Rebased on to master

src/main/blackbox/blackbox.c

@@ -36,6 +36,7 @@
 #include "drivers/sensor.h"
 #include "drivers/compass.h"
 #include "drivers/system.h"
+#include "drivers/pwm_output.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
@@ -895,7 +896,17 @@ void stopInTestMode(void)
  */
 bool inMotorTestMode(void) {
     static uint32_t resetTime = 0;
-    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.motorConfig.mincommand);
+    uint16_t inactiveMotorCommand;
+    if (feature(FEATURE_3D)) {
+       inactiveMotorCommand = masterConfig.flight3DConfig.neutral3d;
+#ifdef USE_DSHOT
+    } else if (isMotorProtocolDshot()) {
+       inactiveMotorCommand = DSHOT_DISARM_COMMAND;
+#endif
+    } else {
+       inactiveMotorCommand = masterConfig.motorConfig.mincommand;
+    }
+
     int i;
     bool atLeastOneMotorActivated = false;
 

src/main/build/build_config.c

@@ -20,8 +20,4 @@
 
 #include "platform.h"
 
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
-#include "flight/mixer.h"
-
 #include "build_config.h"

src/main/config/config_eeprom.c

@@ -76,7 +76,7 @@
 #if defined(STM32F40_41xxx)
 #define FLASH_PAGE_COUNT 4 // just to make calculations work
 #elif defined (STM32F411xE)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#define FLASH_PAGE_COUNT 3  // just to make calculations work
 #elif defined (STM32F745xx)
 #define FLASH_PAGE_COUNT 4 // just to make calculations work
 #else

src/main/drivers/compass.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "sensor.h"
+
 typedef struct mag_s {
     sensorInitFuncPtr init;                                 // initialize function
     sensorReadFuncPtr read;                                 // read 3 axis data function

src/main/drivers/serial_uart_stm32f30x.c

@@ -158,7 +158,9 @@ uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t option
 #ifdef USE_UART1_RX_DMA
     s->rxDMAChannel = DMA1_Channel5;
 #endif
+#ifdef USE_UART1_TX_DMA
     s->txDMAChannel = DMA1_Channel4;
+#endif
 
     s->USARTx = USART1;
 

src/main/fc/config.c

@@ -382,11 +382,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
 
     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
-#ifdef USE_VCP
-        serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_500000;
-#else
         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
-#endif
         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
         serialConfig->portConfigs[index].telemetry_baudrateIndex = BAUD_AUTO;
         serialConfig->portConfigs[index].blackbox_baudrateIndex = BAUD_115200;

src/main/fc/fc_msp.c

@@ -35,18 +35,13 @@
 #include "common/streambuf.h"
 
 #include "drivers/system.h"
-#include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
 #include "drivers/serial.h"
 #include "drivers/bus_i2c.h"
 #include "drivers/io.h"
 #include "drivers/flash.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
-#include "drivers/pwm_rx.h"
 #include "drivers/sdcard.h"
-#include "drivers/buf_writer.h"
 #include "drivers/max7456.h"
 #include "drivers/vtx_soft_spi_rtc6705.h"
 #include "drivers/pwm_output.h"
@@ -651,10 +646,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
                 sbufWriteU16(dst, 0);
                 continue;
             }
-            if (isMotorProtocolDshot())
+
-                sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
+            sbufWriteU16(dst, convertMotorToExternal(motor[i]));
-            else
-                sbufWriteU16(dst, motor[i]);
         }
         break;
     case MSP_RC:
@@ -1323,8 +1316,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src);  // vbatlevel when buzzer starts to alert
         break;
     case MSP_SET_MOTOR:
-        for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
+        for (i = 0; i < 8; i++) { // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
-            motor_disarmed[i] = sbufReadU16(src);
+            motor_disarmed[i] = convertExternalToMotor(sbufReadU16(src));
+        }
         break;
     case MSP_SET_SERVO_CONFIGURATION:
 #ifdef USE_SERVOS

src/main/fc/mw.c

@@ -29,13 +29,8 @@
 #include "common/utils.h"
 #include "common/filter.h"
 
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "drivers/compass.h"
 #include "drivers/light_led.h"
 #include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/timer.h"
 #include "drivers/gyro_sync.h"
 
 #include "sensors/sensors.h"

src/main/fc/rc_controls.c

@@ -23,6 +23,8 @@
 
 #include "platform.h"
 
+#include "blackbox/blackbox.h"
+
 #include "build/build_config.h"
 
 #include "common/axis.h"
@@ -30,14 +32,21 @@
 
 #include "config/feature.h"
 
+#include "drivers/system.h"
+
 #include "fc/config.h"
+#include "fc/mw.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
-#include "drivers/system.h"
+#include "io/cms.h"
-#include "drivers/sensor.h"
+
-#include "drivers/accgyro.h"
+#include "io/gps.h"
+#include "io/beeper.h"
+#include "io/motors.h"
+#include "io/vtx.h"
+#include "io/display.h"
 
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
@@ -47,22 +56,10 @@
 
 #include "rx/rx.h"
 
-#include "io/cms.h"
-
-#include "io/gps.h"
-#include "io/beeper.h"
-#include "io/motors.h"
-#include "io/vtx.h"
-
-#include "io/display.h"
-
 #include "flight/pid.h"
 #include "flight/navigation.h"
 #include "flight/failsafe.h"
 
-#include "blackbox/blackbox.h"
-
-#include "fc/mw.h"
 
 static motorConfig_t *motorConfig;
 static pidProfile_t *pidProfile;

src/main/flight/altitudehold.c

@@ -28,12 +28,6 @@
 #include "common/maths.h"
 #include "common/axis.h"
 
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "drivers/sonar_hcsr04.h"
-
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/sonar.h"
 
@@ -42,7 +36,6 @@
 #include "fc/rc_controls.h"
 #include "io/motors.h"
 
-#include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
 

src/main/flight/imu.c

@@ -31,9 +31,6 @@
 #include "common/axis.h"
 
 #include "drivers/system.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "drivers/compass.h"
 
 #include "sensors/sensors.h"
 #include "sensors/gyro.h"

src/main/flight/mixer.c

@@ -47,6 +47,13 @@
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"
+#include "config/config_master.h"
+
+#define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
+// (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
+#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977
+#define EXTERNAL_CONVERSION_MIN_VALUE 1000
+#define EXTERNAL_CONVERSION_MAX_VALUE 2000
 
 uint8_t motorCount;
 
@@ -234,21 +241,26 @@ static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, d
 static float rcCommandThrottleRange;
 
 bool isMotorProtocolDshot(void) {
+#ifdef USE_DSHOT
     if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
         return true;
     else
+#endif
         return false;
 }
 
 // Add here scaled ESC outputs for digital protol
 void initEscEndpoints(void) {
+#ifdef USE_DSHOT
     if (isMotorProtocolDshot()) {
         disarmMotorOutput = DSHOT_DISARM_COMMAND;
         minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
         maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
-        deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH;
+	    deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
-        deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
+	    deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE;  // TODO - Not working yet !! Mixer requires some throttle rescaling changes
-    } else {
+    } else
+#endif
+    {
         disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig->neutral3d : motorConfig->mincommand;
         minMotorOutputNormal = motorConfig->minthrottle;
         maxMotorOutputNormal = motorConfig->maxthrottle;
@@ -359,7 +371,7 @@ void mixerResetDisarmedMotors(void)
     int i;
     // set disarmed motor values
     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
-        motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand;
+        motor_disarmed[i] = disarmMotorOutput;
 }
 
 void writeMotors(void)
@@ -373,7 +385,7 @@ void writeMotors(void)
     }
 }
 
-void writeAllMotors(int16_t mc)
+static void writeAllMotors(int16_t mc)
 {
     // Sends commands to all motors
     for (uint8_t i = 0; i < motorCount; i++) {
@@ -385,7 +397,7 @@ void writeAllMotors(int16_t mc)
 
 void stopMotors(void)
 {
-    writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand);
+    writeAllMotors(disarmMotorOutput);
 
     delay(50); // give the timers and ESCs a chance to react.
 }
@@ -511,14 +523,31 @@ void mixTable(pidProfile_t *pidProfile)
     // Disarmed mode
     if (!ARMING_FLAG(ARMED)) {
         for (i = 0; i < motorCount; i++) {
-            if (isMotorProtocolDshot()) {
+            motor[i] = motor_disarmed[i];
-                motor[i] = (motor_disarmed[i] < motorOutputMin) ? disarmMotorOutput : motor_disarmed[i]; // Prevent getting into special reserved range
-
-                if (motor_disarmed[i] != disarmMotorOutput)
-                    motor[i] = (motor_disarmed[i] - 1000) * 2; // TODO - Perhaps needs rescaling as it will never reach 2047 during motor tests
-            } else {
-                motor[i] = motor_disarmed[i];
-            }
         }
     }
 }
+
+uint16_t convertExternalToMotor(uint16_t externalValue)
+{
+    uint16_t motorValue = externalValue;
+#ifdef USE_DSHOT
+    if (isMotorProtocolDshot()) {
+        motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
+    }
+#endif
+
+    return motorValue;
+}
+
+uint16_t convertMotorToExternal(uint16_t motorValue)
+{
+    uint16_t externalValue = motorValue;
+#ifdef USE_DSHOT
+    if (isMotorProtocolDshot()) {
+        externalValue = motorValue < DSHOT_MIN_THROTTLE ? EXTERNAL_CONVERSION_MIN_VALUE : constrain((motorValue / EXTERNAL_DSHOT_CONVERSION_FACTOR) + EXTERNAL_DSHOT_CONVERSION_OFFSET, EXTERNAL_CONVERSION_MIN_VALUE + 1, EXTERNAL_CONVERSION_MAX_VALUE);
+    }
+#endif
+
+    return externalValue;
+}

src/main/flight/mixer.h

@@ -21,12 +21,30 @@
 
 #define QUAD_MOTOR_COUNT 4
 
+/*
+  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
+  0 = stop
+  1-5: beep
+  6: ESC info request (FW Version and SN sent over the tlm wire)
+  7: spin direction 1
+  8: spin direction 2
+  9: 3d mode off
+  10: 3d mode on
+  11: ESC settings request (saved settings over the TLM wire)
+  12: save Settings
+
+  3D Mode:
+  0 = stop
+  48   (low) - 1047 (high) -> positive direction
+  1048 (low) - 2047 (high) -> negative direction
+*/
+
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
 #define DSHOT_MAX_THROTTLE     2047
-#define DSHOT_3D_DEADBAND_LOW   900  // TODO - not agreed yet
+#define DSHOT_3D_MAX_POSITIVE  1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
-#define DSHOT_3D_DEADBAND_HIGH 1100  // TODO - not agreed yet
+#define DSHOT_3D_MIN_NEGATIVE  1048//  TODO - Not working yet!! Mixer requires some throttle rescaling changes
 
 // Note: this is called MultiType/MULTITYPE_* in baseflight.
 typedef enum mixerMode
@@ -104,7 +122,6 @@ void mixerUseConfigs(
         airplaneConfig_t *airplaneConfigToUse,
         struct rxConfig_s *rxConfigToUse);
 
-void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 
@@ -117,4 +134,7 @@ void syncMotors(bool enabled);
 void writeMotors(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);
+
 bool isMotorProtocolDshot(void);
+uint16_t convertExternalToMotor(uint16_t externalValue);
+uint16_t convertMotorToExternal(uint16_t motorValue);

src/main/flight/navigation.c

@@ -30,12 +30,6 @@
 #include "common/axis.h"
 
 #include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
-#include "drivers/gpio.h"
-#include "drivers/light_led.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"

src/main/flight/pid.c

@@ -28,24 +28,20 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
-#include "drivers/sensor.h"
-
-#include "drivers/accgyro.h"
-#include "sensors/sensors.h"
-#include "sensors/gyro.h"
-#include "sensors/acceleration.h"
-
-#include "rx/rx.h"
-
 #include "fc/rc_controls.h"
-#include "io/gps.h"
+#include "fc/runtime_config.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/navigation.h"
 #include "flight/gtune.h"
 
-#include "fc/runtime_config.h"
+#include "io/gps.h"
+
+#include "rx/rx.h"
+
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
 
 extern float rcInput[3];
 extern float setpointRate[3];

src/main/io/beeper.c

@@ -23,14 +23,11 @@
 
 #include "common/utils.h"
 
-#include "drivers/gpio.h"
 #include "drivers/sound_beeper.h"
 #include "drivers/system.h"
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 
-#include "fc/rc_controls.h"
-
 #include "io/statusindicator.h"
 #include "io/vtx.h"
 

src/main/io/display.c

@@ -28,12 +28,8 @@
 
 #include "build/build_config.h"
 
-#include "drivers/serial.h"
 #include "drivers/system.h"
 #include "drivers/display_ug2864hsweg01.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "drivers/compass.h"
 
 #include "common/printf.h"
 #include "common/maths.h"

src/main/io/gps.c

@@ -34,9 +34,6 @@
 #include "common/utils.h"
 
 #include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
-#include "drivers/gpio.h"
 #include "drivers/light_led.h"
 
 #include "sensors/sensors.h"

src/main/io/serial_cli.c

@@ -48,7 +48,6 @@ uint8_t cliMode = 0;
 #include "drivers/serial.h"
 #include "drivers/bus_i2c.h"
 #include "drivers/flash.h"
-#include "drivers/gpio.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 #include "drivers/timer.h"
@@ -3097,11 +3096,11 @@ static void cliMotor(char *cmdline)
             cliShowArgumentRangeError("value", 1000, 2000);
             return;
         } else {
-            motor_disarmed[motor_index] = motor_value;
+            motor_disarmed[motor_index] = convertExternalToMotor(motor_value);
         }
     }
 
-    cliPrintf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
+    cliPrintf("motor %d: %d\r\n", motor_index, convertMotorToExternal(motor_disarmed[motor_index]));
 }
 
 static void cliPlaySound(char *cmdline)

src/main/io/statusindicator.c

@@ -21,9 +21,7 @@
 #include "platform.h"
 
 #include "drivers/system.h"
-#include "drivers/gpio.h"
 #include "drivers/light_led.h"
-#include "drivers/sound_beeper.h"
 
 #include "statusindicator.h"
 

src/main/msp/msp_serial.c

@@ -24,8 +24,6 @@
 #include "common/streambuf.h"
 #include "common/utils.h"
 
-#include "drivers/serial.h"
-
 #include "io/serial.h"
 
 #include "msp/msp.h"

src/main/rx/msp.c

@@ -24,10 +24,6 @@
 
 #include "common/utils.h"
 
-#include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
-
 #include "rx/rx.h"
 #include "rx/msp.h"
 

src/main/rx/pwm.c

@@ -27,7 +27,6 @@
 
 #include "build/build_config.h"
 
-#include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 
 #include "fc/config.h"

src/main/rx/rx.c

@@ -30,10 +30,7 @@
 
 #include "config/feature.h"
 
-#include "drivers/serial.h"
 #include "drivers/adc.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/rx_spi.h"
 #include "drivers/system.h"

src/main/rx/sbus.c

@@ -27,11 +27,6 @@
 
 #include "drivers/system.h"
 
-#include "drivers/gpio.h"
-#include "drivers/inverter.h"
-
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 #include "io/serial.h"
 
 #ifdef TELEMETRY

src/main/rx/spektrum.c

@@ -29,8 +29,6 @@
 #include "drivers/io_impl.h"
 #include "drivers/system.h"
 #include "drivers/light_led.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 
 #include "io/serial.h"
 

src/main/rx/sumd.c

@@ -26,8 +26,6 @@
 #include "common/utils.h"
 
 #include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 
 #include "io/serial.h"
 

src/main/rx/sumh.c

@@ -33,8 +33,6 @@
 
 #include "drivers/system.h"
 
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 #include "io/serial.h"
 
 #ifdef TELEMETRY

src/main/rx/xbus.c

@@ -25,8 +25,6 @@
 
 #include "drivers/system.h"
 
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 #include "io/serial.h"
 
 #ifdef TELEMETRY

src/main/sensors/acceleration.c

@@ -26,8 +26,6 @@
 #include "common/axis.h"
 #include "common/filter.h"
 
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
 #include "drivers/system.h"
 
 #include "fc/config.h"

src/main/sensors/compass.c

@@ -22,9 +22,6 @@
 
 #include "common/axis.h"
 
-#include "drivers/sensor.h"
-#include "drivers/compass.h"
-#include "drivers/compass_hmc5883l.h"
 #include "drivers/light_led.h"
 
 #include "fc/config.h"

src/main/sensors/compass.h

@@ -17,6 +17,9 @@
 
 #pragma once
 
+#include "drivers/compass.h"
+
+
 // Type of magnetometer used/detected
 typedef enum {
     MAG_DEFAULT = 0,

src/main/sensors/gyro.c

@@ -27,9 +27,7 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
-#include "drivers/sensor.h"
 #include "drivers/system.h"
-#include "drivers/accgyro.h"
 
 #include "io/beeper.h"
 #include "io/statusindicator.h"

src/main/sensors/sonar.c

@@ -28,10 +28,6 @@
 #include "common/maths.h"
 #include "common/axis.h"
 
-#include "drivers/sonar_hcsr04.h"
-#include "drivers/io.h"
-
-#include "fc/config.h"
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"

src/main/target/BETAFLIGHTF3/target.c

@@ -14,26 +14,27 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
- //Target code By Hector "Hectech FPV" Hind
+ //Target code By BorisB and Hector "Hectech FPV" Hind
 
 #include <stdint.h>
 
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM3,  IO_TAG(PB7),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM3,  IO_TAG(PB7),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // RC_CH1 - PA0  - *TIM2_CH1
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel7, DMA1_CH7_HANDLER }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM3 - PB8
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, DMA1_Channel1, DMA1_CH1_HANDLER }, // PWM3 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - PB9
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, DMA1_Channel4, DMA1_CH4_HANDLER }, // PWM4 - PB9
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5 - PA1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PWM5 - PA1
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PA0
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // PWM6 - PA0
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, NULL, 0 }, // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, NULL, 0 }, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, NULL, 0 }, // GPIO_TIMER / LED_STRIP
 };
 

src/main/target/BETAFLIGHTF3/target.h

@@ -14,28 +14,22 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
- //Target code By Hector "Hectech FPV" Hind
+ //Target code By BorisB and Hector "Hectech FPV" Hind
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "BFFC"
+#define TARGET_BOARD_IDENTIFIER "BFF3"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-
-//#define LED0                    PC14
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USABLE_TIMER_CHANNEL_COUNT 10
 
-#define USE_MAG_DATA_READY_SIGNAL
+#define MPU6000_CS_PIN          PA15
-#define ENSURE_MAG_DATA_READY_IS_HIGH
-
-#define MPU6000_CS_PIN          PC13
 #define MPU6000_SPI_INSTANCE    SPI1
 
-
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW180_DEG
@@ -46,14 +40,18 @@
 
 // MPU6000 interrupts
 #define USE_MPU_DATA_READY_SIGNAL
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define EXTI_CALLBACK_HANDLER_COUNT 1
 #define MPU_INT_EXTI                PC13
 #define USE_EXTI
 
-#define USB_IO
+#define USE_DSHOT
 
-//#define USE_FLASHFS
+// UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
-//#define USE_FLASH_M25P16
+#if defined(USE_UART1_TX_DMA) && defined(USE_DSHOT)
+#undef USE_UART1_TX_DMA
+#endif
+
+#define USB_IO
 
 #define USE_VCP
 #define USE_UART1
@@ -109,7 +107,6 @@
 
 #define SDCARD_DETECT_PIN                   PC14
 #define SDCARD_SPI_INSTANCE                 SPI2
-//#define SDCARD_SPI_CS_GPIO                  SPI2_GPIO
 #define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
 
 #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
@@ -117,9 +114,6 @@
 
 #define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
 #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
-//#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
-//#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
-
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_ADC

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -1141,7 +1141,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
             break;
         case BST_SET_MOTOR:
             for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
-                motor_disarmed[i] = bstRead16();
+                motor_disarmed[i] = convertExternalToMotor(bstRead16());
             break;
         case BST_SET_SERVO_CONFIGURATION:
 #ifdef USE_SERVOS

src/main/target/NAZE/config.c

@@ -46,6 +46,7 @@ void targetConfiguration(master_t *config)
     config->gyro_lpf = 1;
     config->gyro_soft_lpf_hz = 100;
     config->gyro_soft_notch_hz_1 = 0;
+    config->gyro_soft_notch_hz_2 = 0;
 
     /*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
         config->rxConfig.channelRanges[channel].min = 1180;
@@ -53,12 +54,12 @@ void targetConfiguration(master_t *config)
     }*/
 
     for (int profileId = 0; profileId < 2; profileId++) {
-        config->profile[profileId].pidProfile.P8[ROLL] = 55;
+        config->profile[profileId].pidProfile.P8[ROLL] = 70;
-        config->profile[profileId].pidProfile.I8[ROLL] = 50;
+        config->profile[profileId].pidProfile.I8[ROLL] = 70;
-        config->profile[profileId].pidProfile.D8[ROLL] = 25;
+        config->profile[profileId].pidProfile.D8[ROLL] = 30;
-        config->profile[profileId].pidProfile.P8[PITCH] = 65;
+        config->profile[profileId].pidProfile.P8[PITCH] = 80;
-        config->profile[profileId].pidProfile.I8[PITCH] = 60;
+        config->profile[profileId].pidProfile.I8[PITCH] = 80;
-        config->profile[profileId].pidProfile.D8[PITCH] = 28;
+        config->profile[profileId].pidProfile.D8[PITCH] = 30;
         config->profile[profileId].pidProfile.P8[YAW] = 180;
         config->profile[profileId].pidProfile.I8[YAW] = 45;
         config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50;
@@ -66,12 +67,14 @@ void targetConfiguration(master_t *config)
         config->profile[profileId].pidProfile.levelSensitivity = 1.0f;
 
         for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
-            config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 110;
+            config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;
             config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 110;
+            config->profile[profileId].controlRateProfile[rateProfileId].rcExpo8 = 20;
             config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 80;
             config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 80;
             config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 80;
 
+            config->profile[profileId].pidProfile.dtermSetpointWeight = 254;
             config->profile[profileId].pidProfile.setpointRelaxRatio = 100;
         }
     }

src/main/target/OMNIBUSF4/target.h

@@ -66,9 +66,9 @@
 #define MAX7456_SPI_INSTANCE    SPI3
 #define MAX7456_SPI_CS_PIN      PA15
 
-#define MAX7456_DMA_CHANNEL_TX              DMA1_Stream5
+//#define MAX7456_DMA_CHANNEL_TX              DMA1_Stream5
-#define MAX7456_DMA_CHANNEL_RX              DMA1_Stream0
+//#define MAX7456_DMA_CHANNEL_RX              DMA1_Stream0
-#define MAX7456_DMA_IRQ_HANDLER_ID          DMA1_ST0_HANDLER
+//#define MAX7456_DMA_IRQ_HANDLER_ID          DMA1_ST0_HANDLER
 
 //#define PITOT
 //#define USE_PITOT_MS4525

src/main/target/SPRACINGF3/target.c

@@ -21,27 +21,28 @@
 #include "drivers/io.h"
 
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // RC_CH1 - PA0  - *TIM2_CH1
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
     // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1, NULL, 0 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
-    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel3, DMA1_CH3_HANDLER }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1, DMA1_Channel7, DMA1_CH7_HANDLER }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, DMA1_Channel1, DMA1_CH1_HANDLER },// PWM3 - PA11
-    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10, DMA1_Channel4, DMA1_CH4_HANDLER },// PWM4 - PA12
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // PWM5 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2, NULL, 0 }, // PWM6 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, NULL, 0 }, // PWM7 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9, NULL, 0 }, // PWM8 - PA3
 
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6, NULL, 0 }, // GPIO_TIMER / LED_STRIP
 };
 

src/main/target/SPRACINGF3/target.h

@@ -102,6 +102,13 @@
 #define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2
 
+#define USE_DSHOT
+
+// UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
+#if defined(USE_UART1_TX_DMA) && defined(USE_DSHOT)
+#undef USE_UART1_TX_DMA
+#endif
+
 #define LED_STRIP
 
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2

src/main/target/common.h

@@ -40,6 +40,7 @@
 #ifdef STM32F1
 // Using RX DMA disables the use of receive callbacks
 #define USE_UART1_RX_DMA
+#define USE_UART1_TX_DMA
 
 #endif
 

src/main/target/system_stm32f4xx.c

@@ -346,21 +346,6 @@ uint32_t hse_value = HSE_VALUE;
 /* #define DATA_IN_ExtSDRAM */
 #endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */
 
-#if defined(STM32F410xx) || defined(STM32F411xE)
-/*!< Uncomment the following line if you need to clock the STM32F410xx/STM32F411xE by HSE Bypass
-     through STLINK MCO pin of STM32F103 microcontroller. The frequency cannot be changed
-     and is fixed at 8 MHz.
-     Hardware configuration needed for Nucleo Board:
-     – SB54, SB55 OFF
-     – R35 removed
-     – SB16, SB50 ON */
-/* #define USE_HSE_BYPASS */
-
-#if defined(USE_HSE_BYPASS)
-#define HSE_BYPASS_INPUT_FREQUENCY   8000000
-#endif /* USE_HSE_BYPASS */
-#endif /* STM32F410xx || STM32F411xE */
-
 /*!< Uncomment the following line if you need to relocate your vector Table in
      Internal SRAM. */
 /* #define VECT_TAB_SRAM */
@@ -379,17 +364,10 @@ uint32_t hse_value = HSE_VALUE;
 #elif defined (STM32F446xx)
  #define PLL_M      8
 #elif defined (STM32F410xx) || defined (STM32F411xE)
- #if defined(USE_HSE_BYPASS)
+ #define PLL_M      8
-  #define PLL_M      8
- #else /* !USE_HSE_BYPASS */
-  #define PLL_M      8
- #endif /* USE_HSE_BYPASS */
 #else
 #endif /* STM32F40_41xxx || STM32F427_437xx || STM32F429_439xx || STM32F401xx || STM32F469_479xx */
 
-/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
-#define PLL_Q      7
-
 #if defined(STM32F446xx)
 /* PLL division factor for I2S, SAI, SYSTEM and SPDIF: Clock =  PLL_VCO / PLLR */
 #define PLL_R      7
@@ -399,24 +377,32 @@ uint32_t hse_value = HSE_VALUE;
 #define PLL_N      360
 /* SYSCLK = PLL_VCO / PLL_P */
 #define PLL_P      2
+/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
+#define PLL_Q      7
 #endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */
 
 #if defined (STM32F40_41xxx)
 #define PLL_N      336
 /* SYSCLK = PLL_VCO / PLL_P */
 #define PLL_P      2
+/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
+#define PLL_Q      7
 #endif /* STM32F40_41xxx */
 
 #if defined(STM32F401xx)
 #define PLL_N      336
 /* SYSCLK = PLL_VCO / PLL_P */
 #define PLL_P      4
+/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
+#define PLL_Q      7
 #endif /* STM32F401xx */
 
 #if defined(STM32F410xx) || defined(STM32F411xE)
-#define PLL_N      400
+#define PLL_N      384
 /* SYSCLK = PLL_VCO / PLL_P */
 #define PLL_P      4
+/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
+#define PLL_Q      8
 #endif /* STM32F410xx || STM32F411xE */
 
 /******************************************************************************/
@@ -450,7 +436,7 @@ uint32_t hse_value = HSE_VALUE;
 #endif /* STM32F401xx */
 
 #if defined(STM32F410xx) || defined(STM32F411xE)
-  uint32_t SystemCoreClock = 100000000;
+  uint32_t SystemCoreClock = 96000000;
 #endif /* STM32F410xx || STM32F401xE */
 
 __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
@@ -585,7 +571,6 @@ void SystemCoreClockUpdate(void)
       pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
       pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
       
-#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
       if (pllsource != 0)
       {
         /* HSE used as PLL clock source */
@@ -596,21 +581,7 @@ void SystemCoreClockUpdate(void)
         /* HSI used as PLL clock source */
         pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
       }
-#elif defined(STM32F410xx) || defined(STM32F411xE)
+
-#if defined(USE_HSE_BYPASS)
-      if (pllsource != 0)
-      {
-        /* HSE used as PLL clock source */
-        pllvco = (HSE_BYPASS_INPUT_FREQUENCY / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-#else
-      if (pllsource == 0)
-      {
-        /* HSI used as PLL clock source */
-        pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-#endif /* USE_HSE_BYPASS */
-#endif /* STM32F40_41xxx || STM32F427_437xx || STM32F429_439xx || STM32F401xx || STM32F446xx || STM32F469_479xx */
       pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
       SystemCoreClock = pllvco/pllp;
       break;
@@ -657,7 +628,6 @@ void SystemCoreClockUpdate(void)
   */
 void SetSysClock(void)
 {
-#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F446xx)|| defined(STM32F469_479xx)
 /******************************************************************************/
 /*            PLL (clocked by HSE) used as System clock source                */
 /******************************************************************************/
@@ -707,16 +677,22 @@ void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_PPRE1_DIV2;
 #endif /* STM32F401xx */
 
-#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
+#if defined(STM32F410xx) || defined(STM32F411xE)
-    /* Configure the main PLL */
+    /* PCLK2 = HCLK / 2*/
-    RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
+    RCC->CFGR |= RCC_CFGR_PPRE2_DIV1;
-                   (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
+
-#endif /* STM32F40_41xxx || STM32F401xx || STM32F427_437x || STM32F429_439xx || STM32F469_479xx */
+    /* PCLK1 = HCLK / 4*/
+    RCC->CFGR |= RCC_CFGR_PPRE1_DIV2;
+#endif /* STM32F410xx || STM32F411xE */
 
 #if defined(STM32F446xx)
     /* Configure the main PLL */
     RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
                    (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24) | (PLL_R << 28);
+#else
+    /* Configure the main PLL */
+    RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
+                   (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
 #endif /* STM32F446xx */
 
     /* Enable the main PLL */
@@ -737,19 +713,17 @@ void SetSysClock(void)
     while((PWR->CSR & PWR_CSR_ODSWRDY) == 0)
     {
     }
-    /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
 #endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */
 
-#if defined(STM32F40_41xxx)
+#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
     FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
-#endif /* STM32F40_41xxx  */
+#endif /* STM32F40_41xxx || STM32F427_437x || STM32F429_439xx  || STM32F446xx || STM32F469_479xx */
 
-#if defined(STM32F401xx)
+#if defined(STM32F401xx) || defined(STM32F410xx) || defined(STM32F411xE)
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
     FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_2WS;
-#endif /* STM32F401xx */
+#endif /* STM32F401xx || STM32F410xx || STM32F411xE*/
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
@@ -764,113 +738,6 @@ void SetSysClock(void)
   { /* If HSE fails to start-up, the application will have wrong clock
          configuration. User can add here some code to deal with this error */
   }
-#elif defined(STM32F410xx) || defined(STM32F411xE)
-#if defined(USE_HSE_BYPASS)
-/******************************************************************************/
-/*            PLL (clocked by HSE) used as System clock source                */
-/******************************************************************************/
-  __IO uint32_t StartUpCounter = 0, HSEStatus = 0;
-
-  /* Enable HSE and HSE BYPASS */
-  RCC->CR |= ((uint32_t)RCC_CR_HSEON | RCC_CR_HSEBYP);
-
-  /* Wait till HSE is ready and if Time out is reached exit */
-  do
-  {
-    HSEStatus = RCC->CR & RCC_CR_HSERDY;
-    StartUpCounter++;
-  } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
-
-  if ((RCC->CR & RCC_CR_HSERDY) != RESET)
-  {
-    HSEStatus = (uint32_t)0x01;
-  }
-  else
-  {
-    HSEStatus = (uint32_t)0x00;
-  }
-
-  if (HSEStatus == (uint32_t)0x01)
-  {
-    /* Select regulator voltage output Scale 1 mode */
-    RCC->APB1ENR |= RCC_APB1ENR_PWREN;
-    PWR->CR |= PWR_CR_VOS;
-
-    /* HCLK = SYSCLK / 1*/
-    RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
-
-    /* PCLK2 = HCLK / 2*/
-    RCC->CFGR |= RCC_CFGR_PPRE2_DIV1;
-
-    /* PCLK1 = HCLK / 4*/
-    RCC->CFGR |= RCC_CFGR_PPRE1_DIV2;
-
-    /* Configure the main PLL */
-    RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
-                   (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
-
-    /* Enable the main PLL */
-    RCC->CR |= RCC_CR_PLLON;
-
-    /* Wait till the main PLL is ready */
-    while((RCC->CR & RCC_CR_PLLRDY) == 0)
-    {
-    }
-
-    /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_2WS;
-
-    /* Select the main PLL as system clock source */
-    RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
-    RCC->CFGR |= RCC_CFGR_SW_PLL;
-
-    /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
-    {
-    }
-  }
-  else
-  { /* If HSE fails to start-up, the application will have wrong clock
-         configuration. User can add here some code to deal with this error */
-  }
-#else /* HSI will be used as PLL clock source */
-  /* Select regulator voltage output Scale 1 mode */
-  RCC->APB1ENR |= RCC_APB1ENR_PWREN;
-  PWR->CR |= PWR_CR_VOS;
-
-  /* HCLK = SYSCLK / 1*/
-  RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
-
-  /* PCLK2 = HCLK / 2*/
-  RCC->CFGR |= RCC_CFGR_PPRE2_DIV1;
-
-  /* PCLK1 = HCLK / 4*/
-  RCC->CFGR |= RCC_CFGR_PPRE1_DIV2;
-
-  /* Configure the main PLL */
-  RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) | (PLL_Q << 24);
-
-  /* Enable the main PLL */
-  RCC->CR |= RCC_CR_PLLON;
-
-  /* Wait till the main PLL is ready */
-  while((RCC->CR & RCC_CR_PLLRDY) == 0)
-  {
-  }
-
-  /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-  FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_2WS;
-
-  /* Select the main PLL as system clock source */
-  RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
-  RCC->CFGR |= RCC_CFGR_SW_PLL;
-
-  /* Wait till the main PLL is used as system clock source */
-  while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
-  {
-  }
-#endif /* USE_HSE_BYPASS */
-#endif /* STM32F40_41xxx || STM32F427_437xx || STM32F429_439xx || STM32F401xx || STM32F469_479xx */
 }
 
 /**

src/main/telemetry/frsky.c

@@ -36,8 +36,6 @@
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
 #include "drivers/serial.h"
 
 #include "fc/config.h"

src/main/telemetry/hott.c

@@ -67,7 +67,6 @@
 
 #include "drivers/system.h"
 
-#include "drivers/serial.h"
 #include "io/serial.h"
 
 #include "fc/runtime_config.h"

src/main/telemetry/ltm.c

@@ -44,10 +44,6 @@
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
-#include "drivers/serial.h"
-#include "drivers/pwm_rx.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"

src/main/telemetry/mavlink.c

@@ -35,13 +35,10 @@
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/gpio.h"
+
-#include "drivers/timer.h"
+#include "fc/rc_controls.h"
-#include "drivers/serial.h"
-#include "drivers/pwm_rx.h"
 
 #include "io/serial.h"
-#include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"

src/main/telemetry/smartport.c

@@ -19,13 +19,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
-#include "drivers/serial.h"
-#include "drivers/bus_i2c.h"
-#include "drivers/gpio.h"
-#include "drivers/timer.h"
-#include "drivers/pwm_rx.h"
-#include "drivers/adc.h"
-#include "drivers/light_led.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
@@ -34,7 +27,6 @@
 #include "io/beeper.h"
 #include "io/motors.h"
 #include "io/gps.h"
-#include "io/gimbal.h"
 #include "io/serial.h"
 
 #include "sensors/boardalignment.h"