERATURE      = 0x01,
+    IBUS_SENSOR_TYPE_RPM              = 0x02,
+    IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE = 0x03
+} ibusSensorType_e;
+
+/* Address lookup relative to the sensor base address which is the lowest address seen by the FC 
+   The actual lowest value is likely to change when sensors are daisy chained */
+static const uint8_t sensorAddressTypeLookup[] = {
+    IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE,
+    IBUS_SENSOR_TYPE_TEMPERATURE,
+    IBUS_SENSOR_TYPE_RPM
+};
+
+static serialPort_t *ibusSerialPort = NULL;
+static serialPortConfig_t *ibusSerialPortConfig;
+
+/* The sent bytes will be echoed back since Tx and Rx are wired together, this counter
+ * will keep track of how many rx chars that shall be discarded */
+static uint8_t outboundBytesToIgnoreOnRxCount = 0;
+
+static bool ibusTelemetryEnabled = false;
+static portSharing_e ibusPortSharing;
+
+#define INVALID_IBUS_ADDRESS 0
+static ibusAddress_t ibusBaseAddress = INVALID_IBUS_ADDRESS;
+
+static uint8_t ibusReceiveBuffer[IBUS_RX_BUF_LEN] = { 0x0 };
+
+static uint16_t calculateChecksum(const uint8_t *ibusPacket, size_t packetLength)
+{
+    uint16_t checksum = 0xFFFF;
+    for (size_t i = 0; i < packetLength - IBUS_CHECKSUM_SIZE; i++) {
+        checksum -= ibusPacket[i];
+    }
+
+    return checksum;
+}
+
+static bool isChecksumOk(const uint8_t *ibusPacket)
+{
+    uint16_t calculatedChecksum = calculateChecksum(ibusReceiveBuffer, IBUS_RX_BUF_LEN);
+
+    // Note that there's a byte order swap to little endian here
+    return (calculatedChecksum >> 8) == ibusPacket[IBUS_RX_BUF_LEN - 1]
+           && (calculatedChecksum & 0xFF) == ibusPacket[IBUS_RX_BUF_LEN - 2];
+}
+
+static void transmitIbusPacket(uint8_t *ibusPacket, size_t payloadLength)
+{
+    uint16_t checksum = calculateChecksum(ibusPacket, payloadLength + IBUS_CHECKSUM_SIZE);
+    for (size_t i = 0; i < payloadLength; i++) {
+        serialWrite(ibusSerialPort, ibusPacket[i]);
+    }
+    serialWrite(ibusSerialPort, checksum & 0xFF);
+    serialWrite(ibusSerialPort, checksum >> 8);
+    outboundBytesToIgnoreOnRxCount += payloadLength + IBUS_CHECKSUM_SIZE;
+}
+
+static void sendIbusDiscoverSensorReply(ibusAddress_t address)
+{
+    uint8_t sendBuffer[] = { 0x04, IBUS_COMMAND_DISCOVER_SENSOR | address};
+    transmitIbusPacket(sendBuffer, sizeof(sendBuffer));
+}
+
+static void sendIbusSensorType(ibusAddress_t address)
+{
+    uint8_t sendBuffer[] = {0x06,
+                            IBUS_COMMAND_SENSOR_TYPE | address,
+                            sensorAddressTypeLookup[address - ibusBaseAddress],
+                            0x02
+                           };
+    transmitIbusPacket(sendBuffer, sizeof(sendBuffer));
+}
+
+static void sendIbusMeasurement(ibusAddress_t address, uint16_t measurement)
+{
+    uint8_t sendBuffer[] = { 0x06, IBUS_COMMAND_MEASUREMENT | address, measurement & 0xFF, measurement >> 8};
+    transmitIbusPacket(sendBuffer, sizeof(sendBuffer));
+}
+
+static bool isCommand(ibusCommand_e expected, const uint8_t *ibusPacket)
+{
+    return (ibusPacket[1] & 0xF0) == expected;
+}
+
+static ibusAddress_t getAddress(const uint8_t *ibusPacket)
+{
+    return (ibusPacket[1] & 0x0F);
+}
+
+static void dispatchMeasurementReply(ibusAddress_t address)
+{
+    int value;
+    
+    switch (sensorAddressTypeLookup[address - ibusBaseAddress]) {
+    case IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE:
+        value = getVbat() * 10;
+        if (ibusTelemetryConfig()->report_cell_voltage) {
+            value /= batteryCellCount;
+        }
+        sendIbusMeasurement(address, value);
+        break;
+
+    case IBUS_SENSOR_TYPE_TEMPERATURE:
+        #ifdef BARO
+            value = (baro.baroTemperature + 5) / 10; // +5 to make integer division rounding correct
+        #else
+            value = telemTemperature1 * 10;
+        #endif
+        sendIbusMeasurement(address, value + IBUS_TEMPERATURE_OFFSET);
+        break;
+
+    case IBUS_SENSOR_TYPE_RPM:
+        sendIbusMeasurement(address, (uint16_t) rcCommand[THROTTLE]);
+        break;
+    }
+}
+
+static void autodetectFirstReceivedAddressAsBaseAddress(ibusAddress_t returnAddress)
+{
+    if ((INVALID_IBUS_ADDRESS == ibusBaseAddress) &&
+        (INVALID_IBUS_ADDRESS != returnAddress)) {
+        ibusBaseAddress = returnAddress;
+    }
+}
+
+static bool theAddressIsWithinOurRange(ibusAddress_t returnAddress)
+{
+    return (returnAddress >= ibusBaseAddress) &&
+           (ibusAddress_t)(returnAddress - ibusBaseAddress) < ARRAYLEN(sensorAddressTypeLookup);
+}
+
+static void respondToIbusRequest(uint8_t ibusPacket[static IBUS_RX_BUF_LEN])
+{
+    ibusAddress_t returnAddress = getAddress(ibusPacket);
+
+    autodetectFirstReceivedAddressAsBaseAddress(returnAddress);
+
+    if (theAddressIsWithinOurRange(returnAddress)) {
+        if (isCommand(IBUS_COMMAND_DISCOVER_SENSOR, ibusPacket)) {
+            sendIbusDiscoverSensorReply(returnAddress);
+        } else if (isCommand(IBUS_COMMAND_SENSOR_TYPE, ibusPacket)) {
+            sendIbusSensorType(returnAddress);
+        } else if (isCommand(IBUS_COMMAND_MEASUREMENT, ibusPacket)) {
+            dispatchMeasurementReply(returnAddress);
+        }
+    }
+}
+
+static void pushOntoTail(uint8_t buffer[IBUS_MIN_LEN], size_t bufferLength, uint8_t value)
+{
+    memmove(buffer, buffer + 1, bufferLength - 1);
+    ibusReceiveBuffer[bufferLength - 1] = value;
+}
+
+void initIbusTelemetry(void)
+{
+    ibusSerialPortConfig = findSerialPortConfig(FUNCTION_TELEMETRY_IBUS);
+    ibusPortSharing = determinePortSharing(ibusSerialPortConfig, FUNCTION_TELEMETRY_IBUS);
+    ibusBaseAddress = INVALID_IBUS_ADDRESS;
+}
+
+void handleIbusTelemetry(void)
+{
+    if (!ibusTelemetryEnabled) {
+        return;
+    }
+
+    while (serialRxBytesWaiting(ibusSerialPort) > 0) {
+        uint8_t c = serialRead(ibusSerialPort);
+
+        if (outboundBytesToIgnoreOnRxCount) {
+            outboundBytesToIgnoreOnRxCount--;
+            continue;
+        }
+
+        pushOntoTail(ibusReceiveBuffer, IBUS_RX_BUF_LEN, c);
+
+        if (isChecksumOk(ibusReceiveBuffer)) {
+            respondToIbusRequest(ibusReceiveBuffer);
+        }
+    }
+}
+
+bool checkIbusTelemetryState(void)
+{
+    bool newTelemetryEnabledValue = telemetryDetermineEnabledState(ibusPortSharing);
+
+    if (newTelemetryEnabledValue == ibusTelemetryEnabled) {
+        return false;
+    }
+
+    if (newTelemetryEnabledValue) {
+        rescheduleTask(TASK_TELEMETRY, IBUS_TASK_PERIOD_US);
+        configureIbusTelemetryPort();
+    } else {
+        freeIbusTelemetryPort();
+    }
+
+    return true;
+}
+
+void configureIbusTelemetryPort(void)
+{
+    portOptions_t portOptions;
+
+    if (!ibusSerialPortConfig) {
+        return;
+    }
+
+    portOptions = SERIAL_BIDIR;
+
+    ibusSerialPort = openSerialPort(ibusSerialPortConfig->identifier, FUNCTION_TELEMETRY_IBUS, NULL, IBUS_BAUDRATE,
+                                    IBUS_UART_MODE, portOptions);
+
+    if (!ibusSerialPort) {
+        return;
+    }
+
+    ibusTelemetryEnabled = true;
+    outboundBytesToIgnoreOnRxCount = 0;
+}
+
+void freeIbusTelemetryPort(void)
+{
+    closeSerialPort(ibusSerialPort);
+    ibusSerialPort = NULL;
+
+    ibusTelemetryEnabled = false;
+}
+
+#endif

src/main/telemetry/ibus.h

@@ -0,0 +1,34 @@
+/*
+ * 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
+
+/*
+typedef struct ibusTelemetryConfig_s {
+    uint8_t report_cell_voltage;            // report vbatt divided with cellcount
+} ibusTelemetryConfig_t;
+
+PG_DECLARE(ibusTelemetryConfig_t, ibusTelemetryConfig);
+*/
+
+void initIbusTelemetry(void);
+
+void handleIbusTelemetry(void);
+bool checkIbusTelemetryState(void);
+
+void configureIbusTelemetryPort(void);
+void freeIbusTelemetryPort(void);

src/main/telemetry/telemetry.c

@@ -48,6 +48,7 @@
 #include "telemetry/mavlink.h"
 #include "telemetry/crsf.h"
 #include "telemetry/srxl.h"
+#include "telemetry/ibus.h"
 
 static telemetryConfig_t *telemetryConfig;
 
@@ -82,6 +83,9 @@ void telemetryInit(void)
 #ifdef TELEMETRY_SRXL
     initSrxlTelemetry();
 #endif
+#ifdef TELEMETRY_IBUS
+    initIbusTelemetry();
+#endif
 
     telemetryCheckState();
 }

src/main/telemetry/telemetry.h

@@ -46,6 +46,7 @@ typedef struct telemetryConfig_s {
     uint8_t frsky_vfas_cell_voltage;
     uint8_t hottAlarmSoundInterval;
     uint8_t pidValuesAsTelemetry;
+    uint8_t report_cell_voltage;
 } telemetryConfig_t;
 
 void telemetryInit(void);