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https://github.com/betaflight/betaflight.git
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merge upstream into sirinfpv-dev branch
This commit is contained in:
Evgeny Sychov
commit
21b5dce0e9
416 changed files with 156557 additions and 11350 deletions
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@ -37,6 +37,7 @@
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#include "drivers/pwm_rx.h"
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#include "drivers/serial.h"
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#include "drivers/gyro_sync.h"
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#include "drivers/pwm_output.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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@ -79,7 +80,11 @@
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#endif
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#define BRUSHED_MOTORS_PWM_RATE 16000
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#ifdef STM32F4
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#define BRUSHLESS_MOTORS_PWM_RATE 2000
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#else
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#define BRUSHLESS_MOTORS_PWM_RATE 400
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#endif
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void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
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@ -100,6 +105,15 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
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#ifdef STM32F10X_HD
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#define FLASH_PAGE_SIZE ((uint16_t)0x800)
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#endif
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#if defined(STM32F40_41xxx)
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#define FLASH_PAGE_SIZE ((uint32_t)0x20000)
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#endif
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#if defined (STM32F411xE)
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#define FLASH_PAGE_SIZE ((uint32_t)0x20000)
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#endif
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#endif
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#if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
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@ -113,8 +127,14 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
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#endif
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#if defined(FLASH_SIZE)
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#if defined(STM32F40_41xxx)
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#define FLASH_PAGE_COUNT 4 // just to make calculations work
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#elif defined (STM32F411xE)
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#define FLASH_PAGE_COUNT 4 // just to make calculations work
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#else
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#define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
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#endif
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#endif
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#if !defined(FLASH_PAGE_SIZE)
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#error "Flash page size not defined for target."
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@ -136,8 +156,10 @@ size_t custom_flash_memory_address = 0;
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#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
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#else
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// use the last flash pages for storage
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#ifndef CONFIG_START_FLASH_ADDRESS
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#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
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#endif
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#endif
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master_t masterConfig; // master config struct with data independent from profiles
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profile_t *currentProfile;
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@ -313,7 +335,8 @@ void resetSerialConfig(serialConfig_t *serialConfig)
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serialConfig->reboot_character = 'R';
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}
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static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
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static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
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{
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controlRateConfig->rcRate8 = 100;
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controlRateConfig->rcYawRate8 = 100;
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controlRateConfig->rcExpo8 = 10;
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@ -329,14 +352,16 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
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}
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void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
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void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
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{
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rcControlsConfig->deadband = 0;
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rcControlsConfig->yaw_deadband = 0;
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rcControlsConfig->alt_hold_deadband = 40;
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rcControlsConfig->alt_hold_fast_change = 1;
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}
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void resetMixerConfig(mixerConfig_t *mixerConfig) {
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void resetMixerConfig(mixerConfig_t *mixerConfig)
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{
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mixerConfig->yaw_motor_direction = 1;
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#ifdef USE_SERVOS
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mixerConfig->tri_unarmed_servo = 1;
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@ -362,14 +387,15 @@ uint8_t getCurrentControlRateProfile(void)
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return currentControlRateProfileIndex;
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}
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static void setControlRateProfile(uint8_t profileIndex) {
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static void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
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currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
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}
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
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{
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return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
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}
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@ -400,6 +426,9 @@ static void resetConf(void)
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//masterConfig.batteryConfig.vbatscale = 20;
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masterConfig.mag_hardware = MAG_NONE; // disabled by default
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masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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masterConfig.blackbox_device = 1;
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masterConfig.blackbox_rate_num = 1;
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masterConfig.blackbox_rate_denom = 1;
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#endif
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#ifdef OSD
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@ -483,7 +512,11 @@ static void resetConf(void)
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcSmoothing = 0;
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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#ifdef STM32F4
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masterConfig.rxConfig.max_aux_channel = 99;
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#else
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masterConfig.rxConfig.max_aux_channel = 6;
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#endif
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masterConfig.rxConfig.airModeActivateThreshold = 1350;
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resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
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@ -505,12 +538,13 @@ static void resetConf(void)
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#ifdef BRUSHED_MOTORS
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masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
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masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
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#else
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masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
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masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
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#endif
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masterConfig.servo_pwm_rate = 50;
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masterConfig.fast_pwm_protocol = 1;
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masterConfig.use_unsyncedPwm = 0;
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#ifdef CC3D
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masterConfig.use_buzzer_p6 = 0;
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#endif
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@ -632,10 +666,11 @@ static void resetConf(void)
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masterConfig.batteryConfig.vbatmincellvoltage = 30;
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#endif
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// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
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#ifdef ALIENFLIGHT
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featureSet(FEATURE_RX_SERIAL);
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featureSet(FEATURE_MOTOR_STOP);
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#if defined(TARGET_CONFIG)
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targetConfiguration(&masterConfig);
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#endif
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#if defined(ALIENFLIGHT)
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featureClear(FEATURE_ONESHOT125);
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#ifdef ALIENFLIGHTF3
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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@ -650,6 +685,7 @@ static void resetConf(void)
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masterConfig.escAndServoConfig.minthrottle = 1000;
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masterConfig.escAndServoConfig.maxthrottle = 2000;
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masterConfig.motor_pwm_rate = 32000;
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masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
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currentProfile->pidProfile.pidController = 2;
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masterConfig.failsafeConfig.failsafe_delay = 2;
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masterConfig.failsafeConfig.failsafe_off_delay = 0;
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@ -659,57 +695,18 @@ static void resetConf(void)
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currentControlRateProfile->rates[FD_YAW] = 20;
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parseRcChannels("TAER1234", &masterConfig.rxConfig);
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// { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
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masterConfig.customMotorMixer[0].throttle = 1.0f;
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masterConfig.customMotorMixer[0].roll = -0.414178f;
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masterConfig.customMotorMixer[0].pitch = 1.0f;
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masterConfig.customMotorMixer[0].yaw = -1.0f;
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// { 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R
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masterConfig.customMotorMixer[1].throttle = 1.0f;
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masterConfig.customMotorMixer[1].roll = -0.414178f;
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masterConfig.customMotorMixer[1].pitch = -1.0f;
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masterConfig.customMotorMixer[1].yaw = 1.0f;
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// { 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L
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masterConfig.customMotorMixer[2].throttle = 1.0f;
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masterConfig.customMotorMixer[2].roll = 0.414178f;
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masterConfig.customMotorMixer[2].pitch = 1.0f;
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masterConfig.customMotorMixer[2].yaw = 1.0f;
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// { 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L
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masterConfig.customMotorMixer[3].throttle = 1.0f;
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masterConfig.customMotorMixer[3].roll = 0.414178f;
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masterConfig.customMotorMixer[3].pitch = -1.0f;
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masterConfig.customMotorMixer[3].yaw = -1.0f;
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// { 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R
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masterConfig.customMotorMixer[4].throttle = 1.0f;
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masterConfig.customMotorMixer[4].roll = -1.0f;
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masterConfig.customMotorMixer[4].pitch = -0.414178f;
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masterConfig.customMotorMixer[4].yaw = -1.0f;
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// { 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L
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masterConfig.customMotorMixer[5].throttle = 1.0f;
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masterConfig.customMotorMixer[5].roll = 1.0f;
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masterConfig.customMotorMixer[5].pitch = -0.414178f;
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masterConfig.customMotorMixer[5].yaw = 1.0f;
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// { 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R
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masterConfig.customMotorMixer[6].throttle = 1.0f;
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masterConfig.customMotorMixer[6].roll = -1.0f;
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masterConfig.customMotorMixer[6].pitch = 0.414178f;
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masterConfig.customMotorMixer[6].yaw = 1.0f;
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// { 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L
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masterConfig.customMotorMixer[7].throttle = 1.0f;
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masterConfig.customMotorMixer[7].roll = 1.0f;
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masterConfig.customMotorMixer[7].pitch = 0.414178f;
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masterConfig.customMotorMixer[7].yaw = -1.0f;
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masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
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masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
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masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
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masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
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masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
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masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
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masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
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masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L#endif
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#endif
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// alternative defaults settings for SINGULARITY target
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#if defined(SINGULARITY)
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// alternative defaults settings for SINGULARITY target
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masterConfig.blackbox_device = 1;
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masterConfig.blackbox_rate_num = 1;
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masterConfig.blackbox_rate_denom = 1;
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@ -1002,15 +999,22 @@ void writeEEPROM(void)
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// write it
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FLASH_Unlock();
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while (attemptsRemaining--) {
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#ifdef STM32F303
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#if defined(STM32F4)
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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#elif defined(STM32F303)
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
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#endif
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#ifdef STM32F10X
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#elif defined(STM32F10X)
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
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#endif
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for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
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if (wordOffset % FLASH_PAGE_SIZE == 0) {
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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#if defined(STM32F40_41xxx)
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
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#elif defined (STM32F411xE)
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
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#else
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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#endif
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if (status != FLASH_COMPLETE) {
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break;
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}
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