Merge branch 'master' of github.com:betaflight/betaflight into feature/f4-dma-osd

Makefile

@@ -548,8 +548,8 @@ VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 
 # Find out if ccache is installed on the system
 CCACHE := ccache
-RESULT = $(shell which $(CCACHE))
+RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
-ifeq ($(RESULT),)
+ifneq ($(RESULT),0)
 CCACHE :=
 endif
 

src/main/blackbox/blackbox.c

@@ -632,7 +632,7 @@ static void writeInterframe(void)
     arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
     blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
 
-    /* 
+    /*
      * The PID I field changes very slowly, most of the time +-2, so use an encoding
      * that can pack all three fields into one byte in that situation.
      */
@@ -1140,6 +1140,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
         BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
         BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s",                 buildDate, buildTime);
+        BLACKBOX_PRINT_HEADER_LINE("Craft name:%s",                       masterConfig.name);
         BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d",                    masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      masterConfig.escAndServoConfig.minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      masterConfig.escAndServoConfig.maxthrottle);
@@ -1218,6 +1219,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d",                     masterConfig.rcControlsConfig.yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d",                         masterConfig.gyro_lpf);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d",            (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d",              (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_q:%d",               (int)(masterConfig.gyro_soft_notch_q * 10.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d",                 (int)(masterConfig.acc_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d",                     masterConfig.acc_hardware);
         BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    masterConfig.baro_hardware);
@@ -1314,7 +1317,7 @@ static void blackboxCheckAndLogFlightMode()
     }
 }
 
-/* 
+/*
  * Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
  * the portion of logged loop iterations.
  */

src/main/blackbox/blackbox_io.c

@@ -507,7 +507,7 @@ void blackboxWriteFloat(float value)
 
 /**
  * If there is data waiting to be written to the blackbox device, attempt to write (a portion of) that now.
- * 
+ *
  * Intended to be called regularly for the blackbox device to perform housekeeping.
  */
 void blackboxDeviceFlush(void)

src/main/common/filter.c

@@ -56,24 +56,39 @@ float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
 }
 
 /* sets up a biquad Filter */
-void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
+void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate)
+{
+    biquadFilterInit(filter, filterFreq, refreshRate, BIQUAD_Q, FILTER_LPF);
+}
+void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType)
 {
-    const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
-
     // setup variables
-    const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
+    const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
+    const float omega = 2 * M_PI_FLOAT * filterFreq / sampleRate;
     const float sn = sinf(omega);
     const float cs = cosf(omega);
-    //this is wrong, should be hyperbolic sine
+    const float alpha = sn / (2 * Q);
-    //alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
-    const float alpha = sn / (2 * BIQUAD_Q);
 
-    const float b0 = (1 - cs) / 2;
+    float b0, b1, b2, a0, a1, a2;
-    const float b1 = 1 - cs;
+
-    const float b2 = (1 - cs) / 2;
+    switch (filterType) {
-    const float a0 = 1 + alpha;
+        case FILTER_LPF:
-    const float a1 = -2 * cs;
+            b0 = (1 - cs) / 2;
-    const float a2 = 1 - alpha;
+            b1 = 1 - cs;
+            b2 = (1 - cs) / 2;
+            a0 = 1 + alpha;
+            a1 = -2 * cs;
+            a2 = 1 - alpha;
+            break;
+        case FILTER_NOTCH:
+            b0 =  1;
+            b1 = -2 * cs;
+            b2 =  1;
+            a0 =  1 + alpha;
+            a1 = -2 * cs;
+            a2 =  1 - alpha;
+            break;
+    }
 
     // precompute the coefficients
     filter->b0 = b0 / a0;

src/main/common/filter.h

@@ -29,8 +29,13 @@ typedef struct biquadFilter_s {
     float d1, d2;
 } biquadFilter_t;
 
+typedef enum {
+    FILTER_LPF,
+    FILTER_NOTCH
+} filterType_e;
 
-void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
+void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate);
+void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType);
 float biquadFilterApply(biquadFilter_t *filter, float input);
 
 void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);

src/main/common/maths.c

@@ -231,7 +231,7 @@ int32_t quickMedianFilter5(int32_t * v)
 
     QMF_SORT(p[0], p[1]); QMF_SORT(p[3], p[4]); QMF_SORT(p[0], p[3]);
     QMF_SORT(p[1], p[4]); QMF_SORT(p[1], p[2]); QMF_SORT(p[2], p[3]);
-    QMF_SORT(p[1], p[2]); 
+    QMF_SORT(p[1], p[2]);
     return p[2];
 }
 
@@ -279,7 +279,7 @@ float quickMedianFilter5f(float * v)
 
     QMF_SORTF(p[0], p[1]); QMF_SORTF(p[3], p[4]); QMF_SORTF(p[0], p[3]);
     QMF_SORTF(p[1], p[4]); QMF_SORTF(p[1], p[2]); QMF_SORTF(p[2], p[3]);
-    QMF_SORTF(p[1], p[2]); 
+    QMF_SORTF(p[1], p[2]);
     return p[2];
 }
 

src/main/common/printf.c

@@ -56,7 +56,7 @@ typedef void (*putcf) (void *, char);
 static putcf stdout_putf;
 static void *stdout_putp;
 
-// print bf, padded from left to at least n characters. 
+// print bf, padded from left to at least n characters.
 // padding is zero ('0') if z!=0, space (' ') otherwise
 static int putchw(void *putp, putcf putf, int n, char z, char *bf)
 {

src/main/config/config.c

@@ -159,7 +159,7 @@ size_t custom_flash_memory_address = 0;
 #define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
 #else
 // use the last flash pages for storage
-#ifndef CONFIG_START_FLASH_ADDRESS 
+#ifndef CONFIG_START_FLASH_ADDRESS
 #define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
 #endif
 #endif
@@ -349,7 +349,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     serialConfig->reboot_character = 'R';
 }
 
-static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) 
+static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
 {
     controlRateConfig->rcRate8 = 100;
     controlRateConfig->rcYawRate8 = 100;
@@ -366,7 +366,7 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
 
 }
 
-void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) 
+void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
 {
     rcControlsConfig->deadband = 0;
     rcControlsConfig->yaw_deadband = 0;
@@ -374,7 +374,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
     rcControlsConfig->alt_hold_fast_change = 1;
 }
 
-void resetMixerConfig(mixerConfig_t *mixerConfig) 
+void resetMixerConfig(mixerConfig_t *mixerConfig)
 {
     mixerConfig->yaw_motor_direction = 1;
 #ifdef USE_SERVOS
@@ -441,6 +441,7 @@ static void resetConf(void)
     featureSet(FEATURE_VBAT);
 #endif
 
+
     masterConfig.version = EEPROM_CONF_VERSION;
     masterConfig.mixerMode = MIXER_QUADX;
 
@@ -455,6 +456,8 @@ static void resetConf(void)
     masterConfig.gyro_sync_denom = 4;
 #endif
     masterConfig.gyro_soft_lpf_hz = 100;
+    masterConfig.gyro_soft_notch_hz = 0;
+    masterConfig.gyro_soft_notch_q = 5;
 
     masterConfig.pid_process_denom = 2;
 
@@ -657,6 +660,7 @@ static void resetConf(void)
     targetConfiguration();
 #endif
 
+   
     // copy first profile into remaining profile
     for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
@@ -715,7 +719,7 @@ void activateConfig(void)
         &currentProfile->pidProfile
     );
 
-    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
+    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q);
 
 #ifdef TELEMETRY
     telemetryUseConfig(&masterConfig.telemetryConfig);

src/main/config/config.h

@@ -24,6 +24,8 @@
 #endif
 #define MAX_RATEPROFILES 3
 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
+#define MAX_NAME_LENGTH 16
+
 
 typedef enum {
     FEATURE_RX_PPM = 1 << 0,

src/main/config/config_master.h

@@ -56,9 +56,11 @@ typedef struct master_t {
     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint8_t acc_for_fast_looptime;          // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
-    uint16_t gyro_lpf;                       // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
+    uint16_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_sync_denom;                // Gyro sample divider
-    uint8_t gyro_soft_lpf_hz;               // Biqyad gyro lpf hz
+    uint8_t gyro_soft_lpf_hz;               // Biquad gyro lpf hz
+    uint16_t gyro_soft_notch_hz;            // Biquad gyro notch hz
+    uint8_t gyro_soft_notch_q;              // Biquad gyro notch quality
     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
 
@@ -137,7 +139,7 @@ typedef struct master_t {
 
     profile_t profile[MAX_PROFILE_COUNT];
     uint8_t current_profile_index;
- 
+
     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 
@@ -161,6 +163,9 @@ typedef struct master_t {
 
     uint8_t magic_ef;                       // magic number, should be 0xEF
     uint8_t chk;                            // XOR checksum
+   
+    char name[MAX_NAME_LENGTH+1];
+   
 } master_t;
 
 extern master_t masterConfig;

src/main/debug.h

@@ -50,5 +50,6 @@ typedef enum {
     DEBUG_MIXER,
     DEBUG_AIRMODE,
     DEBUG_PIDLOOP,
+    DEBUG_NOTCH,
     DEBUG_COUNT
 } debugType_e;

src/main/drivers/accgyro_mpu.c

@@ -252,7 +252,7 @@ void mpuIntExtiInit(void)
     EXTIEnable(mpuIntIO, true);
 #endif
 
-    mpuExtiInitDone = true; 
+    mpuExtiInitDone = true;
 }
 
 static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)

src/main/drivers/accgyro_mpu.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include "exti.h"
- 
+
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
 #define MPU_RA_WHO_AM_I_LEGACY  0x00
@@ -119,7 +119,7 @@
 
 typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
 typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
-typedef void(*mpuResetFuncPtr)(void);   
+typedef void(*mpuResetFuncPtr)(void);  
 
 typedef struct mpuConfiguration_s {
     uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each

src/main/drivers/accgyro_mpu6050.c

@@ -104,7 +104,7 @@ static void mpu6050GyroInit(uint8_t lpf)
     delay(100);
     ack = 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)
     ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //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 
+    delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
     ack = mpuConfiguration.write(MPU_RA_CONFIG, lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     ack = 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_spi_mpu6000.c

@@ -158,7 +158,7 @@ bool mpu6000SpiDetect(void)
     uint8_t in;
     uint8_t attemptsRemaining = 5;
 
-#ifdef MPU6000_CS_PIN 
+#ifdef MPU6000_CS_PIN
     mpuSpi6000CsPin = IOGetByTag(IO_TAG(MPU6000_CS_PIN));
 #endif
     IOInit(mpuSpi6000CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
@@ -253,7 +253,7 @@ static void mpu6000AccAndGyroInit(void) {
     delayMicroseconds(15);
 #endif
 
-    spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
     delayMicroseconds(1);
 
     mpuSpi6000InitDone = true;

src/main/drivers/accgyro_spi_mpu9250.c

@@ -54,7 +54,7 @@ static IO_t mpuSpi9250CsPin = IO_NONE;
 #define DISABLE_MPU9250       IOHi(mpuSpi9250CsPin)
 #define ENABLE_MPU9250        IOLo(mpuSpi9250CsPin)
 
-void mpu9250ResetGyro(void) 
+void mpu9250ResetGyro(void)
 {
     // Device Reset
     mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
@@ -123,7 +123,7 @@ void mpu9250SpiAccInit(acc_t *acc)
     acc->acc_1G = 512 * 8;
 }
 
-bool verifympu9250WriteRegister(uint8_t reg, uint8_t data) 
+bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
 {
     uint8_t in;
     uint8_t attemptsRemaining = 20;
@@ -176,7 +176,7 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
     verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
 #endif
 
-    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
 
     mpuSpi9250InitDone = true; //init done
 }
@@ -208,7 +208,7 @@ bool mpu9250SpiDetect(void)
         }
     } while (attemptsRemaining--);
 
-    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
 
     return true;
 }

src/main/drivers/adc_impl.h

@@ -24,14 +24,14 @@
 #define ADC_TAG_MAP_COUNT 16
 #elif defined(STM32F3)
 #define ADC_TAG_MAP_COUNT 39
-#else 
+#else
 #define ADC_TAG_MAP_COUNT 10
-#endif 
+#endif
 
 typedef enum ADCDevice {
     ADCINVALID = -1,
     ADCDEV_1   = 0,
-#if defined(STM32F3) 
+#if defined(STM32F3)
     ADCDEV_2,
     ADCDEV_MAX = ADCDEV_2,
 #elif defined(STM32F4)

src/main/drivers/adc_stm32f10x.c

@@ -24,9 +24,6 @@
 #include "build_config.h"
 
 #include "system.h"
-
-#include "sensors/sensors.h" // FIXME dependency into the main code
-
 #include "sensor.h"
 #include "accgyro.h"
 #include "adc.h"
@@ -38,13 +35,13 @@
 #define ADC_INSTANCE   ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
+const adcDevice_t adcHardware[] = {
-    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }  
+    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 } 
 };
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 
 /* TODO -- ADC2 available on large 10x devices.
@@ -54,7 +51,7 @@ ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
     return ADCINVALID;
 }
 
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA0, ADC_Channel_0 }, // ADC12
     { DEFIO_TAG_E__PA1, ADC_Channel_1 }, // ADC12
     { DEFIO_TAG_E__PA2, ADC_Channel_2 }, // ADC12
@@ -64,7 +61,7 @@ const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA6, ADC_Channel_6 }, // ADC12
     { DEFIO_TAG_E__PA7, ADC_Channel_7 }, // ADC12
     { DEFIO_TAG_E__PB0, ADC_Channel_8 }, // ADC12
-    { DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12   
+    { DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12  
 };
 
 // Driver for STM32F103CB onboard ADC
@@ -84,7 +81,6 @@ void adcInit(drv_adc_config_t *init)
     UNUSED(init);
 #endif
 
-    uint8_t i;
     uint8_t configuredAdcChannels = 0;
 
     memset(&adcConfig, 0, sizeof(adcConfig));
@@ -117,9 +113,9 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device];  
+    const adcDevice_t adc = adcHardware[device];
 
-    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int  i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)
             continue;
 
@@ -163,7 +159,7 @@ void adcInit(drv_adc_config_t *init)
     ADC_Init(adc.ADCx, &ADC_InitStructure);
 
     uint8_t rank = 1;
-    for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].enabled) {
             continue;
         }

src/main/drivers/adc_stm32f30x.c

@@ -21,7 +21,6 @@
 
 #include "platform.h"
 #include "system.h"
-#include "common/utils.h"
 #include "gpio.h"
 
 #include "sensor.h"
@@ -32,16 +31,18 @@
 #include "io.h"
 #include "rcc.h"
 
+#include "common/utils.h"
+
 #ifndef ADC_INSTANCE
 #define ADC_INSTANCE                ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
+const adcDevice_t adcHardware[] = {
-    { .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 },  
+    { .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }, 
-    { .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 }  
+    { .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 } 
 };
 
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA0,  ADC_Channel_1  }, // ADC1
     { DEFIO_TAG_E__PA1,  ADC_Channel_2  }, // ADC1
     { DEFIO_TAG_E__PA2,  ADC_Channel_3  }, // ADC1
@@ -85,7 +86,7 @@ const adcTagMap_t adcTagMap[] = {
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 
     if (instance == ADC2)
@@ -100,7 +101,6 @@ void adcInit(drv_adc_config_t *init)
     ADC_InitTypeDef ADC_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
-    uint8_t i;
     uint8_t adcChannelCount = 0;
 
     memset(&adcConfig, 0, sizeof(adcConfig));
@@ -133,9 +133,9 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device]; 
+    adcDevice_t adc = adcHardware[device];
 
-    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)
             continue;
 
@@ -203,7 +203,7 @@ void adcInit(drv_adc_config_t *init)
     ADC_Init(adc.ADCx, &ADC_InitStructure);
 
     uint8_t rank = 1;
-    for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].enabled) {
             continue;
         }

src/main/drivers/adc_stm32f4xx.c

@@ -26,8 +26,6 @@
 #include "io_impl.h"
 #include "rcc.h"
 
-#include "sensors/sensors.h" // FIXME dependency into the main code
-
 #include "sensor.h"
 #include "accgyro.h"
 
@@ -38,13 +36,13 @@
 #define ADC_INSTANCE                ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
+const adcDevice_t adcHardware[] = {
-    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },  
+    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 }, 
-    //{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }  
+    //{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 } 
 };
 
 /* note these could be packed up for saving space */
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
 /*
     { DEFIO_TAG_E__PF3,  ADC_Channel_9  },
     { DEFIO_TAG_E__PF4,  ADC_Channel_14 },
@@ -75,7 +73,7 @@ const adcTagMap_t adcTagMap[] = {
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 /*
     if (instance == ADC2) // TODO add ADC2 and 3
@@ -128,7 +126,7 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device];   
+    adcDevice_t adc = adcHardware[device];  
 
     for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)

src/main/drivers/barometer_bmp085.c

@@ -35,7 +35,7 @@
 
 #ifdef BARO
 
-#if defined(BARO_EOC_GPIO) 
+#if defined(BARO_EOC_GPIO)
 
 static IO_t eocIO;
 
@@ -49,7 +49,7 @@ void bmp085_extiHandler(extiCallbackRec_t* cb)
     isConversionComplete = true;
 }
 
-bool bmp085TestEOCConnected(const bmp085Config_t *config); 
+bool bmp085TestEOCConnected(const bmp085Config_t *config);
 # endif
 
 typedef struct {
@@ -139,7 +139,7 @@ static IO_t xclrIO;
 #endif
 
 
-void bmp085InitXclrIO(const bmp085Config_t *config) 
+void bmp085InitXclrIO(const bmp085Config_t *config)
 {
     if (!xclrIO && config && config->xclrIO) {
         xclrIO = IOGetByTag(config->xclrIO);
@@ -184,7 +184,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
 
     delay(20); // datasheet says 10ms, we'll be careful and do 20.
 
-    ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ 
+    ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
     if (ack) {
         bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
         bmp085.oversampling_setting = 3;

src/main/drivers/barometer_bmp085.h

@@ -19,7 +19,7 @@
 
 typedef struct bmp085Config_s {
     ioTag_t xclrIO;
-    ioTag_t eocIO; 
+    ioTag_t eocIO;
 } bmp085Config_t;
 
 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);

src/main/drivers/bus_i2c.h

@@ -26,7 +26,7 @@
 
 #ifndef I2C_DEVICE
 #define I2C_DEVICE I2CINVALID
-#endif 
+#endif
 
 typedef enum I2CDevice {
     I2CINVALID = -1,

src/main/drivers/bus_i2c_stm32f10x.c

@@ -47,35 +47,35 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #define IOCFG_I2C IOCFG_AF_OD
 #endif
 
-#ifndef I2C1_SCL 
+#ifndef I2C1_SCL
-#define I2C1_SCL PB8 
+#define I2C1_SCL PB8
 #endif
-#ifndef I2C1_SDA 
+#ifndef I2C1_SDA
-#define I2C1_SDA PB9 
+#define I2C1_SDA PB9
 #endif
 #else
-#ifndef I2C1_SCL 
+#ifndef I2C1_SCL
-#define I2C1_SCL PB6 
+#define I2C1_SCL PB6
 #endif
-#ifndef I2C1_SDA 
+#ifndef I2C1_SDA
-#define I2C1_SDA PB7 
+#define I2C1_SDA PB7
 #endif
 
 #endif
 
-#ifndef I2C2_SCL 
+#ifndef I2C2_SCL
-#define I2C2_SCL PB10 
+#define I2C2_SCL PB10
 #endif
-#ifndef I2C2_SDA 
+#ifndef I2C2_SDA
 #define I2C2_SDA PB11
 #endif
 
 #ifdef STM32F4
-#ifndef I2C3_SCL 
+#ifndef I2C3_SCL
 #define I2C3_SCL PA8
 #endif
-#ifndef I2C3_SDA 
+#ifndef I2C3_SDA
-#define I2C3_SDA PB4 
+#define I2C3_SDA PB4
 #endif
 #endif
 
@@ -93,7 +93,7 @@ static i2cState_t i2cState[] = {
     { false, false, 0, 0, 0, 0, 0, 0, 0 },
     { false, false, 0, 0, 0, 0, 0, 0, 0 },
     { false, false, 0, 0, 0, 0, 0, 0, 0 }
-}; 
+};
 
 void I2C1_ER_IRQHandler(void) {
     i2c_er_handler(I2CDEV_1);
@@ -121,7 +121,7 @@ void I2C3_EV_IRQHandler(void) {
 }
 #endif
 
-static bool i2cHandleHardwareFailure(I2CDevice device) 
+static bool i2cHandleHardwareFailure(I2CDevice device)
 {
     i2cErrorCount++;
     // reinit peripheral + clock out garbage
@@ -129,7 +129,7 @@ static bool i2cHandleHardwareFailure(I2CDevice device)
     return false;
 }
 
-bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data) 
+bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
 {
 
     if (device == I2CINVALID)
@@ -138,7 +138,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
     uint32_t timeout = I2C_DEFAULT_TIMEOUT;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     i2cState_t *state;
     state = &(i2cState[device]);
@@ -171,12 +171,12 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
     return !(state->error);
 }
 
-bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data) 
+bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
 {
     return i2cWriteBuffer(device, addr_, reg_, 1, &data);
 }
 
-bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf) 
+bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
 {
     if (device == I2CINVALID)
         return false;
@@ -369,7 +369,7 @@ void i2c_ev_handler(I2CDevice device) {
     }
 }
 
-void i2cInit(I2CDevice device) 
+void i2cInit(I2CDevice device)
 {
     if (device == I2CINVALID)
         return;
@@ -392,7 +392,7 @@ void i2cInit(I2CDevice device)
     I2C_ITConfig(i2c->dev, I2C_IT_EVT | I2C_IT_ERR, DISABLE);
 
     i2cUnstick(scl, sda);
- 
+
     // Init pins
 #ifdef STM32F4
     IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_I2C);

src/main/drivers/bus_i2c_stm32f30x.c

@@ -39,18 +39,18 @@
 
 #define I2C_SHORT_TIMEOUT   ((uint32_t)0x1000)
 #define I2C_LONG_TIMEOUT    ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
-#define I2C_GPIO_AF         GPIO_AF_4 
+#define I2C_GPIO_AF         GPIO_AF_4
 
-#ifndef I2C1_SCL 
+#ifndef I2C1_SCL
-#define I2C1_SCL PB6 
+#define I2C1_SCL PB6
 #endif
-#ifndef I2C1_SDA 
+#ifndef I2C1_SDA
-#define I2C1_SDA PB7 
+#define I2C1_SDA PB7
 #endif
-#ifndef I2C2_SCL 
+#ifndef I2C2_SCL
-#define I2C2_SCL PF4 
+#define I2C2_SCL PF4
 #endif
-#ifndef I2C2_SDA 
+#ifndef I2C2_SDA
 #define I2C2_SDA PA10
 #endif
 
@@ -82,7 +82,7 @@ void i2cInit(I2CDevice device)
 
     I2C_TypeDef *I2Cx;
     I2Cx = i2c->dev;
-   
+  
     IO_t scl = IOGetByTag(i2c->scl);
     IO_t sda = IOGetByTag(i2c->sda);
 
@@ -108,7 +108,7 @@ void i2cInit(I2CDevice device)
     I2C_Init(I2Cx, &i2cInit);
 
     I2C_StretchClockCmd(I2Cx, ENABLE);
-  
+ 
     I2C_Cmd(I2Cx, ENABLE);
 }
 
@@ -122,7 +122,7 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     addr_ <<= 1;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     /* Test on BUSY Flag */
     i2cTimeout = I2C_LONG_TIMEOUT;
@@ -188,7 +188,7 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     addr_ <<= 1;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     /* Test on BUSY Flag */
     i2cTimeout = I2C_LONG_TIMEOUT;

src/main/drivers/bus_spi.c

@@ -36,7 +36,7 @@
 #ifndef GPIO_AF_SPI3
 #define GPIO_AF_SPI3    GPIO_AF_6
 #endif
-#endif 
+#endif
 
 #ifndef SPI1_SCK_PIN
 #define SPI1_NSS_PIN    PA4
@@ -84,7 +84,7 @@ static spiDevice_t spiHardwareMap[] = {
 
 SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
 {
-    if (instance == SPI1) 
+    if (instance == SPI1)
         return SPIDEV_1;
 
     if (instance == SPI2)

src/main/drivers/bus_spi.h

@@ -31,8 +31,6 @@
 #define SPI_IO_AF_MOSI_CFG    IO_CONFIG(GPIO_Mode_AF_PP,       GPIO_Speed_50MHz)
 #define SPI_IO_AF_MISO_CFG    IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_50MHz)
 #define SPI_IO_CS_CFG         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_50MHz)
-#else
-#error "Unknown processor"
 #endif
 
 /*

src/main/drivers/dma.h

@@ -65,7 +65,7 @@ typedef struct dmaChannelDescriptor_s {
 #define DMA_IT_TEIF                         ((uint32_t)0x00000008)
 #define DMA_IT_DMEIF                        ((uint32_t)0x00000004)
 #define DMA_IT_FEIF                         ((uint32_t)0x00000001)
-
+   
 #else
 
 typedef enum {

src/main/drivers/dma_stm32f4xx.c

@@ -45,7 +45,6 @@ static dmaChannelDescriptor_t dmaDescriptors[] = {
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream5, 38, DMA2_Stream5_IRQn, RCC_AHB1Periph_DMA2),
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream6, 48, DMA2_Stream6_IRQn, RCC_AHB1Periph_DMA2),
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream7, 54, DMA2_Stream7_IRQn, RCC_AHB1Periph_DMA2),
-
 };
 
 /*
@@ -68,7 +67,6 @@ DEFINE_DMA_IRQ_HANDLER(2, 5, DMA2_ST5_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 6, DMA2_ST6_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 7, DMA2_ST7_HANDLER)
 
-
 void dmaInit(void)
 {
     // TODO: Do we need this?

src/main/drivers/exti.c

@@ -24,22 +24,22 @@ static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];
 
 #if defined(STM32F1) || defined(STM32F4)
 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
-    EXTI0_IRQn, 
+    EXTI0_IRQn,
-    EXTI1_IRQn, 
+    EXTI1_IRQn,
-    EXTI2_IRQn, 
+    EXTI2_IRQn,
-    EXTI3_IRQn, 
+    EXTI3_IRQn,
     EXTI4_IRQn,
-    EXTI9_5_IRQn, 
+    EXTI9_5_IRQn,
     EXTI15_10_IRQn
 };
 #elif defined(STM32F3)
 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
-    EXTI0_IRQn, 
+    EXTI0_IRQn,
-    EXTI1_IRQn, 
+    EXTI1_IRQn,
-    EXTI2_TS_IRQn, 
+    EXTI2_TS_IRQn,
-    EXTI3_IRQn, 
+    EXTI3_IRQn,
     EXTI4_IRQn,
-    EXTI9_5_IRQn, 
+    EXTI9_5_IRQn,
     EXTI15_10_IRQn
 };
 #else

src/main/drivers/flash_m25p16.c

@@ -199,7 +199,7 @@ static bool m25p16_readIdentification()
 bool m25p16_init()
 {
 
-#ifdef M25P16_CS_PIN 
+#ifdef M25P16_CS_PIN
     m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
 #endif
     IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);

src/main/drivers/inverter.c

@@ -20,7 +20,7 @@
 
 #include "platform.h"
 
-#ifdef INVERTER  
+#ifdef INVERTER 
 
 #include "io.h"
 #include "io_impl.h"

src/main/drivers/io.h

@@ -52,7 +52,7 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
-#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL) 
+#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_DOWN)

src/main/drivers/io_impl.h

@@ -12,7 +12,7 @@ typedef struct ioRec_s {
     GPIO_TypeDef *gpio;
     uint16_t pin;
     resourceOwner_t owner;
-    resourceType_t resource; 
+    resourceType_t resource;
     uint8_t index;
 } ioRec_t;
 
@@ -26,7 +26,7 @@ int IO_GPIO_PortSource(IO_t io);
 
 #if defined(STM32F3) || defined(STM32F4)
 int IO_EXTI_PortSourceGPIO(IO_t io);
-int IO_EXTI_PinSource(IO_t io); 
+int IO_EXTI_PinSource(IO_t io);
 #endif
 
 GPIO_TypeDef* IO_GPIO(IO_t io);

src/main/drivers/light_led.c

@@ -27,12 +27,12 @@ static const IO_t leds[] = {
     DEFIO_IO(LED0),
 #else
     DEFIO_IO(NONE),
-#endif 
+#endif
 #ifdef LED1
     DEFIO_IO(LED1),
 #else
     DEFIO_IO(NONE),
-#endif 
+#endif
 #ifdef LED2
     DEFIO_IO(LED2),
 #else
@@ -78,15 +78,14 @@ uint8_t ledPolarity = 0
 #endif
     ;
 
-uint8_t ledOffset = 0;
+static uint8_t ledOffset = 0;
 
 void ledInit(bool alternative_led)
 {
-    uint32_t i;
-
 #if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
-    if (alternative_led)
+    if (alternative_led) {
         ledOffset = LED_NUMBER;
+    }
 #else
     UNUSED(alternative_led);
 #endif
@@ -95,7 +94,7 @@ void ledInit(bool alternative_led)
     LED1_OFF;
     LED2_OFF;
 
-    for (i = 0; i < LED_NUMBER; i++) {
+    for (int i = 0; i < LED_NUMBER; i++) {
         if (leds[i + ledOffset]) {
             IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
             IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
@@ -114,6 +113,6 @@ void ledToggle(int led)
 
 void ledSet(int led, bool on)
 {
-    bool inverted = (1 << (led + ledOffset)) & ledPolarity;
+    const bool inverted = (1 << (led + ledOffset)) & ledPolarity;
     IOWrite(leds[led + ledOffset], on ? inverted : !inverted);
 }

src/main/drivers/light_ws2811strip_stm32f4xx.c

@@ -31,8 +31,8 @@
 
 #ifdef LED_STRIP
 
-#if !defined(WS2811_PIN) 
+#if !defined(WS2811_PIN)
-#define WS2811_PIN                      PA0 
+#define WS2811_PIN                      PA0
 #define WS2811_TIMER                    TIM5
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
 #define WS2811_DMA_STREAM               DMA1_Stream2

src/main/drivers/max7456.c

@@ -157,7 +157,7 @@ void max7456_dma_irq_handler(dmaChannelDescriptor_t* descriptor) {
 }
 #endif
 
-void max7456_init(uint8_t video_system) 
+void max7456_init(uint8_t video_system)
 {
     uint8_t max_screen_rows;
     uint8_t srdata = 0;

src/main/drivers/pwm_mapping.c

@@ -30,11 +30,6 @@
 #include "pwm_rx.h"
 #include "pwm_mapping.h"
 
-void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
-void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
-
 /*
     Configuration maps
 
@@ -100,7 +95,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
     int channelIndex = 0;
 
     memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
-   
+  
     // this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
     if (init->airplane)
         i = 2; // switch to air hardware config
@@ -265,7 +260,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         if (init->useChannelForwarding && !init->airplane) {
 #if defined(NAZE) && defined(WS2811_TIMER)
             // if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
-            if (init->useLEDStrip) { 
+            if (init->useLEDStrip) {
                 if (timerIndex >= PWM13 && timerIndex <= PWM14) {
                   type = MAP_TO_SERVO_OUTPUT;
                 }
@@ -313,14 +308,14 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             }
 #endif
             if (init->useFastPwm) {
-                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->pwmProtocolType, init->motorPwmRate, init->idlePulse);
+                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM  | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
             } else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_MOTOR_MODE_BRUSHED;
             } else {
                 pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM;
             }
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;

src/main/drivers/pwm_mapping.h

@@ -30,24 +30,8 @@
 #error Invalid motor/servo/port configuration
 #endif
 
-#define PULSE_1MS   (1000)      // 1ms pulse width
-#define MAX_INPUTS  8
 #define PWM_TIMER_MHZ 1
 
-#if defined(STM32F40_41xxx) // must be multiples of timer clock
-#define ONESHOT42_TIMER_MHZ 21
-#define ONESHOT125_TIMER_MHZ 12
-#define PWM_BRUSHED_TIMER_MHZ 21
-#define MULTISHOT_TIMER_MHZ 84
-#else
-#define PWM_BRUSHED_TIMER_MHZ 24
-#define MULTISHOT_TIMER_MHZ   72
-#define ONESHOT42_TIMER_MHZ   24
-#define ONESHOT125_TIMER_MHZ  8
-#endif
-
-#define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
-#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
 
 typedef struct sonarIOConfig_s {
     ioTag_t triggerTag;
@@ -133,7 +117,7 @@ enum {
     PWM13,
     PWM14,
     PWM15,
-    PWM16, 
+    PWM16,
     PWM17,
     PWM18,
     PWM19,

src/main/drivers/pwm_output.c

@@ -17,21 +17,31 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-
-#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
 
 #include "io.h"
 #include "timer.h"
-
-#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
-
 #include "pwm_mapping.h"
-
 #include "pwm_output.h"
 
+#if defined(STM32F40_41xxx) // must be multiples of timer clock
+#define ONESHOT125_TIMER_MHZ 12
+#define ONESHOT42_TIMER_MHZ 21
+#define MULTISHOT_TIMER_MHZ 84
+#define PWM_BRUSHED_TIMER_MHZ 21
+#else
+#define ONESHOT125_TIMER_MHZ  8
+#define ONESHOT42_TIMER_MHZ   24
+#define MULTISHOT_TIMER_MHZ   72
+#define PWM_BRUSHED_TIMER_MHZ 24
+#endif
+
+#define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
+#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
+
+
 typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
 
 typedef struct {
@@ -52,6 +62,8 @@ static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
 static uint8_t allocatedOutputPortCount = 0;
 
 static bool pwmMotorsEnabled = true;
+
+
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t ouputPolarity)
 {
     TIM_OCInitTypeDef  TIM_OCInitStructure;
@@ -65,22 +77,22 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
     TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
 
     switch (channel) {
-        case TIM_Channel_1:
+    case TIM_Channel_1:
-            TIM_OC1Init(tim, &TIM_OCInitStructure);
+        TIM_OC1Init(tim, &TIM_OCInitStructure);
-            TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
+        break;
-        case TIM_Channel_2:
+    case TIM_Channel_2:
-            TIM_OC2Init(tim, &TIM_OCInitStructure);
+        TIM_OC2Init(tim, &TIM_OCInitStructure);
-            TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
+        break;
-        case TIM_Channel_3:
+    case TIM_Channel_3:
-            TIM_OC3Init(tim, &TIM_OCInitStructure);
+        TIM_OC3Init(tim, &TIM_OCInitStructure);
-            TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
+        break;
-        case TIM_Channel_4:
+    case TIM_Channel_4:
-            TIM_OC4Init(tim, &TIM_OCInitStructure);
+        TIM_OC4Init(tim, &TIM_OCInitStructure);
-            TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
+        break;
     }
 }
 
@@ -90,7 +102,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
 
     configTimeBase(timerHardware->tim, period, mhz);
 
-    IO_t io = IOGetByTag(timerHardware->tag);
+    const IO_t io = IOGetByTag(timerHardware->tag);
     IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
     IOConfigGPIO(io, IOCFG_AF_PP);
 
@@ -102,24 +114,24 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
     TIM_Cmd(timerHardware->tim, ENABLE);
 
     switch (timerHardware->channel) {
-        case TIM_Channel_1:
+    case TIM_Channel_1:
-            p->ccr = &timerHardware->tim->CCR1;
+        p->ccr = &timerHardware->tim->CCR1;
-            break;
+        break;
-        case TIM_Channel_2:
+    case TIM_Channel_2:
-            p->ccr = &timerHardware->tim->CCR2;
+        p->ccr = &timerHardware->tim->CCR2;
-            break;
+        break;
-        case TIM_Channel_3:
+    case TIM_Channel_3:
-            p->ccr = &timerHardware->tim->CCR3;
+        p->ccr = &timerHardware->tim->CCR3;
-            break;
+        break;
-        case TIM_Channel_4:
+    case TIM_Channel_4:
-            p->ccr = &timerHardware->tim->CCR4;
+        p->ccr = &timerHardware->tim->CCR4;
-            break;
+        break;
     }
     p->period = period;
     p->tim = timerHardware->tim;
 
     *p->ccr = 0;
-    
+   
     return p;
 }
 
@@ -133,16 +145,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
     *motors[index]->ccr = value;
 }
 
-static void pwmWriteOneShot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
-}
-
 static void pwmWriteOneShot125(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
 }
 
+static void pwmWriteOneShot42(uint8_t index, uint16_t value)
+{
+    *motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
+}
+
 static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
@@ -150,15 +162,14 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled)
+    if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled) {
         motors[index]->pwmWritePtr(index, value);
+    }
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
 {
-    uint8_t index;
+    for(int index = 0; index < motorCount; index++){
-
-    for(index = 0; index < motorCount; index++){
         // Set the compare register to 0, which stops the output pulsing if the timer overflows
         *motors[index]->ccr = 0;
     }
@@ -176,17 +187,14 @@ void pwmEnableMotors(void)
 
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
-    uint8_t index;
     TIM_TypeDef *lastTimerPtr = NULL;
 
-    for (index = 0; index < motorCount; index++) {
+    for (int index = 0; index < motorCount; index++) {
-
         // Force the timer to overflow if it's the first motor to output, or if we change timers
         if (motors[index]->tim != lastTimerPtr) {
             lastTimerPtr = motors[index]->tim;
             timerForceOverflow(motors[index]->tim);
         }
-
         // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
         // This compare register will be set to the output value on the next main loop.
         *motors[index]->ccr = 0;
@@ -195,44 +203,46 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate)
 {
-    uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
+    const uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
     motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, 0);
     motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
 }
 
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
-    uint32_t hz = PWM_TIMER_MHZ * 1000000;
+    const uint32_t hz = PWM_TIMER_MHZ * 1000000;
     motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse)
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType)
 {
     uint32_t timerMhzCounter;
+    pwmWriteFuncPtr pwmWritePtr;
 
     switch (fastPwmProtocolType) {
-        default:
+    default:
-        case (PWM_TYPE_ONESHOT125):
+    case (PWM_TYPE_ONESHOT125):
-            timerMhzCounter = ONESHOT125_TIMER_MHZ;
+        timerMhzCounter = ONESHOT125_TIMER_MHZ;
-            break;
+        pwmWritePtr = pwmWriteOneShot125;
-        case (PWM_TYPE_ONESHOT42):
+        break;
-            timerMhzCounter = ONESHOT42_TIMER_MHZ;
+    case (PWM_TYPE_ONESHOT42):
-            break;
+        timerMhzCounter = ONESHOT42_TIMER_MHZ;
-        case (PWM_TYPE_MULTISHOT):
+        pwmWritePtr = pwmWriteOneShot42;
-            timerMhzCounter = MULTISHOT_TIMER_MHZ;
+        break;
+    case (PWM_TYPE_MULTISHOT):
+        timerMhzCounter = MULTISHOT_TIMER_MHZ;
+        pwmWritePtr = pwmWriteMultiShot;
+        break;
     }
 
     if (motorPwmRate > 0) {
-        uint32_t hz = timerMhzCounter * 1000000;
+        const uint32_t hz = timerMhzCounter * 1000000;
         motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
     } else {
         motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
     }
-
+    motors[motorIndex]->pwmWritePtr = pwmWritePtr;
-    motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot :
-            ((fastPwmProtocolType == PWM_TYPE_ONESHOT125) ? pwmWriteOneShot125 :
-            pwmWriteOneShot42);
 }
 
 #ifdef USE_SERVOS
@@ -243,7 +253,8 @@ void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, ui
 
 void pwmWriteServo(uint8_t index, uint16_t value)
 {
-    if (servos[index] && index < MAX_SERVOS)
+    if (servos[index] && index < MAX_SERVOS) {
         *servos[index]->ccr = value;
+    }
 }
 #endif

src/main/drivers/pwm_output.h

@@ -25,6 +25,12 @@ typedef enum {
     PWM_TYPE_BRUSHED
 } motorPwmProtocolTypes_e;
 
+struct timerHardware_s;
+void pwmBrushedMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
+void pwmBrushlessMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
+void pwmFastPwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType);
+void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);

src/main/drivers/resource.h

@@ -1,7 +1,7 @@
 
 #pragma once
 
-#define RESOURCE_INDEX(x) x + 1
+#define RESOURCE_INDEX(x) (x + 1)
 
 typedef enum {
     OWNER_FREE = 0,

src/main/drivers/sdcard.c

@@ -126,7 +126,7 @@ void sdcardInsertionDetectDeinit(void)
 #ifdef SDCARD_DETECT_PIN
     sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
     IOInit(sdCardDetectPin, OWNER_FREE, RESOURCE_NONE, 0);
-    IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING); 
+    IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING);
 #endif
 }
 
@@ -135,7 +135,7 @@ void sdcardInsertionDetectInit(void)
 #ifdef SDCARD_DETECT_PIN
     sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
     IOInit(sdCardDetectPin, OWNER_SDCARD, RESOURCE_INPUT, 0);
-    IOConfigGPIO(sdCardDetectPin, IOCFG_IPU); 
+    IOConfigGPIO(sdCardDetectPin, IOCFG_IPU);
 #endif
 }
 

src/main/drivers/serial_uart_stm32f30x.c

@@ -114,8 +114,8 @@ static void handleUsartTxDma(dmaChannelDescriptor_t* descriptor)
 void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, uint8_t af, uint8_t index)
 {
     if (options & SERIAL_BIDIR) {
-        ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, 
+        ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz,
-            (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD, 
+            (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD,
             (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP
         );
 

src/main/drivers/serial_uart_stm32f4xx.c

@@ -64,17 +64,17 @@ typedef struct uartDevice_s {
 
 //static uartPort_t uartPort[MAX_UARTS];
 #ifdef USE_UART1
-static uartDevice_t uart1 = 
+static uartDevice_t uart1 =
-{ 
+{
     .DMAChannel = DMA_Channel_4,
     .txDMAStream = DMA2_Stream7,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA2_Stream5,
 #endif
-    .dev = USART1, 
+    .dev = USART1,
-    .rx = IO_TAG(UART1_RX_PIN), 
+    .rx = IO_TAG(UART1_RX_PIN),
-    .tx = IO_TAG(UART1_TX_PIN), 
+    .tx = IO_TAG(UART1_TX_PIN),
-    .af = GPIO_AF_USART1, 
+    .af = GPIO_AF_USART1,
 #ifdef UART1_AHB1_PERIPHERALS
     .rcc_ahb1 = UART1_AHB1_PERIPHERALS,
 #endif
@@ -87,17 +87,17 @@ static uartDevice_t uart1 =
 #endif
 
 #ifdef USE_UART2
-static uartDevice_t uart2 = 
+static uartDevice_t uart2 =
-{ 
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART2_RX_DMA
     .rxDMAStream = DMA1_Stream5,
 #endif
     .txDMAStream = DMA1_Stream6,
-    .dev = USART2, 
+    .dev = USART2,
-    .rx = IO_TAG(UART2_RX_PIN), 
+    .rx = IO_TAG(UART2_RX_PIN),
-    .tx = IO_TAG(UART2_TX_PIN), 
+    .tx = IO_TAG(UART2_TX_PIN),
-    .af = GPIO_AF_USART2, 
+    .af = GPIO_AF_USART2,
 #ifdef UART2_AHB1_PERIPHERALS
     .rcc_ahb1 = UART2_AHB1_PERIPHERALS,
 #endif
@@ -110,17 +110,17 @@ static uartDevice_t uart2 =
 #endif
 
 #ifdef USE_UART3
-static uartDevice_t uart3 = 
+static uartDevice_t uart3 =
-{ 
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART3_RX_DMA
     .rxDMAStream = DMA1_Stream1,
 #endif
     .txDMAStream = DMA1_Stream3,
-    .dev = USART3, 
+    .dev = USART3,
-    .rx = IO_TAG(UART3_RX_PIN), 
+    .rx = IO_TAG(UART3_RX_PIN),
-    .tx = IO_TAG(UART3_TX_PIN), 
+    .tx = IO_TAG(UART3_TX_PIN),
-    .af = GPIO_AF_USART3, 
+    .af = GPIO_AF_USART3,
 #ifdef UART3_AHB1_PERIPHERALS
     .rcc_ahb1 = UART3_AHB1_PERIPHERALS,
 #endif
@@ -133,17 +133,17 @@ static uartDevice_t uart3 =
 #endif
 
 #ifdef USE_UART4
-static uartDevice_t uart4 = 
+static uartDevice_t uart4 =
-{ 
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA1_Stream2,
 #endif
     .txDMAStream = DMA1_Stream4,
-    .dev = UART4, 
+    .dev = UART4,
-    .rx = IO_TAG(UART4_RX_PIN), 
+    .rx = IO_TAG(UART4_RX_PIN),
-    .tx = IO_TAG(UART4_TX_PIN), 
+    .tx = IO_TAG(UART4_TX_PIN),
-    .af = GPIO_AF_UART4, 
+    .af = GPIO_AF_UART4,
 #ifdef UART4_AHB1_PERIPHERALS
     .rcc_ahb1 = UART4_AHB1_PERIPHERALS,
 #endif
@@ -156,17 +156,17 @@ static uartDevice_t uart4 =
 #endif
 
 #ifdef USE_UART5
-static uartDevice_t uart5 = 
+static uartDevice_t uart5 =
-{ 
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA1_Stream0,
 #endif
     .txDMAStream = DMA2_Stream7,
-    .dev = UART5, 
+    .dev = UART5,
-    .rx = IO_TAG(UART5_RX_PIN), 
+    .rx = IO_TAG(UART5_RX_PIN),
-    .tx = IO_TAG(UART5_TX_PIN), 
+    .tx = IO_TAG(UART5_TX_PIN),
-    .af = GPIO_AF_UART5, 
+    .af = GPIO_AF_UART5,
 #ifdef UART5_AHB1_PERIPHERALS
     .rcc_ahb1 = UART5_AHB1_PERIPHERALS,
 #endif
@@ -179,17 +179,17 @@ static uartDevice_t uart5 =
 #endif
 
 #ifdef USE_UART6
-static uartDevice_t uart6 = 
+static uartDevice_t uart6 =
-{ 
+{
     .DMAChannel = DMA_Channel_5,
 #ifdef USE_UART6_RX_DMA
     .rxDMAStream = DMA2_Stream1,
 #endif
     .txDMAStream = DMA2_Stream6,
-    .dev = USART6, 
+    .dev = USART6,
-    .rx = IO_TAG(UART6_RX_PIN), 
+    .rx = IO_TAG(UART6_RX_PIN),
-    .tx = IO_TAG(UART6_TX_PIN), 
+    .tx = IO_TAG(UART6_TX_PIN),
-    .af = GPIO_AF_USART6, 
+    .af = GPIO_AF_USART6,
 #ifdef UART6_AHB1_PERIPHERALS
     .rcc_ahb1 = UART6_AHB1_PERIPHERALS,
 #endif
@@ -344,7 +344,7 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
             IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
         }
 
-        if (mode & MODE_RX) { 
+        if (mode & MODE_RX) {
             IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
             IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
         }
@@ -376,6 +376,7 @@ void USART1_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
     uartIrqHandler(s);
 }
+
 #endif
 
 #ifdef USE_UART2

src/main/drivers/system_stm32f10x.c

@@ -36,7 +36,7 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC

src/main/drivers/system_stm32f30x.c

@@ -34,7 +34,7 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC

src/main/drivers/system_stm32f4xx.c

@@ -41,7 +41,7 @@ void systemReset(void)
     NVIC_SystemReset();
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     if (mpuConfiguration.reset)
         mpuConfiguration.reset();

src/main/drivers/timer.c

@@ -253,7 +253,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
     }
 #else
     TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
-#endif 
+#endif
 
     TIM_TimeBaseStructure.TIM_ClockDivision = 0;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

src/main/drivers/timer.h

@@ -87,7 +87,7 @@ typedef struct timerHardware_s {
 } timerHardware_t;
 
 enum {
-    TIMER_OUTPUT_ENABLED = 0x01, 
+    TIMER_OUTPUT_ENABLED = 0x01,
     TIMER_OUTPUT_INVERTED = 0x02
 };
 

src/main/drivers/timer_stm32f10x.c

@@ -23,10 +23,10 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     { .TIMx = TIM8,  .rcc = RCC_APB1(TIM8)  },
     { .TIMx = TIM9,  .rcc = RCC_APB2(TIM9)  },
     { .TIMx = TIM10, .rcc = RCC_APB2(TIM10) },
-    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11) }, 
+    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
     { .TIMx = TIM12, .rcc = RCC_APB1(TIM12) },
     { .TIMx = TIM13, .rcc = RCC_APB1(TIM13) },
-    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) }, 
+    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
 #endif
 };
 

src/main/drivers/timer_stm32f30x.c

@@ -54,7 +54,7 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
   */
 #define CCMR_OFFSET        ((uint16_t)0x0018)
 #define CCMR_OC13M_MASK    ((uint32_t)0xFFFEFF8F)
-#define CCMR_OC24M_MASK    ((uint32_t)0xFEFF8FFF) 
+#define CCMR_OC24M_MASK    ((uint32_t)0xFEFF8FFF)
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint32_t TIM_OCMode)
 {

src/main/drivers/usb_io.c

@@ -66,7 +66,7 @@ bool usbCableIsInserted(void)
 void usbGenerateDisconnectPulse(void)
 {
     /* Pull down PA12 to create USB disconnect pulse */
-    IO_t usbPin = IOGetByTag(IO_TAG(PA12)); 
+    IO_t usbPin = IOGetByTag(IO_TAG(PA12));
     IOConfigGPIO(usbPin, IOCFG_OUT_OD);
 
     IOHi(usbPin);

src/main/drivers/vtx_rtc6705.c

@@ -179,7 +179,7 @@ void rtc6705SetFreq(uint16_t freq)
 
     uint32_t val_a = ((((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
     uint32_t val_n = (((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
- 
+
     val_hex |= RTC6705_SET_WRITE;
     val_hex |= (val_a << 5);
     val_hex |= (val_n << 12);

src/main/flight/mixer.c

@@ -956,7 +956,7 @@ void filterServos(void)
     if (mixerConfig->servo_lowpass_enable) {
         for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
             if (!servoFilterIsSet) {
-                biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
+                biquadFilterInitLPF(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
                 servoFilterIsSet = true;
             }
 

src/main/flight/pid.c

@@ -71,12 +71,12 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
 
 pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
 
-void setTargetPidLooptime(uint8_t pidProcessDenom) 
+void setTargetPidLooptime(uint8_t pidProcessDenom)
 {
     targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
 }
 
-uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) 
+uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate)
 {
     uint16_t dynamicKi;
     uint16_t resetRate;

src/main/io/gps.c

@@ -1069,7 +1069,7 @@ static void gpsHandlePassthrough(uint8_t data)
  #endif
 
  }
- 
+
 
 void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
 {

src/main/io/rc_controls.c

@@ -672,8 +672,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
 
             applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
         } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
-            uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions); 
+            uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
-            uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth; 
+            uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
 
             applySelectAdjustment(adjustmentFunction, position);
         }

src/main/io/serial.c

@@ -465,7 +465,7 @@ static void nopConsumer(uint8_t data)
  arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
  for specialized data processing.
  */
-void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer 
+void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer
                        *leftC, serialConsumer *rightC)
 {
     waitForSerialPortToFinishTransmitting(left);

src/main/io/serial_4way_stk500v2.c

@@ -16,7 +16,7 @@
  * Author: 4712
  * have a look at https://github.com/sim-/tgy/blob/master/boot.inc
  * for info about the stk500v2 implementation
- */ 
+ */
 #include <stdbool.h>
 #include <stdint.h>
 #include <string.h>

src/main/io/serial_cli.c

@@ -112,13 +112,14 @@ static void cliRxFail(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
-void cliDfu(char *cmdLine); 
+void cliDfu(char *cmdLine);
 static void cliDump(char *cmdLine);
 void cliDumpProfile(uint8_t profileIndex);
 void cliDumpRateProfile(uint8_t rateProfileIndex) ;
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
 static void cliMotor(char *cmdline);
+static void cliName(char *cmdline);
 static void cliPlaySound(char *cmdline);
 static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
@@ -340,6 +341,7 @@ const clicmd_t cmdTable[] = {
 #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))
 
@@ -451,6 +453,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "MIXER",
     "AIRMODE",
     "PIDLOOP",
+    "NOTCH",
 };
 #ifdef OSD
 static const char * const lookupTableOsdType[] = {
@@ -486,7 +489,7 @@ typedef enum {
     TABLE_GPS_SBAS_MODE,
 #endif
 #ifdef BLACKBOX
-    TABLE_BLACKBOX_DEVICE,  
+    TABLE_BLACKBOX_DEVICE, 
 #endif
     TABLE_CURRENT_SENSOR,
     TABLE_GIMBAL_MODE,
@@ -696,6 +699,8 @@ const clivalue_t valueTable[] = {
     { "gyro_lpf",                   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
     { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_sync_denom, .config.minmax = { 1,  8 } },
     { "gyro_lowpass",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0,  255 } },
+    { "gyro_notch_hz",              VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0,  500 } },
+    { "gyro_notch_q",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_soft_notch_q, .config.minmax = { 1,  100 } },
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0,  128 } },
     { "imu_dcm_kp",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_kp, .config.minmax = { 0,  50000 } },
     { "imu_dcm_ki",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_ki, .config.minmax = { 0,  50000 } },
@@ -1941,7 +1946,7 @@ static void cliDump(char *cmdline)
         dumpMask = DUMP_PROFILE; // only
     }
     if (strcasecmp(cmdline, "rates") == 0) {
-        dumpMask = DUMP_RATES; 
+        dumpMask = DUMP_RATES;
     }
 
     if (strcasecmp(cmdline, "all") == 0) {
@@ -1953,6 +1958,8 @@ static void cliDump(char *cmdline)
         cliPrint("\r\n# version\r\n");
         cliVersion(NULL);
 
+        cliPrint("\r\n# name\r\n");
+        cliName(NULL);
         cliPrint("\r\n# dump master\r\n");
         cliPrint("\r\n# mixer\r\n");
 
@@ -2494,6 +2501,18 @@ static void cliMotor(char *cmdline)
     cliPrintf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
 }
 
+static void cliName(char *cmdline)
+{
+    uint32_t len = strlen(cmdline);
+    if (len > 0) {
+        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        strncpy(masterConfig.name, cmdline, MIN(len, MAX_NAME_LENGTH));
+    }
+    cliPrintf("name %s\r\n", strlen(masterConfig.name) > 0 ? masterConfig.name : "-");
+   
+    return;
+}
+
 static void cliPlaySound(char *cmdline)
 {
 #if FLASH_SIZE <= 64
@@ -2681,7 +2700,7 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
             break;
     }
 }
-static void cliPrintVarRange(const clivalue_t *var) 
+static void cliPrintVarRange(const clivalue_t *var)
 {
     switch (var->type & VALUE_MODE_MASK) {
         case (MODE_DIRECT): {
@@ -2693,7 +2712,7 @@ static void cliPrintVarRange(const clivalue_t *var)
             cliPrint("Allowed values:");
             uint8_t i;
             for (i = 0; i < tableEntry->valueCount ; i++) {
-                if (i > 0) 
+                if (i > 0)
                     cliPrint(",");
                 cliPrintf(" %s", tableEntry->values[i]);
             }
@@ -2907,7 +2926,7 @@ static void cliStatus(char *cmdline)
 
 #ifdef USE_SDCARD
     cliSdInfo(NULL);
-#endif    
+#endif   
 }
 
 #ifndef SKIP_TASK_STATISTICS

src/main/io/serial_msp.c

@@ -659,7 +659,7 @@ static uint32_t packFlightModeFlags(void)
 static bool processOutCommand(uint8_t cmdMSP)
 {
     uint32_t i;
-
+    uint8_t len;
 #ifdef GPS
     uint8_t wp_no;
     int32_t lat = 0, lon = 0;
@@ -750,6 +750,14 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(constrain(averageSystemLoadPercent, 0, 100));
         break;
 
+    case MSP_NAME:
+        len = strlen(masterConfig.name);
+        headSerialReply(len);
+        for (uint8_t i=0; i<len; i++) {
+            serialize8(masterConfig.name[i]);
+        }
+        break;
+
     case MSP_STATUS:
         headSerialReply(11);
         serialize16(cycleTime);
@@ -1868,6 +1876,13 @@ static bool processInCommand(void)
         masterConfig.baro_hardware = read8();
         masterConfig.mag_hardware = read8();
         break;
+       
+    case MSP_SET_NAME:
+        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        for (i = 0; i < MIN(MAX_NAME_LENGTH, currentPort->dataSize); i++) {
+            masterConfig.name[i] = read8();
+        }
+        break;
     default:
         // we do not know how to handle the (valid) message, indicate error MSP $M!
         return false;

src/main/io/serial_msp.h

@@ -99,6 +99,10 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_BOARD_INFO                  4    //out message
 #define MSP_BUILD_INFO                  5    //out message
 
+#define MSP_NAME                        10
+#define MSP_SET_NAME                    11
+
+
 //
 // MSP commands for Cleanflight original features
 //
@@ -147,6 +151,23 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_ARMING_CONFIG               61 //out message         Returns auto_disarm_delay and disarm_kill_switch parameters
 #define MSP_SET_ARMING_CONFIG           62 //in message          Sets auto_disarm_delay and disarm_kill_switch parameters
 
+//
+// Baseflight MSP commands (if enabled they exist in Cleanflight)
+//
+#define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
+#define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
+
+// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
+// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG.  In Cleanflight, isolated commands already exist and should be used instead.
+#define MSP_BF_CONFIG                   66 //out message baseflight-specific settings that aren't covered elsewhere
+#define MSP_SET_BF_CONFIG               67 //in message baseflight-specific settings save
+
+#define MSP_REBOOT                      68 //in message reboot settings
+
+// DEPRECATED - Use MSP_BUILD_INFO instead
+#define MSP_BF_BUILD_INFO               69 //out message build date as well as some space for future expansion
+
+
 #define MSP_DATAFLASH_SUMMARY           70 //out message - get description of dataflash chip
 #define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
 #define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
@@ -177,22 +198,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_VTX_CONFIG                  88 //in message          Get vtx settings
 #define MSP_SET_VTX_CONFIG              89 //out message         Set vtx settings
 
-//
-// Baseflight MSP commands (if enabled they exist in Cleanflight)
-//
-#define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
-#define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
-
-// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
-// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG.  In Cleanflight, isolated commands already exist and should be used instead.
-#define MSP_BF_CONFIG                   66 //out message baseflight-specific settings that aren't covered elsewhere
-#define MSP_SET_BF_CONFIG               67 //in message baseflight-specific settings save
-
-#define MSP_REBOOT                      68 //in message reboot settings
-
-// DEPRECATED - Use MSP_BUILD_INFO instead
-#define MSP_BF_BUILD_INFO               69 //out message build date as well as some space for future expansion
-
 // Betaflight Additional Commands
 #define MSP_PID_ADVANCED_CONFIG         90
 #define MSP_SET_PID_ADVANCED_CONFIG     91

src/main/io/vtx.h

@@ -14,7 +14,7 @@
  * 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 VTX_BAND_MIN                            1

src/main/main.c

@@ -313,7 +313,7 @@ void init(void)
     bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
 
     // Configurator feature abused for enabling Fast PWM
-    pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);  
+    pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED); 
     pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;

src/main/rx/xbus.c

@@ -226,7 +226,7 @@ static void xBusUnpackRJ01Frame(void)
     uint8_t outerCrc = 0;
     uint8_t i = 0;
 
-    // When using the Align RJ01 receiver with 
+    // When using the Align RJ01 receiver with
     // a MODE B setting in the radio (XG14 tested)
     // the MODE_B -frame is packed within some
     // at the moment unknown bytes before and after:
@@ -234,7 +234,7 @@ static void xBusUnpackRJ01Frame(void)
     // Compared to a standard MODE B frame that only
     // contains the "middle" package.
     // Hence, at the moment, the unknown header and footer
-    // of the RJ01 MODEB packages are discarded. 
+    // of the RJ01 MODEB packages are discarded.
     // However, the LAST byte (CRC_OUTER) is infact an 8-bit
     // CRC for the whole package, using the Dallas-One-Wire CRC
     // method.

src/main/sensors/acceleration.c

@@ -190,7 +190,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
         if (!accFilterInitialised) {
             if (accTargetLooptime) {  /* Initialisation needs to happen once sample rate is known */
                 for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-                    biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
+                    biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
                 }
                 accFilterInitialised = true;
             }

src/main/sensors/battery.c

@@ -70,7 +70,7 @@ static void updateBatteryVoltage(void)
     if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
 
     if (!vbatFilterIsInitialised) {
-        biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
+        biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
         vbatFilterIsInitialised = true;
     }
     vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
@@ -91,7 +91,7 @@ void updateBattery(void)
         /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
         batteryState = BATTERY_OK;
         /* wait for VBatt to stabilise then we can calc number of cells
-        (using the filtered value takes a long time to ramp up) 
+        (using the filtered value takes a long time to ramp up)
         We only do this on the ground so don't care if we do block, not
         worse than original code anyway*/
         delay(VBATTERY_STABLE_DELAY);

src/main/sensors/gyro.c

@@ -27,12 +27,14 @@
 #include "common/filter.h"
 
 #include "drivers/sensor.h"
+#include "drivers/system.h"
 #include "drivers/accgyro.h"
-#include "sensors/sensors.h"
+
 #include "io/beeper.h"
 #include "io/statusindicator.h"
-#include "sensors/boardalignment.h"
 
+#include "sensors/sensors.h"
+#include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
 
 gyro_t gyro;                      // gyro access functions
@@ -43,21 +45,27 @@ float gyroADCf[XYZ_AXIS_COUNT];
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
-static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilterNotch[XYZ_AXIS_COUNT];
+static uint16_t gyroSoftNotchHz;
+static uint8_t gyroSoftNotchQ;
 static uint8_t gyroSoftLpfHz;
 static uint16_t calibratingG = 0;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz)
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q)
 {
     gyroConfig = gyroConfigToUse;
     gyroSoftLpfHz = gyro_soft_lpf_hz;
+    gyroSoftNotchHz = gyro_soft_notch_hz;
+    gyroSoftNotchQ = gyro_soft_notch_q;
 }
 
 void gyroInit(void)
 {
     if (gyroSoftLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
         for (int axis = 0; axis < 3; axis++) {
-            biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
+            biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, ((float) gyroSoftNotchQ) / 10, FILTER_NOTCH);
+            biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
         }
     }
 }
@@ -157,7 +165,17 @@ void gyroUpdate(void)
 
     if (gyroSoftLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
+            float sample = (float) gyroADC[axis];
+            if (gyroSoftNotchHz) {
+                sample = biquadFilterApply(&gyroFilterNotch[axis], sample);
+            }
+
+            if (debugMode == DEBUG_NOTCH && axis < 2){
+                debug[axis*2 + 0] = gyroADC[axis];
+                debug[axis*2 + 1] = lrintf(sample);
+            }
+
+            gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], sample);;
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
     } else {

src/main/sensors/gyro.h

@@ -40,7 +40,7 @@ typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q);
 void gyroSetCalibrationCycles(void);
 void gyroInit(void);
 void gyroUpdate(void);

src/main/sensors/initialisation.c

@@ -89,7 +89,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 #if defined(MPU_INT_EXTI)
     static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
     return &mpuIntExtiConfig;
-#elif defined(USE_HARDWARE_REVISION_DETECTION) 
+#elif defined(USE_HARDWARE_REVISION_DETECTION)
     return selectMPUIntExtiConfigByHardwareRevision();
 #else
     return NULL;
@@ -118,9 +118,15 @@ static bool fakeGyroReadTemp(int16_t *tempData)
     return true;
 }
 
+
+static bool fakeGyroInitStatus(void) {
+    return true;
+}
+
 bool fakeGyroDetect(gyro_t *gyro)
 {
     gyro->init = fakeGyroInit;
+    gyro->intStatus = fakeGyroInitStatus;
     gyro->read = fakeGyroRead;
     gyro->temperature = fakeGyroReadTemp;
     gyro->scale = 1.0f / 16.4f;
@@ -143,6 +149,7 @@ bool fakeAccDetect(acc_t *acc)
 {
     acc->init = fakeAccInit;
     acc->read = fakeAccRead;
+    acc->acc_1G = 512*8;
     acc->revisionCode = 0;
     return true;
 }
@@ -584,10 +591,14 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     }
 }
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator)
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
+        uint8_t accHardwareToUse,
+        uint8_t magHardwareToUse,
+        uint8_t baroHardwareToUse,
+        int16_t magDeclinationFromConfig,
+        uint8_t gyroLpf,
+        uint8_t gyroSyncDenominator)
 {
-    int16_t deg, min;
-
     memset(&acc, 0, sizeof(acc));
     memset(&gyro, 0, sizeof(gyro));
 
@@ -605,7 +616,6 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
     detectAcc(accHardwareToUse);
     detectBaro(baroHardwareToUse);
 
-
     // Now time to init things, acc first
     if (sensors(SENSOR_ACC)) {
         acc.acc_1G = 256; // set default
@@ -623,9 +633,8 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
     // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
     if (sensors(SENSOR_MAG)) {
         // calculate magnetic declination
-        deg = magDeclinationFromConfig / 100;
+        const int16_t deg = magDeclinationFromConfig / 100;
-        min = magDeclinationFromConfig % 100;
+        const int16_t min = magDeclinationFromConfig % 100;
-
         magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
     } else {
         magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.

src/main/target/AIR32/target.h

@@ -21,18 +21,16 @@
 #define USE_CLI
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PB5 // Blue LED - PB5
 
+#define LED0                    PB5 // Blue LED - PB5
 
-#define BEEPER      PA0
+#define BEEPER                  PA0
-
 
 #define USABLE_TIMER_CHANNEL_COUNT 9
 
 // MPU6050 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
@@ -41,20 +39,18 @@
 #define ACC
 
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6050
-
+#define ACC_MPU6050_ALIGN       CW180_DEG
-#define ACC_MPU6050_ALIGN CW180_DEG
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
+#define MPU6000_CS_PIN          PB12
-#define MPU6000_CS_PIN PB12
+#define MPU6000_SPI_INSTANCE    SPI2
-#define MPU6000_SPI_INSTANCE SPI2
 
 //#define BARO
 //#define USE_BARO_MS5611
@@ -66,31 +62,30 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6
+#define UART1_TX_PIN            PB6
-#define UART1_RX_PIN        PB7
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3
+#define UART2_TX_PIN            PB3
-#define UART2_RX_PIN        PB4
+#define UART2_RX_PIN            PB4
 
-
+#define UART3_TX_PIN            PB10 //(AF7)
-#define UART3_TX_PIN        PB10 //(AF7)
+#define UART3_RX_PIN            PB11 //(AF7)
-#define UART3_RX_PIN        PB11 //(AF7)
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
-#define I2C2_SCL        	PA9
+#define I2C2_SCL                PA9
-#define I2C2_SDA 			PA10
+#define I2C2_SDA                PA10
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define M25P16_CS_PIN         PB12
+#define M25P16_CS_PIN           PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define M25P16_SPI_INSTANCE     SPI2
 
 //#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #undef GPS
 #define DISPLAY
@@ -99,10 +94,10 @@
 
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
+#define ADC_INSTANCE            ADC2
-#define VBAT_ADC_PIN                PA5
+#define VBAT_ADC_PIN            PA5
-//#define CURRENT_METER_ADC_PIN       PA5
+//#define CURRENT_METER_ADC_PIN   PA5
-#define RSSI_ADC_PIN                PB2
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #if 1
@@ -135,17 +130,17 @@
 
 #define SPEKTRUM_BIND
 // USART2, PB4
-#define BIND_PIN PB4
+#define BIND_PIN                PB4
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 // #define TARGET_IO_PORTF (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 

src/main/target/ALIENFLIGHTF3/hardware_revision.h

@@ -15,7 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 #pragma once
- 
+
 #include "drivers/exti.h"
 
 typedef enum awf3HardwareRevision_t {

src/main/target/ALIENFLIGHTF3/target.h

@@ -23,17 +23,17 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 #define USE_HARDWARE_REVISION_DETECTION
-#define HW_PIN      PB2
+#define HW_PIN                  PB2
 
 // LED's V1
-#define LED0        PB4  // LED - PB4
+#define LED0                    PB4
-#define LED1        PB5  // LED - PB5
+#define LED1                    PB5
 
 // LED's V2
-#define LED0_A      PB8  // LED - PB8
+#define LED0_A                  PB8
-#define LED1_A      PB9  // LED - PB9
+#define LED1_A                  PB9
 
-#define BEEPER      PA5  // LED - PA5
+#define BEEPER                  PA5
 
 #define USABLE_TIMER_CHANNEL_COUNT 11
 
@@ -48,15 +48,15 @@
 #define USE_GYRO_MPU6050
 #define USE_GYRO_SPI_MPU6500
 
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 // No baro support.
 //#define BARO
@@ -65,29 +65,28 @@
 // option to use MPU9150 or MPU9250 integrated AK89xx Mag
 #define MAG
 #define USE_MAG_AK8963
-
+#define MAG_AK8963_ALIGN        CW0_DEG_FLIP
-#define MAG_AK8963_ALIGN CW0_DEG_FLIP
 
 #define USE_VCP
 #define USE_UART1 // Not connected - TX (PB6) RX PB7 (AF7)
 #define USE_UART2 // Receiver - RX (PA3)
 #define USE_UART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6 // PB6
+#define UART1_TX_PIN            PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PA2 // PA2
+#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN        PA3 // PA3
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
 
-#define I2C2_SCL            PA9
+#define I2C2_SCL                PA9
-#define I2C2_SDA            PA10
+#define I2C2_SDA                PA10
 
 // SPI3
 // PA15 38 SPI3_NSS
@@ -98,22 +97,22 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_3
 
-#define MPU6500_CS_PIN                   PA15
+#define MPU6500_CS_PIN          PA15
-#define MPU6500_SPI_INSTANCE             SPI3
+#define MPU6500_SPI_INSTANCE    SPI3
 
 #define USE_ADC
 
-#define ADC_INSTANCE         ADC2
+#define ADC_INSTANCE            ADC2
-#define VBAT_ADC_PIN         PA4
+#define VBAT_ADC_PIN            PA4
-#define VBAT_SCALE_DEFAULT   20
+#define VBAT_SCALE_DEFAULT      20
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB12 (Pin 25)
-#define BINDPLUG_PIN   PB12
+#define BINDPLUG_PIN            PB12
 
 #define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
@@ -124,12 +123,11 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
 

src/main/target/ALIENFLIGHTF4/target.h

@@ -23,39 +23,39 @@
 
 #define USBD_PRODUCT_STRING "AlienFlight F4"
 
-#define LED0                 PC12
+#define LED0                    PC12
-#define LED1                 PD2
+#define LED1                    PD2
 
-#define BEEPER               PC13
+#define BEEPER                  PC13
 
-#define INVERTER             PC15
+#define INVERTER                PC15
-#define INVERTER_USART       USART2
+#define INVERTER_USART          USART2
 
 // MPU interrupt
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 #define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-#define MPU_INT_EXTI         PC14
+#define MPU_INT_EXTI            PC14
 #define USE_EXTI
 
-#define MPU6500_CS_PIN       PA4
+#define MPU6500_CS_PIN          PA4
-#define MPU6500_SPI_INSTANCE SPI1
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN    CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN   CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 
-#define MAG_HMC5883_ALIGN    CW180_DEG
+#define MAG_HMC5883_ALIGN       CW180_DEG
-#define MAG_AK8963_ALIGN     CW270_DEG
+#define MAG_AK8963_ALIGN        CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -65,14 +65,14 @@
 
 //#define SDCARD_DETECT_INVERTED
 
-#define SDCARD_DETECT_PIN                   PB10
+#define SDCARD_DETECT_PIN               PB10
-#define SDCARD_DETECT_EXTI_LINE             EXTI_Line10
+#define SDCARD_DETECT_EXTI_LINE         EXTI_Line10
-#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource10
+#define SDCARD_DETECT_EXTI_PIN_SOURCE   EXTI_PinSource10
-#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOB
+#define SDCARD_DETECT_EXTI_PORT_SOURCE  EXTI_PortSourceGPIOB
-#define SDCARD_DETECT_EXTI_IRQn             EXTI15_10_IRQn
+#define SDCARD_DETECT_EXTI_IRQn         EXTI15_10_IRQn
 
-#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_INSTANCE             SPI2
-#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+#define SDCARD_SPI_CS_PIN               SPI2_NSS_PIN
 
 // 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
@@ -93,57 +93,55 @@
 //#define USE_FLASHFS
 //#define USE_FLASH_M25P16
 
-#define USABLE_TIMER_CHANNEL_COUNT 13
+#define USABLE_TIMER_CHANNEL_COUNT      13
 
 #define USE_VCP
 
 #define USE_UART1
-#define UART1_RX_PIN        PA10
+#define UART1_RX_PIN            PA10
-#define UART1_TX_PIN        PA9
+#define UART1_TX_PIN            PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART2
-#define UART2_RX_PIN        PA3
+#define UART2_RX_PIN            PA3
-#define UART2_TX_PIN        PA2 //inverter
+#define UART2_TX_PIN            PA2 //inverter
 
 //#define USE_UART3
-//#define UART3_RX_PIN        PB11
+//#define UART3_RX_PIN            PB11
-//#define UART3_TX_PIN        PB10
+//#define UART3_TX_PIN            PB10
 
 #define USE_UART4
-#define UART4_RX_PIN        PC10
+#define UART4_RX_PIN            PC10
-#define UART4_TX_PIN        PC11
+#define UART4_TX_PIN            PC11
 
 //#define USE_UART5
-//#define UART5_RX_PIN        PD2
+//#define UART5_RX_PIN            PD2
-//#define UART5_TX_PIN        PC12
+//#define UART5_TX_PIN            PC12
 
-#define SERIAL_PORT_COUNT    4
+#define SERIAL_PORT_COUNT       4
 
 #define USE_SPI
-
 #define USE_SPI_DEVICE_1
-
 #define USE_SPI_DEVICE_2
-#define SPI2_NSS_PIN         PB12
+#define SPI2_NSS_PIN            PB12
-#define SPI2_SCK_PIN         PB13
+#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN        PC2
+#define SPI2_MISO_PIN           PC2
-#define SPI2_MOSI_PIN        PC3
+#define SPI2_MOSI_PIN           PC3
 
 #define USE_SPI_DEVICE_3
 
 #define USE_I2C
-#define I2C_DEVICE           (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
-//#define I2C_DEVICE_EXT       (I2CDEV_2)
+//#define I2C_DEVICE_EXT          (I2CDEV_2)
-#define I2C1_SCL             PB6
+#define I2C1_SCL                PB6
-#define I2C1_SDA             PB7
+#define I2C1_SDA                PB7
 
 #define USE_ADC
 //#define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN               PC0
+#define VBAT_ADC_PIN            PC0
-#define CURRENT_METER_ADC_PIN      PC1
+#define CURRENT_METER_ADC_PIN   PC1
-#define RSSI_ADC_PIN               PC4
+#define RSSI_ADC_PIN            PC4
-#define EXTERNAL1_ADC_GPIO_PIN     PC5
+#define EXTERNAL1_ADC_GPIO_PIN  PC5
 
 // LED strip configuration using RC5 pin.
 //#define LED_STRIP
@@ -156,11 +154,11 @@
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN             PA3
+#define BIND_PIN                PA3
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB2 (Pin 28)
-#define BINDPLUG_PIN         PB2
+#define BINDPLUG_PIN            PB2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
@@ -172,10 +170,10 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD      (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
 
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
 

src/main/target/BLUEJAYF4/target.c

@@ -33,7 +33,7 @@ const uint16_t multiPPM[] = {
 };
 
 const uint16_t multiPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8), 
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),

src/main/target/BLUEJAYF4/target.h

@@ -20,40 +20,40 @@
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "BlueJayF4"
+#define USBD_PRODUCT_STRING     "BlueJayF4"
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_EXTI
 
-#define INVERTER        PB15
+#define LED0                    PB6
-#define INVERTER_USART  USART6
+#define LED1                    PB5
+#define LED2                    PB4
 
-#define BEEPER PB7
+#define BEEPER                  PB7
 #define BEEPER_INVERTED
 
-#define LED0 PB6
+#define INVERTER                PB15
-#define LED1 PB5
+#define INVERTER_USART          USART6
-#define LED2 PB4
 
-#define MPU6500_CS_PIN        PC4
+#define MPU6500_CS_PIN          PC4
-#define MPU6500_SPI_INSTANCE  SPI1
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN       CW180_DEG
 
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 //#define MAG
 //#define USE_MAG_AK8963
 
 #define BARO
 #define USE_BARO_MS5611
-#define MS5611_I2C_INSTANCE I2CDEV_1
+#define MS5611_I2C_INSTANCE     I2CDEV_1
 
 #define USE_SDCARD
 
@@ -76,8 +76,8 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-//#define M25P16_CS_PIN         PB3
+//#define M25P16_CS_PIN           PB3
-//#define M25P16_SPI_INSTANCE   SPI3
+//#define M25P16_SPI_INSTANCE     SPI3
 
 //#define USE_FLASHFS
 //#define USE_FLASH_M25P16
@@ -96,22 +96,21 @@
 //#define VBUS_SENSING_ENABLED
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
+#define UART1_RX_PIN            PA10
-#define UART1_TX_PIN PA9
+#define UART1_TX_PIN            PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
 
 #define USE_UART3
-#define UART3_RX_PIN PB11
+#define UART3_RX_PIN            PB11
-#define UART3_TX_PIN PB10
+#define UART3_TX_PIN            PB10
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
+#define UART6_RX_PIN            PC7
-#define UART6_TX_PIN PC6 
+#define UART6_TX_PIN            PC6
 
 #define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
 
@@ -134,15 +133,15 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE             (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
 #define USE_I2C_PULLUP
 
 #define USE_ADC
-#define VBAT_ADC_PIN           PC3
+#define VBAT_ADC_PIN            PC3
 
 #define LED_STRIP
 // LED Strip can run off Pin 6 (PB1) of the ESC outputs.
-#define WS2811_PIN                      PB1 
+#define WS2811_PIN                      PB1
 #define WS2811_TIMER                    TIM3
 #define WS2811_TIMER_CHANNEL            TIM_Channel_4
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
@@ -155,15 +154,15 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
 
-#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
 

src/main/target/CC3D/target.h

@@ -17,25 +17,25 @@
 
 #define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
 
-#define LED0    PB3 // PB3 (LED)
+#define LED0                    PB3
 
-#define INVERTER    PB2 // PB2 (BOOT1) used as inverter select GPIO
+#define INVERTER                PB2 // PB2 (BOOT1) used as inverter select GPIO
-#define INVERTER_USART USART1
+#define INVERTER_USART          USART1
 
-#define BEEPER      PB15 // PB15 (Beeper)
+#define BEEPER                  PB15
-#define BEEPER_OPT  PB2  // PB15 (Beeper)
+#define BEEPER_OPT              PB2
 
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
-#define MPU_INT_EXTI PA3
+#define MPU_INT_EXTI            PA3
 
-#define MPU6000_CS_GPIO       GPIOA
+#define MPU6000_CS_GPIO         GPIOA
-#define MPU6000_CS_PIN        PA4
+#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE  SPI1
+#define MPU6000_SPI_INSTANCE    SPI1
 
-#define M25P16_CS_GPIO        GPIOB
+#define M25P16_CS_GPIO          GPIOB
-#define M25P16_CS_PIN         PB12
+#define M25P16_CS_PIN           PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define M25P16_SPI_INSTANCE     SPI2
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
@@ -72,18 +72,18 @@
 #define USE_UART1
 #define USE_UART3
 #define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
 #ifdef USE_UART1_RX_DMA
 #undef USE_UART1_RX_DMA
 #endif
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
 
-#define UART3_RX_PIN       PB11
+#define UART3_RX_PIN            PB11
-#define UART3_TX_PIN       PB10
+#define UART3_TX_PIN            PB10
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -93,15 +93,15 @@
 #define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN        PB1
+#define CURRENT_METER_ADC_PIN   PB1
-#define VBAT_ADC_PIN                 PA0
+#define VBAT_ADC_PIN            PA0
-#define RSSI_ADC_PIN                 PB0
+#define RSSI_ADC_PIN            PB0
 
 #define LED_STRIP
-#define WS2811_PIN                   PB4
+#define WS2811_PIN                      PB4
-#define WS2811_TIMER                 TIM3
+#define WS2811_TIMER                    TIM3
-#define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
 
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)
@@ -111,12 +111,13 @@
 
 #define DISPLAY
 #define SONAR
-#define SONAR_ECHO_PIN      PB0
+#define SONAR_ECHO_PIN          PB0
-#define SONAR_TRIGGER_PIN   PB5
+#define SONAR_TRIGGER_PIN       PB5
 
 #undef GPS
 
 #undef BARO
+#undef MAG
 
 #ifdef CC3D_OPBL
 #define SKIP_CLI_COMMAND_HELP
@@ -128,8 +129,8 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 // IO - from schematics
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC ( BIT(14) )
+#define TARGET_IO_PORTC         ( BIT(14) )
 
-#define USED_TIMERS     ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )

src/main/target/CHEBUZZF3/target.h

@@ -22,14 +22,14 @@
 
 #ifndef STM32F3DISCOVERY
 #define STM32F3DISCOVERY
-#endif 
+#endif
- 
+
-#define LED0    PE8 // Blue LEDs - PE8/PE12
+#define LED0                    PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
-#define LED1    PE10  // Orange LEDs - PE10/PE14
+#define LED1                    PE10  // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
-#define BEEPER      PE9 // Red LEDs - PE9/PE13
+#define BEEPER                  PE9 // Red LEDs - PE9/PE13
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 18
@@ -81,16 +81,14 @@
 #define ACC
 #define USE_ACC_MPU6050
 #define USE_ACC_LSM303DLHC
-
+#define ACC_MPU6050_ALIGN       CW0_DEG
-#define ACC_MPU6050_ALIGN CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
 
 #define MAG
 #define USE_MAG_AK8975
-
+#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
-#define MAG_AK8975_ALIGN CW90_DEG_FLIP
 
 #define USE_VCP
 #define USE_UART1
@@ -101,20 +99,19 @@
 #define I2C_DEVICE (I2CDEV_1)
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
+#define ADC_INSTANCE            ADC1
-#define VBAT_ADC_PIN                PC0
+#define VBAT_ADC_PIN            PC0
-#define CURRENT_METER_ADC_PIN       PC1
+#define CURRENT_METER_ADC_PIN   PC1
-#define RSSI_ADC_PIN                PC2
+#define RSSI_ADC_PIN            PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define EXTERNAL1_ADC_PIN       PC3
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTD         (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTE 0xffff
+#define TARGET_IO_PORTE         0xffff
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
 
-
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
 

src/main/target/CJMCU/hardware_revision.h

@@ -17,7 +17,7 @@
 #pragma once
 
  #include "drivers/exti.h"
- 
+
 typedef enum cjmcuHardwareRevision_t {
     UNKNOWN = 0,
     REV_1, // Blue LED3

src/main/target/CJMCU/target.h

@@ -20,9 +20,9 @@
 #define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
 #define USE_HARDWARE_REVISION_DETECTION
 
-#define LED0 PC14 // PC14 (LED)
+#define LED0                    PC14
-#define LED1 PC13 // PC13 (LED)
+#define LED1                    PC13
-#define LED2 PC15 // PC15 (LED)
+#define LED2                    PC15
 
 #define ACC
 #define USE_ACC_MPU6050
@@ -38,7 +38,7 @@
 #define USE_UART1
 #define USE_UART2
 
-#define SERIAL_PORT_COUNT 2
+#define SERIAL_PORT_COUNT       2
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1)
@@ -49,7 +49,7 @@
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 
 #if (FLASH_SIZE > 64)
@@ -64,8 +64,8 @@
 #endif
 
 // IO - assuming all IOs on 48pin package TODO
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))

src/main/target/COLIBRI_RACE/target.h

@@ -18,17 +18,17 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "CLBR"
-#define BST_DEVICE_NAME "COLIBRI RACE"
+#define BST_DEVICE_NAME         "COLIBRI RACE"
-#define BST_DEVICE_NAME_LENGTH 12
+#define BST_DEVICE_NAME_LENGTH  12
 #define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PC15
-#define LED1    PC14
-#define LED2    PC13
 
-#define BEEPER      PB13
+#define LED0                    PC15
+#define LED1                    PC14
+#define LED2                    PC13
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
 #define USE_EXTI
@@ -53,17 +53,17 @@
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW270_DEG
+#define GYRO_MPU6000_ALIGN      CW270_DEG
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -80,34 +80,34 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PC4
+#define UART1_TX_PIN            PC4
-#define UART1_RX_PIN        PC5
+#define UART1_RX_PIN            PC5
 
-#define UART2_TX_PIN        PA14
+#define UART2_TX_PIN            PA14
-#define UART2_RX_PIN        PA15
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10
+#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN        PB11
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
 
-#define I2C2_SCL_PIN         PA9
+#define I2C2_SCL_PIN            PA9
-#define I2C2_SDA_PIN         PA10
+#define I2C2_SDA_PIN            PA10
 
 #define USE_BST
 #define BST_DEVICE (BSTDEV_1)
 /* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
-#define BST_CRC_POLYNOM                         0xD5
+#define BST_CRC_POLYNOM         0xD5
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
+#define ADC_INSTANCE            ADC1
-#define VBAT_ADC_PIN                PC0
+#define VBAT_ADC_PIN            PC0
-#define CURRENT_METER_ADC_PIN       PC1
+#define CURRENT_METER_ADC_PIN   PC1
-#define RSSI_ADC_PIN                PC2
+#define RSSI_ADC_PIN            PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define EXTERNAL1_ADC_PIN       PC3
 
 #define LED_STRIP
 #define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
@@ -122,7 +122,7 @@
 
 // MPU6500 interrupt
 #define USE_EXTI
-#define MPU_INT_EXTI PA5
+#define MPU_INT_EXTI            PA5
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
@@ -135,11 +135,11 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
 

src/main/target/DOGE/target.c

@@ -43,7 +43,7 @@ const uint16_t multiPWM[] = {
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8), 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };
 

src/main/target/DOGE/target.h

@@ -20,17 +20,15 @@
 #define TARGET_BOARD_IDENTIFIER "DOGE"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
+
 // tqfp48 pin 34
-#define LED0    PA13
+#define LED0                    PA13
-
 // tqfp48 pin 37
-#define LED1    PA14
+#define LED1                    PA14
-
 // tqfp48 pin 38
-#define LED2    PA15
+#define LED2                    PA15
 
-#define BEEPER      PB2
+#define BEEPER                  PB2
 #define BEEPER_INVERTED
 
 #define USE_SPI
@@ -81,13 +79,13 @@
 // #define USE_FAKE_GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG // ??
+#define GYRO_MPU6500_ALIGN      CW270_DEG // ??
 
 #define ACC
 // #define USE_FAKE_ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG // ??
+#define ACC_MPU6500_ALIGN       CW270_DEG // ??
 
 #define BARO
 #define USE_BARO_BMP280
@@ -100,20 +98,20 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 4
 
-#define UART1_TX_PIN        PB6
+#define UART1_TX_PIN            PB6
-#define UART1_RX_PIN        PB7
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PA2
+#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN        PA3
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10
+#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN        PB11
+#define UART3_RX_PIN            PB11
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
+#define USE_ADC
-#define VBAT_ADC_PIN                PA4
+#define ADC_INSTANCE            ADC2
-#define CURRENT_METER_ADC_PIN       PA5
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
 
 // mpu_int definition in sensors/initialisation.c
 #define USE_EXTI
@@ -135,19 +133,19 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // Use UART3 for speksat
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // !!TODO - check the TARGET_IO_PORTs are correct
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
 

src/main/target/EUSTM32F103RC/target.h

@@ -19,21 +19,21 @@
 
 #define TARGET_BOARD_IDENTIFIER "EUF1"
 
-#define LED0    PB3 // PB3 (LED)
+#define LED0                    PB3
-#define LED1    PB4 // PB4 (LED)
+#define LED1                    PB4
 
-#define INVERTER    PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
 #define INVERTER_USART USART2
 
 #define USE_EXTI
-#define MPU6000_CS_GPIO       GPIOB
+#define MPU6000_CS_GPIO         GPIOB
-#define MPU6000_CS_PIN        PB12
+#define MPU6000_CS_PIN          PB12
-#define MPU6000_SPI_INSTANCE  SPI2
+#define MPU6000_SPI_INSTANCE    SPI2
 
 #define MPU6500_CS_GPIO_CLK_PERIPHERAL   RCC_APB2Periph_GPIOB
-#define MPU6500_CS_GPIO       GPIOB
+#define MPU6500_CS_GPIO         GPIOB
-#define MPU6500_CS_PIN        PB12
+#define MPU6500_CS_PIN          PB12
-#define MPU6500_SPI_INSTANCE  SPI2
+#define MPU6500_SPI_INSTANCE    SPI2
 
 #define GYRO
 #define USE_FAKE_GYRO
@@ -44,7 +44,7 @@
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6500
 
-#define GYRO_MPU6050_ALIGN CW0_DEG
+#define GYRO_MPU6050_ALIGN      CW0_DEG
 
 #define ACC
 #define USE_FAKE_ACC
@@ -55,7 +55,7 @@
 //#define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6050_ALIGN CW0_DEG
+#define ACC_MPU6050_ALIGN       CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -66,7 +66,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8975
 
-#define MAG_AK8975_ALIGN CW180_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW180_DEG_FLIP
 
 #define SONAR
 #define SONAR_TRIGGER_PIN       PB0
@@ -80,12 +80,12 @@
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER      TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
@@ -97,21 +97,20 @@
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
+#define CURRENT_METER_ADC_PIN   PB1
-#define VBAT_ADC_PIN                PA4
+#define VBAT_ADC_PIN            PA4
-#define RSSI_ADC_PIN                PA1
+#define RSSI_ADC_PIN            PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define EXTERNAL1_ADC_PIN       PA5
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 // IO - stm32f103RCT6 in 64pin package (TODO)
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
+#define TARGET_IO_PORTD         (BIT(0)|BIT(1)|BIT(2))
 
-
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
 

src/main/target/F4BY/target.c

@@ -30,11 +30,11 @@ const uint16_t multiPWM[] = {
     PWM3  | (MAP_TO_PWM_INPUT << 8),
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     
+    PWM6  | (MAP_TO_PWM_INPUT << 8),    
-    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),     
     PWM8  | (MAP_TO_SERVO_OUTPUT << 8),         // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
     PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
@@ -69,11 +69,11 @@ const uint16_t airPWM[] = {
     PWM3  | (MAP_TO_PWM_INPUT << 8),
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     
+    PWM6  | (MAP_TO_PWM_INPUT << 8),    
-    PWM7  | (MAP_TO_PWM_INPUT << 8),      
+    PWM7  | (MAP_TO_PWM_INPUT << 8),     
     PWM8  | (MAP_TO_PWM_INPUT << 8),         // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
@@ -101,7 +101,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S6_OUT
     { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S7_OUT
     { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S8_OUT
-    
+   
     { TIM9, IO_TAG(PE6), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 },          // sonar echo if needed
 };
 

src/main/target/F4BY/target.h

@@ -20,46 +20,47 @@
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "Swift-Flyer F4BY"
+#define USBD_PRODUCT_STRING     "Swift-Flyer F4BY"
 
-#define LED0 PE3 // Blue LED
+#define LED0                    PE3 // Blue LED
-#define LED1 PE2 // Red LED
+#define LED1                    PE2 // Red LED
-#define LED2 PE1 // Blue LED
+#define LED2                    PE1 // Blue LED
-#define BEEPER PE5
 
-#define INVERTER PD3
+#define BEEPER                  PE5
-#define INVERTER_USART USART6
+
+#define INVERTER                PD3
+#define INVERTER_USART          USART6
 
 
 
 // MPU6000 interrupts
 #define USE_MPU_DATA_READY_SIGNAL
 #define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PB0
+#define MPU_INT_EXTI            PB0
 #define USE_EXTI
 
-#define MPU6000_CS_PIN       PA4
+#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE SPI1
+#define MPU6000_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN    CW90_DEG
+#define ACC_MPU6000_ALIGN       CW90_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN   CW90_DEG
+#define GYRO_MPU6000_ALIGN      CW90_DEG
 
 #define MAG
 #define USE_MAG_HMC5883
-#define MAG_HMC5883_ALIGN    CW90_DEG
+#define MAG_HMC5883_ALIGN       CW90_DEG
 
 #define BARO
 #define USE_BARO_MS5611
 
 #define USE_SDCARD
 
-#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_INSTANCE     SPI2
-#define SDCARD_SPI_CS_PIN                   PE15
+#define SDCARD_SPI_CS_PIN       PE15
 
 // 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
@@ -76,43 +77,41 @@
 #define USABLE_TIMER_CHANNEL_COUNT 17
 
 #define USE_VCP
-#define VBUS_SENSING_PIN PA9
+#define VBUS_SENSING_PIN        PA9
 
 #define USE_UART1
-#define UART1_RX_PIN PB7
+#define UART1_RX_PIN            PB7
-#define UART1_TX_PIN PB6
+#define UART1_TX_PIN            PB6
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART2
-#define UART2_RX_PIN PD6
+#define UART2_RX_PIN            PD6
-#define UART2_TX_PIN PD5
+#define UART2_TX_PIN            PD5
 
 #define USE_UART3
-#define UART3_RX_PIN PD9
+#define UART3_RX_PIN            PD9
-#define UART3_TX_PIN PD8
+#define UART3_TX_PIN            PD8
 
 #define USE_UART4
-#define UART4_RX_PIN PC11
+#define UART4_RX_PIN            PC11
-#define UART4_TX_PIN PC10
+#define UART4_TX_PIN            PC10
 
 //#define USE_UART5  - error in DMA!!!
-//#define UART5_RX_PIN PD2
+//#define UART5_RX_PIN            PD2
-//#define UART5_TX_PIN PC12
+//#define UART5_TX_PIN            PC12
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
+#define UART6_RX_PIN            PC7
-#define UART6_TX_PIN PC6
+#define UART6_TX_PIN            PC6
 
-
+#define SERIAL_PORT_COUNT       6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
-#define SERIAL_PORT_COUNT    6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
 
 #define USE_SPI
-
 #define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN    PA5
+#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN   PA6
+#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN   PA7
+#define SPI1_MOSI_PIN           PA7
-#define SPI1_NSS_PIN NONE
+#define SPI1_NSS_PIN            NONE
 
 #define USE_SPI_DEVICE_2
 #define SPI2_NSS_PIN            NONE
@@ -121,24 +120,23 @@
 #define SPI2_MOSI_PIN           PB15
 
 #define USE_SPI_DEVICE_3
-#define SPI3_NSS_PIN         PA15
+#define SPI3_NSS_PIN            PA15
-#define SPI3_SCK_PIN         PB3
+#define SPI3_SCK_PIN            PB3
-#define SPI3_MISO_PIN        PB4
+#define SPI3_MISO_PIN           PB4
-#define SPI3_MOSI_PIN        PB5
+#define SPI3_MOSI_PIN           PB5
-
 
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define I2C_DEVICE              (I2CDEV_2)
 #define USE_I2C_PULLUP
-#define I2C2_SCL PB10 
+#define I2C2_SCL                PB10
-#define I2C2_SDA PB11
+#define I2C2_SDA                PB11
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN               PC3
+#define USE_ADC
-#define CURRENT_METER_ADC_PIN      PC2
+#define VBAT_ADC_PIN            PC3
-#define RSSI_ADC_PIN               PC1
+#define CURRENT_METER_ADC_PIN   PC2
+#define RSSI_ADC_PIN            PC1
 
 #define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
@@ -148,15 +146,15 @@
 
 #define SPEKTRUM_BIND
 // UART6, PC7
-#define BIND_PIN             PC7
+#define BIND_PIN                PC7
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD      0xffff
+#define TARGET_IO_PORTD         0xffff
-#define TARGET_IO_PORTE	     0xffff
+#define TARGET_IO_PORTE         0xffff
 
-#define USED_TIMERS  ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+#define USED_TIMERS             ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
 

src/main/target/FURYF3/target.c

@@ -76,7 +76,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
     { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
     { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
- 
+
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP
 };
 

src/main/target/FURYF3/target.h

@@ -21,13 +21,13 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define MPU_INT_EXTI PC4
+#define MPU_INT_EXTI            PC4
 #define USE_EXTI
 #define CONFIG_PREFER_ACC_ON
- 
-#define LED0        PC14
 
-#define BEEPER      PC15
+#define LED0                    PC14
+
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
 #define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
@@ -36,26 +36,25 @@
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
-#define ACC
 
-#define MPU6000_CS_PIN                   PA4
+#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE             SPI1
+#define MPU6000_SPI_INSTANCE    SPI1
-
+#define MPU6500_CS_PIN          PA4
-#define MPU6500_CS_PIN                   PA4
+#define MPU6500_SPI_INSTANCE    SPI1
-#define MPU6500_SPI_INSTANCE             SPI1
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW90_DEG
+#define GYRO_MPU6500_ALIGN      CW90_DEG
 
+#define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW90_DEG
+#define ACC_MPU6500_ALIGN       CW90_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -113,31 +112,31 @@
 #define USE_SOFTSERIAL1
 #define SERIAL_PORT_COUNT 5
 
-#define UART1_TX_PIN        PA9  // PA9
+#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14
+#define UART2_TX_PIN            PA14
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 1
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 2
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
+#define I2C_DEVICE              (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
 
-#define I2C1_SCL_PIN         PB8
+#define I2C1_SCL_PIN            PB8
-#define I2C1_SDA_PIN         PB9
+#define I2C1_SDA_PIN            PB9
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC1
+#define USE_ADC
-#define VBAT_ADC_PIN                PA0
+#define ADC_INSTANCE            ADC1
-#define RSSI_ADC_PIN                PA1
+#define VBAT_ADC_PIN            PA0
-#define CURRENT_METER_ADC_PIN       PA2
+#define RSSI_ADC_PIN            PA1
+#define CURRENT_METER_ADC_PIN   PA2
 
 #define LED_STRIP
 
@@ -150,23 +149,23 @@
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
 #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
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTD         0xffff
-#define TARGET_IO_PORTF (BIT(4))
+#define TARGET_IO_PORTF         (BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
 

src/main/target/FURYF4/target.h

@@ -20,44 +20,45 @@
 #define TARGET_BOARD_IDENTIFIER "FYF4"
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "FuryF4"
+#define USBD_PRODUCT_STRING     "FuryF4"
 
-#define LED0 PB5
+#define LED0                    PB5
-#define LED1 PB4
+#define LED1                    PB4
-#define BEEPER PA8
+
+#define BEEPER                  PA8
 #define BEEPER_INVERTED
 
 #define INVERTER PC0 // PC0 used as inverter select GPIO
 #define INVERTER_USART USART1
 
-#define MPU6000_CS_PIN                   PA4
+#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE             SPI1
+#define MPU6000_SPI_INSTANCE    SPI1
 
-#define MPU6500_CS_PIN                   PA4
+#define MPU6500_CS_PIN          PA4
-#define MPU6500_SPI_INSTANCE             SPI1
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN       CW180_DEG
 
 // MPU6000 interrupts
 #define USE_MPU_DATA_READY_SIGNAL
 #define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PC4
+#define MPU_INT_EXTI            PC4
 #define USE_EXTI
 
 #define BARO
 #define USE_BARO_MS5611
-#define MS5611_I2C_INSTANCE I2CDEV_1
+#define MS5611_I2C_INSTANCE     I2CDEV_1
 
 #define USE_SDCARD
 
@@ -97,29 +98,29 @@
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
-#define M25P16_CS_PIN         PB3
+#define M25P16_CS_PIN           PB3
-#define M25P16_SPI_INSTANCE   SPI3
+#define M25P16_SPI_INSTANCE     SPI3
 
 #define USABLE_TIMER_CHANNEL_COUNT 5
 
 #define USE_VCP
-#define VBUS_SENSING_PIN PC5
+#define VBUS_SENSING_PIN        PC5
 #define VBUS_SENSING_ENABLED
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
+#define UART1_RX_PIN            PA10
-#define UART1_TX_PIN PA9
+#define UART1_TX_PIN            PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART3
-#define UART3_RX_PIN PB11
+#define UART3_RX_PIN            PB11
-#define UART3_TX_PIN PB10
+#define UART3_TX_PIN            PB10
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
+#define UART6_RX_PIN            PC7
-#define UART6_TX_PIN PC6
+#define UART6_TX_PIN            PC6
 
-#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
 
 #define USE_SPI
 
@@ -138,16 +139,16 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)  // PB6-SCL, PB7-SDA
+#define I2C_DEVICE              (I2CDEV_1)  // PB6-SCL, PB7-SDA
 #define USE_I2C_PULLUP
-#define I2C1_SCL             PB6
+#define I2C1_SCL                PB6
-#define I2C1_SDA             PB7
+#define I2C1_SDA                PB7
 
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN                PC1
+#define VBAT_ADC_PIN            PC1
-#define RSSI_ADC_GPIO_PIN           PC2
+#define RSSI_ADC_GPIO_PIN       PC2
-#define CURRENT_METER_ADC_PIN       PC3
+#define CURRENT_METER_ADC_PIN   PC3
 
 #define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
@@ -157,14 +158,14 @@
 
 #define SPEKTRUM_BIND
 // USART3 Rx, PB11
-#define BIND_PIN             PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
 
-#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
 

src/main/target/IRCFUSIONF3/target.h

@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
 #define USABLE_TIMER_CHANNEL_COUNT 17
 
@@ -32,11 +32,11 @@
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_BMP085
@@ -49,17 +49,17 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 3
 
-#define UART1_TX_PIN        PA9  // PA9
+#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
+#define UART2_TX_PIN            PA14
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
@@ -67,16 +67,16 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
+#define USE_ADC
-#define VBAT_ADC_PIN                PA4
+#define ADC_INSTANCE            ADC2
-#define CURRENT_METER_ADC_PIN       PA5
+#define VBAT_ADC_PIN            PA4
-#define RSSI_ADC_PIN                PB2
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN                    PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 /*
@@ -100,11 +100,10 @@
 */
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA     0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB     0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC     (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF     (BIT(0)|BIT(1)|BIT(4))
 
-
+#define USED_TIMERS         (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
 

src/main/target/KISSFC/target.h

@@ -23,51 +23,50 @@
 
 #define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
 
-#define LED0      PB1
+#define LED0                    PB1
-#define BEEPER    PB13
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 12
 
 #define USE_EXTI
-#define MPU_INT_EXTI PB2
+#define MPU_INT_EXTI            PB2
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW180_DEG
+#define ACC_MPU6050_ALIGN       CW180_DEG
-
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART1_TX_PIN        PA9  // PA9
+#define UART2_TX_PIN            PB3
-#define UART1_RX_PIN        PA10 // PA10
+#define UART2_RX_PIN            PB4
 
-#define UART2_TX_PIN        PB3 
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART2_RX_PIN        PB4
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
-
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_ADC
-#define VBAT_SCALE_DEFAULT          160
+#define VBAT_SCALE_DEFAULT      160
-#define ADC_INSTANCE                ADC1
+#define ADC_INSTANCE            ADC1
-#define VBAT_ADC_PIN                PA0
+#define VBAT_ADC_PIN            PA0
-//#define CURRENT_METER_ADC_PIN       PA5
+//#define CURRENT_METER_ADC_PIN   PA5
-//#define RSSI_ADC_PIN                PB2
+//#define RSSI_ADC_PIN            PB2
 
 #define DEFAULT_FEATURES        FEATURE_VBAT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
@@ -75,12 +74,12 @@
 #define SERIALRX_UART           SERIAL_PORT_USART2
 
 #define SPEKTRUM_BIND
-#define BIND_PIN   PB4
+#define BIND_PIN                PB4
 
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTD         0xffff
-#define TARGET_IO_PORTF (BIT(4))
+#define TARGET_IO_PORTF         (BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))

src/main/target/LUX_RACE/target.h

@@ -21,12 +21,12 @@
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PC15
-#define LED1    PC14
-#define LED2    PC13
 
-#define BEEPER      PB13
+#define LED0                    PC15
+#define LED1                    PC14
+#define LED2                    PC13
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
 #define USE_SPI
@@ -47,12 +47,12 @@
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define USB_IO
 
@@ -60,26 +60,26 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PC4
+#define UART1_TX_PIN            PC4
-#define UART1_RX_PIN        PC5
+#define UART1_RX_PIN            PC5
 
-#define UART2_TX_PIN        PA14
+#define UART2_TX_PIN            PA14
-#define UART2_RX_PIN        PA15
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10
+#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN        PB11
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
+#define ADC_INSTANCE            ADC1
-#define VBAT_ADC_PIN                PC0
+#define VBAT_ADC_PIN            PC0
-#define CURRENT_METER_ADC_PIN       PC1
+#define CURRENT_METER_ADC_PIN   PC1
-#define RSSI_ADC_PIN                PC2
+#define RSSI_ADC_PIN            PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define EXTERNAL1_ADC_PIN       PC3
 
 #define LED_STRIP
 #define WS2811_PIN                      PA6 // TIM16_CH1
@@ -97,20 +97,20 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // USART1, PC5
-#define BIND_PIN   PC5
+#define BIND_PIN                PC5
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
 

src/main/target/MOTOLAB/target.h

@@ -21,18 +21,18 @@
 #define USE_CLI
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PB5 // Blue LEDs - PB5
-//#define LED1    PB9 // Green LEDs - PB9
 
-#define BEEPER      PA0
+#define LED0                    PB5 // Blue LEDs - PB5
+//#define LED1                    PB9 // Green LEDs - PB9
+
+#define BEEPER                  PA0
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 9
 
 // MPU6050 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
@@ -41,20 +41,20 @@
 #define ACC
 
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6050
 
-#define ACC_MPU6050_ALIGN CW180_DEG
+#define ACC_MPU6050_ALIGN       CW180_DEG
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
+#define MPU6000_CS_GPIO         GPIOB
-#define MPU6000_CS_PIN PB12
+#define MPU6000_CS_PIN          PB12
-#define MPU6000_SPI_INSTANCE SPI2
+#define MPU6000_SPI_INSTANCE    SPI2
 
 //#define BARO
 //#define USE_BARO_MS5611
@@ -66,42 +66,42 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6 // PB6
+#define UART1_TX_PIN            PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3 // PB3
+#define UART2_TX_PIN            PB3
-#define UART2_RX_PIN        PB4 // PB4
+#define UART2_RX_PIN            PB4
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE      (I2CDEV_2)
+#define I2C_DEVICE              (I2CDEV_2)
-#define I2C2_SCL        PA9
+#define I2C2_SCL                PA9
-#define I2C2_SDA        PA10
+#define I2C2_SDA                PA10
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define M25P16_CS_PIN         PB12
+#define M25P16_CS_PIN           PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define M25P16_SPI_INSTANCE     SPI2
 
-//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
+//#define SENSORS_SET             (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #undef GPS
 #define DISPLAY
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
+#define USE_ADC
-#define VBAT_ADC_PIN                PA5
+#define ADC_INSTANCE            ADC2
-//#define CURRENT_METER_ADC_PIN       PA5
+#define VBAT_ADC_PIN            PA5
-#define RSSI_ADC_PIN                PB2
+//#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #if 1
@@ -135,17 +135,17 @@
 
 #define SPEKTRUM_BIND
 // USART2, PB4
-#define BIND_PIN PB4
+#define BIND_PIN                PB4
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 // #define TARGET_IO_PORTF (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 

src/main/target/NAZE/target.h

@@ -22,19 +22,19 @@
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
-#define LED0    PB3 // PB3 (LED)
+#define LED0                    PB3
-#define LED1    PB4 // PB4 (LED)
+#define LED1                    PB4
 
-#define BEEPER      PA12 // PA12 (Beeper)
+#define BEEPER                  PA12
 #ifdef AFROMINI
 #define BEEPER_INVERTED
 #endif
 
-#define BARO_XCLR_PIN    PC13
+#define BARO_XCLR_PIN           PC13
-#define BARO_EOC_PIN     PC14
+#define BARO_EOC_PIN            PC14
 
-#define INVERTER         PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
-#define INVERTER_USART   USART2
+#define INVERTER_USART          USART2
 
 #define USE_EXTI
 
@@ -47,24 +47,22 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define NAZE_SPI_INSTANCE     SPI2
+#define NAZE_SPI_INSTANCE       SPI2
-#define NAZE_SPI_CS_GPIO      GPIOB
+#define NAZE_SPI_CS_GPIO        GPIOB
-#define NAZE_SPI_CS_PIN       PB12
+#define NAZE_SPI_CS_PIN         PB12
 #define NAZE_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB
 
 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
-#define M25P16_CS_GPIO        NAZE_SPI_CS_GPIO
+#define M25P16_CS_GPIO          NAZE_SPI_CS_GPIO
-#define M25P16_CS_PIN         NAZE_SPI_CS_PIN
+#define M25P16_CS_PIN           NAZE_SPI_CS_PIN
-#define M25P16_SPI_INSTANCE   NAZE_SPI_INSTANCE
+#define M25P16_SPI_INSTANCE     NAZE_SPI_INSTANCE
-
-#define MPU6500_CS_GPIO_CLK_PERIPHERAL   NAZE_CS_GPIO_CLK_PERIPHERAL
-#define MPU6500_CS_GPIO                  NAZE_SPI_CS_GPIO
-#define MPU6500_CS_PIN                   NAZE_SPI_CS_PIN
-#define MPU6500_SPI_INSTANCE             NAZE_SPI_INSTANCE
 
+#define MPU6500_CS_GPIO_CLK_PERIPHERAL  NAZE_CS_GPIO_CLK_PERIPHERAL
+#define MPU6500_CS_GPIO                 NAZE_SPI_CS_GPIO
+#define MPU6500_CS_PIN                  NAZE_SPI_CS_PIN
+#define MPU6500_SPI_INSTANCE            NAZE_SPI_INSTANCE
 
 #define USE_FLASHFS
-
 #define USE_FLASH_M25P16
 
 #define EXTI_CALLBACK_HANDLER_COUNT 3 // MPU data ready, MAG data ready, BMP085 EOC
@@ -75,17 +73,16 @@
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
 #define USE_MAG_DATA_READY_SIGNAL
 #define MAG_INT_EXTI PC14
- 
+
 #define GYRO
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
 
-
+#define GYRO_MPU3050_ALIGN      CW0_DEG
-#define GYRO_MPU3050_ALIGN CW0_DEG
+#define GYRO_MPU6050_ALIGN      CW0_DEG
-#define GYRO_MPU6050_ALIGN CW0_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
-#define GYRO_MPU6500_ALIGN CW0_DEG
 
 #define ACC
 #define USE_ACC_ADXL345
@@ -95,11 +92,11 @@
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_ADXL345_ALIGN CW270_DEG
+#define ACC_ADXL345_ALIGN       CW270_DEG
-#define ACC_MPU6050_ALIGN CW0_DEG
+#define ACC_MPU6050_ALIGN       CW0_DEG
-#define ACC_MMA8452_ALIGN CW90_DEG
+#define ACC_MMA8452_ALIGN       CW90_DEG
-#define ACC_BMA280_ALIGN CW0_DEG
+#define ACC_BMA280_ALIGN        CW0_DEG
-#define ACC_MPU6500_ALIGN CW0_DEG
+#define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -108,8 +105,7 @@
 
 #define MAG
 #define USE_MAG_HMC5883
-
+#define MAG_HMC5883_ALIGN       CW180_DEG
-#define MAG_HMC5883_ALIGN CW180_DEG
 
 #define SONAR
 #define SONAR_TRIGGER_PIN       PB0
@@ -124,7 +120,7 @@
 #define USE_UART3
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
 #define SOFTSERIAL_1_TIMER TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
@@ -134,8 +130,8 @@
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
 // USART3 only on NAZE32_SP - Flex Port
-#define UART3_RX_PIN PB11
+#define UART3_RX_PIN            PB11
-#define UART3_TX_PIN PB10
+#define UART3_TX_PIN            PB10
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
@@ -145,23 +141,23 @@
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
+#define CURRENT_METER_ADC_PIN   PB1
-#define VBAT_ADC_PIN                PA4
+#define VBAT_ADC_PIN            PA4
-#define RSSI_ADC_PIN                PA1
+#define RSSI_ADC_PIN            PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define EXTERNAL1_ADC_PIN       PA5
 
 
 #define LED_STRIP
-#define WS2811_TIMER                 TIM3
+#define WS2811_TIMER                    TIM3
-#define WS2811_PIN                   PA6 
+#define WS2811_PIN                      PA6
-#define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
 
 #undef GPS
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
@@ -186,8 +182,8 @@
 #endif // ALIENFLIGHTF1
 
 // IO - assuming all IOs on 48pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) )
+#define TARGET_IO_PORTC         ( BIT(13) | BIT(14) | BIT(15) )
 
-#define USED_TIMERS     ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )

src/main/target/OLIMEXINO/target.h

@@ -23,12 +23,12 @@
 //#define OLIMEXINO_UNCUT_LED2_E_JUMPER
 
 #ifdef OLIMEXINO_UNCUT_LED1_E_JUMPER
-#define LED0    PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
+#define LED0                    PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
 #endif
 
 #ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
 // "LED2" is using one of the PWM pins (CH2/PWM2), so we must not use PWM2 unless the jumper is cut.  @See pwmInit()
-#define LED1    PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
+#define LED1                    PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
 #endif
 
 #define GYRO
@@ -59,14 +59,14 @@
 #define USE_MAG_HMC5883
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
+#define SONAR_ECHO_PIN          PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_TRIGGER_PIN       PB0
 
 #define USE_UART1
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
 #define SOFTSERIAL_1_TIMER TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
@@ -79,17 +79,16 @@
 #define I2C_DEVICE (I2CDEV_2)
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
+#define CURRENT_METER_ADC_PIN   PB1
-#define VBAT_ADC_PIN                PA4
+#define VBAT_ADC_PIN            PA4
-#define RSSI_ADC_PIN                PA1
+#define RSSI_ADC_PIN            PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define EXTERNAL1_ADC_PIN       PA5
 
 
 // IO - assuming all IOs on smt32f103rb LQFP64 package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTD         (BIT(2))
 
-
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))

src/main/target/OMNIBUS/target.h

@@ -21,9 +21,9 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
-#define BEEPER    PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 10 // 6 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
@@ -35,19 +35,19 @@
 #define MPU_INT_EXTI PC13
 #define USE_EXTI
 
-#define MPU6000_SPI_INSTANCE             SPI1
+#define MPU6000_SPI_INSTANCE    SPI1
-#define MPU6000_CS_PIN                   PA4
+#define MPU6000_CS_PIN          PA4
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW90_DEG
+#define GYRO_MPU6000_ALIGN      CW90_DEG
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW90_DEG
+#define ACC_MPU6000_ALIGN       CW90_DEG
 
-#define BMP280_SPI_INSTANCE              SPI1
+#define BMP280_SPI_INSTANCE     SPI1
-#define BMP280_CS_PIN                    PA13
+#define BMP280_CS_PIN           PA13
 
 #define BARO
 #define USE_BARO_BMP280
@@ -60,13 +60,12 @@
 //#define MAG_AK8975_ALIGN CW90_DEG_FLIP
 
 //#define SONAR
-//#define SONAR_ECHO_PIN      PB1
+//#define SONAR_ECHO_PIN          PB1
-//#define SONAR_TRIGGER_PIN   PB0
+//#define SONAR_TRIGGER_PIN       PB0
 
 #define USB_IO
 #define USB_CABLE_DETECTION
-
+#define USB_DETECT_PIN          PB5
-#define USB_DETECT_PIN                   PB5
 
 #define USE_VCP
 #define USE_UART1
@@ -74,14 +73,14 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 4
 
-#define UART1_TX_PIN        PA9  // PA9
+#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 //#define USE_I2C
 //#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
@@ -100,8 +99,8 @@
 #define OSD
 // include the max7456 driver
 #define USE_MAX7456
-#define MAX7456_SPI_INSTANCE              SPI1
+#define MAX7456_SPI_INSTANCE    SPI1
-#define MAX7456_SPI_CS_PIN                PB1
+#define MAX7456_SPI_CS_PIN      PB1
 //#define MAX7456_DMA_CHANNEL_TX            DMA1_Channel3
 //#define MAX7456_DMA_CHANNEL_RX            DMA1_Channel2
 //#define MAX7456_DMA_IRQ_HANDLER_ID        DMA1_CH3_HANDLER
@@ -169,27 +168,28 @@
 #define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+
-#define DEFAULT_FEATURES   (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
 
 #define BUTTONS
-#define BUTTON_A_PORT  GPIOB
+#define BUTTON_A_PORT           GPIOB
-#define BUTTON_A_PIN   Pin_1
+#define BUTTON_A_PIN            Pin_1
-#define BUTTON_B_PORT  GPIOB
+#define BUTTON_B_PORT           GPIOB
-#define BUTTON_B_PIN   Pin_0
+#define BUTTON_B_PIN            Pin_0
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define HARDWARE_BIND_PLUG
-#define BINDPLUG_PIN   PB0
+#define BINDPLUG_PIN            PB0
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))

src/main/target/OMNIBUSF4/target.c

@@ -93,7 +93,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S4_IN
     { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S5_IN
     { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S6_IN
- 
+
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S1_OUT
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S2_OUT
     { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM9 }, // S3_OUT
@@ -101,5 +101,3 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
     { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S6_OUT
 };
-
-

src/main/target/PIKOBLX/target.h

@@ -22,63 +22,63 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0 PB9
+#define LED0                    PB9
-#define LED1 PB5
+#define LED1                    PB5
 
-#define BEEPER      PA0
+#define BEEPER                  PA0
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 9
 
 // MPU6000 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO
-#define ACC
-
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
-#define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
+#define ACC
-#define MPU6000_CS_PIN PB12
+#define USE_ACC_SPI_MPU6000
-#define MPU6000_SPI_INSTANCE SPI2
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+#define MPU6000_CS_GPIO         GPIOB
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6 // PB6
+#define UART1_TX_PIN            PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3 // PB3
+#define UART2_TX_PIN            PB3
-#define UART2_RX_PIN        PB4 // PB4
+#define UART2_RX_PIN            PB4
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #define TELEMETRY
 #define BLACKBOX
 #define SERIAL_RX
 #define USE_SERVOS
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
+#define USE_ADC
-#define CURRENT_METER_ADC_PIN       PA2
+#define ADC_INSTANCE            ADC2
-#define VBAT_ADC_PIN                PA5
+#define CURRENT_METER_ADC_PIN   PA2
-#define RSSI_ADC_PIN                PB2
+#define VBAT_ADC_PIN            PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #if 1
@@ -124,16 +124,17 @@
 
 #define SPEKTRUM_BIND
 // USART3, PB11
-#define BIND_PIN PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
-// #define TARGET_IO_PORTF (BIT(0)|BIT(1))
+// #define TARGET_IO_PORTF        (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))

src/main/target/PORT103R/target.h

@@ -19,36 +19,36 @@
 
 #define TARGET_BOARD_IDENTIFIER "103R"
 
-#define LED0    PB3 // PB3 (LED)
+#define LED0                    PB3
-#define LED1    PB4 // PB4 (LED)
+#define LED1                    PB4
-#define LED2    PD2 // PD2 (LED) - Labelled LED4
+#define LED2                    PD2 // PD2 (LED) - Labelled LED4
 
-#define BEEPER      PA12 // PA12 (Beeper)
+#define BEEPER                  PA12 // PA12 (Beeper)
 
-#define BARO_XCLR_GPIO   GPIOC
+#define BARO_XCLR_GPIO          GPIOC
-#define BARO_XCLR_PIN    PC13
+#define BARO_XCLR_PIN           PC13
-#define BARO_EOC_GPIO    GPIOC
+#define BARO_EOC_GPIO           GPIOC
-#define BARO_EOC_PIN     PC14
+#define BARO_EOC_PIN            PC14
-#define BARO_APB2_PERIPHERALS RCC_APB2Periph_GPIOC
+#define BARO_APB2_PERIPHERALS   RCC_APB2Periph_GPIOC
 
-#define INVERTER    PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
-#define INVERTER_USART USART2
+#define INVERTER_USART          USART2
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define PORT103R_SPI_INSTANCE     SPI2
+#define PORT103R_SPI_INSTANCE   SPI2
-#define PORT103R_SPI_CS_PIN       PB12
+#define PORT103R_SPI_CS_PIN     PB12
 
 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
-#define M25P16_CS_PIN         PORT103R_SPI_CS_PIN
+#define M25P16_CS_PIN           PORT103R_SPI_CS_PIN
-#define M25P16_SPI_INSTANCE   PORT103R_SPI_INSTANCE
+#define M25P16_SPI_INSTANCE     PORT103R_SPI_INSTANCE
 
-#define MPU6000_CS_PIN        PORT103R_SPI_CS_PIN
+#define MPU6000_CS_PIN          PORT103R_SPI_CS_PIN
-#define MPU6000_SPI_INSTANCE  PORT103R_SPI_INSTANCE
+#define MPU6000_SPI_INSTANCE    PORT103R_SPI_INSTANCE
 
-#define MPU6500_CS_PIN        PORT103R_SPI_CS_PIN
+#define MPU6500_CS_PIN          PORT103R_SPI_CS_PIN
-#define MPU6500_SPI_INSTANCE  PORT103R_SPI_INSTANCE
+#define MPU6500_SPI_INSTANCE    PORT103R_SPI_INSTANCE
 
 #define GYRO
 #define USE_FAKE_GYRO
@@ -93,37 +93,35 @@
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER      TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define I2C_DEVICE              (I2CDEV_2)
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
+#define CURRENT_METER_ADC_PIN   PB1
-#define VBAT_ADC_PIN                PA4
+#define VBAT_ADC_PIN            PA4
-#define RSSI_ADC_PIN                PA1
+#define RSSI_ADC_PIN            PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define EXTERNAL1_ADC_PIN       PA5
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f103RCT6 in 64pin package
-#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
+#define TARGET_IO_PORTD         (BIT(0)|BIT(1)|BIT(2))
-
 
 #define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
 
-